Sandwich board core material feeding robot

Abstract

The invention discloses a sandwich panel core material feeding robot, and belongs to the technical field of robots. The problems that the labor intensity of manual core material cutting is large, the operation error is large, the adaptability of a core material and a metal thin plate is affected, and the compositing quality of a sandwich plate is reduced are solved. The core material cutting device comprises a core material conveying line, an image acquisition mechanism, a positioning cutting mechanism and a feeding clamping mechanism, a core material raw material is conveyed to a cutting station through the core material conveying line, and the positioning cutting mechanism performs cutting operation on the core material raw material according to cutting parameters obtained by the image acquisition mechanism so as to obtain a filling core plate conforming to the specification; the core material conveying line conveys the filling core plate to the feeding station, the feeding clamping mechanism grabs the filling core plate and assembles the filling core plate to the designated assembling position of the inner frame of the metal panel, and therefore automatic assembling machining of the core material of the metal rock wool sandwich plate is completed. The metal rock wool laminboard cutting device is mainly used for cutting rock wool core material raw materials into specified specifications, the cut core materials are automatically assembled into the metal inner frame, and automatic machining and production of the metal rock wool laminboard are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot for feeding sandwich panel core materials. Background Technology

[0002] Metal rock wool sandwich panels are structural panels composed of two layers of thin metal sheets and a rock wool core. Because their structure resembles a "sandwich," they are also called sandwich panels. These panels use rock wool as the core material and are covered with metal sheets, combining the high strength and easy processing characteristics of metal with the excellent thermal insulation, sound insulation, and fire resistance properties of rock wool. They are widely used in places with high environmental cleanliness requirements, such as cleanrooms, operating rooms, precision manufacturing plants, and medical facilities.

[0003] In the production process of metal rock wool sandwich panels, the specifications of the panels follow certain industry standards. Width and thickness typically use several fixed standard specifications, while length needs to be customized according to the customer's actual application requirements. This places adaptability requirements on the processing and installation of the core material. Currently, for custom-length metal rock wool sandwich panels, the processing and filling of the core material generally adopts a manual operation mode. This involves manually cutting the rock wool core material and then manually loading the cut core material between the upper and lower metal sheets.

[0004] However, the existing processing methods described above have many technical drawbacks, severely impacting production efficiency and product quality. On one hand, manual cutting of the core material is extremely labor-intensive, and errors in manual operation are unavoidable, resulting in poor consistency in the length of the cut core material. This affects the compatibility of the core material with the metal sheet, reducing the composite quality of the sandwich panel. On the other hand, to ensure the overall structural strength of the metal rock wool sandwich panel, the rock wool core material needs to be staggered in the transverse direction. This arrangement requirement makes it impossible to use uniform specifications for the core material in the length direction, necessitating manual, on-the-spot cutting and adjustment by operators based on actual installation needs, further reducing production efficiency. Therefore, this invention designs a programmable robot to achieve automated core panel assembly. Summary of the Invention

[0005] In view of this, the present invention provides a core material feeding robot for sandwich panels, which can automatically assemble core materials on metal panels, reduce labor intensity, and improve the production efficiency and quality of metal rock wool sandwich panels.

[0006] To achieve the above objectives, the present invention provides the following technical solutions.

[0007] 1. Sandwich panel core material feeding robot, including: The core material conveyor line is equipped with a cutting station and a feeding station in sequence along the conveying direction. This core material conveyor line is used for the continuous conveying of core material raw materials. The image acquisition mechanism is used to acquire the dimensions of the inner frame of the metal panel and calculate the cutting parameters of each filler core board at the corresponding assembly position. The positioning and cutting mechanism is set at the cutting station of the core material conveying line. It is used to cut the core material raw material conveyed to the cutting station to obtain a filling core board that meets the filling size requirements. The feeding clamping mechanism is used to grab the filling core plate from the feeding station and fill it into the inner frame of the metal panel according to the preset assembly sequence. The core material conveyor line transports the core material raw material to the cutting station. The positioning and cutting mechanism performs cutting operations on the core material raw material according to the cutting parameters obtained by the image acquisition mechanism to obtain a filling core board that meets the specifications. The core material conveyor line transports the filling core board to the loading station. The loading and clamping mechanism grabs the filling core board and assembles it into the designated assembly position of the inner frame of the metal panel, thereby completing the automated assembly and processing of the core material of the metal rock wool sandwich panel.

[0008] This invention utilizes an image acquisition mechanism to obtain the actual dimensions of the inner frame of the metal panel, calculates the appropriate dimensions for each core board at the corresponding assembly position, and then determines the cutting requirements and specific cutting length of the core material based on these dimensions. Subsequently, the core material conveyor line transports the core material to the cutting station, where the positioning and cutting mechanism performs a fixed-length cutting operation based on the fixed-length cutting parameters calculated by the image acquisition mechanism. The core material is then transported by the conveyor line to the loading station for further processing. The loading and clamping mechanism 3 picks up the core board 8 and fills it into the inner frame of the metal panel, thus completing the automated assembly and processing of the metal rock wool sandwich panel core material. Compared to traditional manual production methods, the application of this loading robot not only improves the production efficiency and product assembly accuracy of metal rock wool sandwich panels but also effectively reduces the labor intensity of operators and saves production costs.

[0009] 2. Based on technical solution 1, the feeding and clamping mechanism includes: The mounting base is equipped with a fixed pressure plate and a sliding pressure plate, and the sliding pressure plate is slidably connected to the mounting base. The translation cylinder, mounted on the mounting base, can drive the translation pressure plate to move back and forth; The core board gripper is provided in two sets. These two sets of core board grippers are respectively installed on the fixed pressure plate and the translation pressure plate, and are used to grip the filling core board. When the core board is conveyed to the loading station of the core material conveying line, the translation cylinder drives the translation pressure plate to move, so as to adjust the distance between the two sets of core board clamps according to the actual length of the core board.

[0010] 3. Based on technical solution 2, the feeding and clamping mechanism also includes: There are four extrusion units, which are arranged around two sets of core plate clamps. The extrusion unit located behind the core plate clamps can move with the translation pressure plate. Each extrusion unit includes an extrusion cylinder and an extrusion plate. A lateral drive cylinder is mounted on the mounting base and can adjust the lateral movement of the extrusion unit located on the side of the core plate gripper. When the feeding clamping mechanism is facing the filling core plate, the extrusion cylinder drives the corresponding extrusion plate to move down so that the four extrusion plates surround the filling core plate. The translation cylinder drives the rear extrusion plate to move inward through the translation pressure plate, and the lateral drive cylinder drives the lateral extrusion plate to move inward so that the four extrusion plates squeeze the filling core plate.

[0011] 4. Based on technical solution 3, the extrusion plate located on the side of the core plate clamping jaws is composed of multiple extrusion sheets, and the extrusion unit located on the side of the core plate clamping jaws further includes: The pressure bar is arranged along the length of the filling core plate and is connected to the piston rod of the extrusion cylinder; The guide post is provided in multiple rows on the mounting base, with each extruded sheet corresponding to one guide post and slidingly engaging with the corresponding guide post; The return spring is connected to the guide post at one end and fixed to the extrusion plate at the other end, and is used to reset the extrusion plate; When the translation cylinder drives the translation pressure plate to move, the two side extrusion cylinders move along with it, along with the pressure rods, until the translation cylinder stops driving. Then, the two side extrusion cylinders drive their respective pressure rods to move down, and the pressure rods contact and extrude the extrusion plates at the corresponding positions to adjust the extension length of the extrusion plates.

[0012] 5. Based on technical solution 4, an elastic triggering mechanism is provided between the pressure rod and the extrusion plate. When the front end of the pressure rod abuts against the end face of the front extrusion plate or extrudes the front extrusion plate in a small range, the elastic triggering mechanism can trigger the pressure rod to shorten so that it avoids the front extrusion plate.

[0013] 6. Based on technical solution 5, the elastic triggering mechanism includes: A trigger block is set between two adjacent extrusion plates, with one end fixed to the front extrusion plate and the other end pressed against the rear extrusion plate. The pressure rod has a slide rail along its length, and a locking groove and an opening are provided on the side wall of the pressure rod; The telescopic rod is inserted into the slide rail and can slide back and forth. The telescopic rod has an installation cavity inside, and a locking slot is provided in the installation cavity corresponding to the position of the locking groove. A wedge-shaped groove is provided at the tail end of the telescopic rod. A tension spring is placed inside the slide rail, with one end connected to the telescopic rod and the other end connected to the pressure rod, and is in a tensioned state; The trigger rod is rotatably installed in the mounting cavity, with its front end facing the trigger block and its rear end equipped with a locking block that passes through the lock opening and engages in the lock groove. The return spring is used to trigger the core rod to reset. A wedge-shaped reset block is installed on the cylinder body of the extrusion cylinder; During the downward movement of the pressure rod driven by the extrusion cylinder, the trigger block presses the front end of the trigger core rod, causing the trigger core rod to flip. The locking block disengages from the locking groove of the pressure rod to release the lock between the telescopic rod and the pressure rod. The tension spring then applies a pulling force to the telescopic rod to move the front end of the telescopic rod away from the front extrusion plate. When the pressure rod is driven upward by the extrusion cylinder, the wedge-shaped reset block inserts into the wedge-shaped groove from the opening of the pressure rod and applies a pushing force to the telescopic rod. The telescopic rod gradually extends out of the pressure rod until the locking block inserts into the locking groove, thereby relocking the telescopic rod and the pressure rod.

[0014] 7. Based on technical solution 1, the core material conveying line includes: The first conveying section includes two conveyor belts arranged side by side on the left and right sides for conveying core material raw materials; The second conveyor section is used to convey the core board. The second conveyor section is located behind the first conveyor section, and there is a gap between the two. This gap area is the cutting station of the core material conveyor line. The third conveying section includes a feed cylinder and a feed conveyor belt. The feed cylinder is fixed between the two conveyor belts of the first conveying section. One end of the feed conveyor belt is installed at the piston rod end of the feed cylinder, and the other end extends towards the cutting station.

[0015] 8. Based on technical solution 1, the positioning and cutting mechanism includes: Positioning cylinder; The lifting cylinder can be driven by the positioning cylinder to slide back and forth along the core material conveying direction; A positioning block is installed at the top of the piston rod of the lifting cylinder; The cutter can be driven to perform a cutting action; Once the image acquisition mechanism determines the dimensional parameters of the core board to be filled, it sends a control signal to the positioning cylinder and vents air. The piston rod of the positioning cylinder extends, driving the lifting cylinder to move horizontally along the conveying direction of the core material, thereby adjusting the distance between the positioning block and the cutter. When air is vented to the lifting cylinder, the piston rod of the lifting cylinder moves the positioning block upward. After the core material conveyor line conveys the core material to the cutting station, the front end of the core material abuts against the positioning block, and the cutter is driven to perform the cutting action to achieve a fixed-length cutting of the core material. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the sandwich panel core material feeding robot of the present invention.

[0017] Figure 2This is a schematic diagram of the core material conveying line.

[0018] Figure 3 This is a cross-sectional schematic diagram of the core material conveying line.

[0019] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0020] Figure 5 Schematic diagram of the feeding clamping mechanism Figure 1 .

[0021] Figure 6 Schematic diagram of the feeding clamping mechanism Figure 2 .

[0022] Figure 7 Schematic diagram of the feeding clamping mechanism Figure 3 (Remove the first extrusion unit).

[0023] Figure 8 This is a schematic diagram showing the state of the extrusion plate extended.

[0024] Figure 9 This is a schematic diagram showing the relative positional relationship between the pressure bar and the extrusion plate.

[0025] Figure 10 for Figure 9 A cross-sectional schematic diagram.

[0026] Figure 11 for Figure 10 A magnified view of a section at point B in the middle.

[0027] Figure 12 This is an assembly drawing of the trigger rod, locking block, and slider.

[0028] The attached figures are labeled as follows: Core material conveying line 1, cutting station 11, loading station 12, conveyor frame 13, first conveying section 14, second conveying section 15, third conveying section 16, feed cylinder 161, feed conveyor belt 162, material limit block 17, loading support plate 18; Positioning and cutting mechanism 2, support frame 21, pressing cylinder 22, lifting cylinder 23, positioning block 24, cutting blade 25; 3. Feeding clamping mechanism, mounting base 31, fixed pressure plate 311, translation pressure plate 312, slide groove 313, support frame 32, core plate gripper 33, push cylinder 331, push rod 332, rotating shaft 333, linkage plate 334, waist hole 3341, grab hook 335, translation cylinder 34, extrusion unit 35, extrusion cylinder 351, extrusion plate 352, extrusion piece 3521, pressure rod 353, slide 3531, locking groove 3532, opening 3533, guide column 354, return spring 355, lateral drive cylinder 36; Elastic triggering mechanism 4, telescopic rod 41, mounting cavity 411, locking port 412, wedge groove 413, trigger block 42, trigger core rod 43, locking block 44, tension spring 45, return spring 46, wedge reset block 47, slider 48, return spring 49; Image acquisition unit 5; Core material moving gantry 6, gantry body 61, lateral translation module 62; 7. Metal panel conveyor line; 8. Filler core board; 9. Core material raw material. Detailed Implementation

[0029] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] See Figure 1 The core material loading robot of this embodiment is mainly used to cut rock wool core material raw materials into specified specifications and automatically assemble the cut core materials into the metal inner frame, realizing the automated processing and production of metal rock wool sandwich panels. This loading robot mainly consists of a core material conveying line 1, a positioning and cutting mechanism 2, a loading and clamping mechanism 3, an image acquisition mechanism 5, and a core material moving gantry 6. The core material conveying line 1 is arranged on one side of the metal panel conveying line 7 for continuous conveying of rock wool core material raw materials 9. The core material moving gantry 6 spans above the core material conveying line 1 and the metal panel conveying line 7 and is connected to the loading and clamping mechanism 3, which can drive the loading and clamping mechanism 3 to adjust and move its spatial position. The image acquisition mechanism 5 is installed on the core material moving gantry 6 to acquire the actual dimensions of the metal panel inner frame in real time, calculate the appropriate specifications for each core panel 8 at the corresponding assembly position, and determine the cutting requirements and fixed-length cutting parameters of the core material raw material 9 based on these specifications; combined with... Figure 2 and Figure 3 As shown, the core material conveying line 1 is provided with a cutting station 11 and a feeding station 12 along the conveying direction. The positioning and cutting mechanism 2 is correspondingly set at the cutting station 11 of the core material conveying line 1, and is used to cut the core material raw material 9 conveyed to this station to obtain a filled core board 8 that meets the filling size requirements; combined with Figure 1 The feeding clamping mechanism 3 is used to grab the filling core plate 8 of the feeding station 12 and fill it into the inner frame of the metal panel according to the preset assembly sequence.

[0031] In the actual production and processing process, the image acquisition mechanism 5 first acquires the actual dimensions of the inner frame of the metal panel, calculates the appropriate dimensions of each filling core board 8 at the corresponding assembly position, and then determines the cutting requirements and specific cutting length of the core material 9 based on these dimensions. Subsequently, the core material conveyor line 1 transports the core material 9 to the cutting station 11. After the core material 9 is positioned and stopped at the cutting station 11, the positioning and cutting mechanism 2 performs a fixed-length cutting operation on the core material 9 based on the fixed-length cutting parameters calculated by the image acquisition mechanism 5. After the cutting is completed, a filling core board 8 with the same specifications is obtained, and then the core material conveyor line 1 continues to transport it to the loading station 12 to wait for material. Subsequently, the core material moving gantry 6 drives the loading clamping mechanism 3 to move to the loading station 12. After the loading clamping mechanism 3 has stably gripped the filling core board 8, the core material moving gantry 6 drives the loading clamping mechanism 3 and the filling core board 8 to the designated assembly position of the inner frame of the metal panel. Then, the filling core board 8 is filled into the inner frame of the metal panel, thus completing the automated assembly and processing of the core material of the metal rock wool sandwich panel. Compared with the traditional manual production method, the application of this loading robot not only improves the production efficiency and product assembly accuracy of metal rock wool sandwich panels, but also effectively reduces the labor intensity of operators and saves production costs.

[0032] To accommodate the processing requirements of different specifications of core boards 8, the cutting station 11 space of the core material conveying line 1 in this embodiment can be flexibly adjusted according to the size of the core board 8. Specifically, in conjunction with... Figure 2 and Figure 3 As shown, the core material conveying line 1 of this embodiment includes a conveying frame 13, a first conveying section 14, a second conveying section 15, a third conveying section 16, a loading limit block 17, and a loading support plate 18. The first conveying section 14 and the second conveying section 15 are arranged sequentially from front to back on the conveying frame 13 along the conveying direction of the core material 9, with a pre-reserved gap between them. This gap area is the cutting station 11 of the core material conveying line 1. Both the first conveying section 14 and the second conveying section 15 consist of two conveyor belts arranged side-by-side. The third conveying section 16 is located between the two conveyor belts of the first conveying section 14 and includes a feed cylinder 161 and a feed conveyor belt 162. The feed cylinder 161 is fixedly installed on the conveying frame 13, and the feed conveyor belt 162 slides against the inner walls on both sides of the conveying frame 13. One end of the feed conveyor belt 162 is mounted on the piston rod end of the feed cylinder 161, and the other end extends towards the cutting station 11. The feeding support plate 18 and the feeding limit block 17 are arranged sequentially between the two conveyor belts of the second conveying section 15 along the conveying direction of the filling core plate 8, and their arrangement position is the feeding station 12 of the core material conveying line 1. The feeding support plate 18 is used to support the filling core plate 8, and the feeding limit block 17 is used to prevent the filling core plate 8 from moving synchronously with the conveyor belt of the second conveying section 15.

[0033] The operation process of the core material conveying line 1 is as follows: When the core material raw material 9 is conveyed from the first conveying section 14 to the feed conveyor belt 162 of the third conveying section 16, an air source is introduced into the feed cylinder 161. The piston rod of the feed cylinder 161 extends and drives the feed conveyor belt 162 and the core material raw material 9 to move towards the cutting station 11 until the feed conveyor belt 162 approaches the second conveying section 15 and stops. Then the feed conveyor belt 162 starts to convey the core material raw material 9, so that the two ends of the core material raw material 9 overlap the feed conveyor belt 162 and the conveyor belt of the second conveying section 15 respectively. If the core material 9 does not require cutting, the conveyor belt of the second conveying section 15 will continue to transport the core material 9 to the loading station 12, where it will be supported by the loading support plate 18. If the core material 9 needs to be cut, when both ends of the core material 9 overlap the feed conveyor belt 162 and the conveyor belt of the second conveying section 15 respectively, and are positioned by the positioning cutting mechanism 2, the feed conveyor belt 162 and the conveyor belt of the second conveying section 15 will stop transporting synchronously. At this time, the core material 9 remains stationary, and the part to be cut is in the gap between the feed conveyor belt 162 and the conveyor belt of the second conveying section 15. The cutting position is fully cleared, and the cutting position is directly opposite the positioning cutting mechanism 2. The positioning cutting mechanism 2 then completes the cutting operation of the core material 9. Subsequently, the conveyor belt of the second conveying section 15 transports the filling core board 8 to the loading station 12, where it will be supported by the loading support plate 18.

[0034] In this embodiment, the core material conveying line 1 has ample cutting space reserved at the cutting station 11 between the first conveying section 14 and the second conveying section 15. Simultaneously, the dimensional adaptation of the cutting space is achieved through the telescopic adjustment of the third conveying section 16 to meet the processing requirements of different specifications of filled core boards 8. This structural design ensures that when the core material 9 is at the cutting station 11, both ends can stably overlap the feed conveyor belt 162 and the conveyor belt of the second conveying section 15, making the part to be cut completely exposed. This avoids interference between the positioning and cutting mechanism 2 and the third and second conveying sections 16 and 15 during operation, ensuring the smooth progress of the cutting operation.

[0035] To achieve precise control of the cutting length of the core material raw material, combined with Figure 3 , Figure 4As shown in the diagram, the positioning and cutting mechanism 2 of this embodiment includes a support frame 21, a pressing cylinder 22, a positioning cylinder (not shown in the figure), an lifting cylinder 23, a positioning block 24, a cutter drive cylinder (not shown in the figure), and a cutter 25. The support frame 21 spans above the cutting station 11 and is fixed to the conveyor frame 13. The pressing cylinder 22 is fixed to the support frame 21, and its piston rod can extend and press against the core material 9, thus fixing and limiting the core material 9. The lifting cylinder 23 is arranged between the two conveyor belts of the second conveying section 15 and can be driven by the positioning cylinder to slide back and forth along the core material conveying direction. The positioning block 24 is installed at the top of the piston rod of the lifting cylinder 23, serving as a positioning reference for the core material 9. The cutter drive cylinder is also installed on the support frame 21 and connected to the cutter 25, used to drive the cutter 25 to perform cutting motion, completing the cutting action of the core material 9.

[0036] After the image acquisition mechanism 5 determines the size parameters of the core board 8 to be filled, it sends a control signal to the positioning cylinder and introduces an air source. The piston rod of the positioning cylinder extends, driving the lifting cylinder 23 to move horizontally along the conveying direction of the core material 9, thereby adjusting the distance between the positioning block 24 and the cutter 25 along the conveying direction. Then, an air source is introduced into the lifting cylinder 23, and the piston rod of the lifting cylinder 23 extends, driving the positioning block 24 to move upward above the two conveyor belts of the second conveying section 15, completing the pre-positioning preparation. After both ends of the core material 9 are respectively attached to the feed conveyor belt 162 and the conveyor belt of the second conveying section 15, the conveyor belt of the second conveying section 15 continues to convey the core material 9 until the front end of the core material 9 abuts against the positioning block 24 to form a precise position. At this time, the cutter drive cylinder drives the cutter 25 to perform a cutting action, realizing the fixed-length cutting of the core material 9.

[0037] In this embodiment, the distance between the positioning block 24 and the cutter 25 along the core material conveying direction is calibrated by driving the positioning block 24 to move. This distance is the preset cutting size of the core board 8 to be filled. That is, the position of the positioning block 24 forms the positioning reference for the core boards 8 of different specifications. The overall structure is simple and easy to operate.

[0038] Combination Figure 1As shown, the core material moving gantry 6 in this embodiment mainly consists of a gantry body 61, a lateral translation module 62, a longitudinal translation module (not shown in the figure), and a vertical drive module (not shown in the figure). The gantry body 61 spans between the core material conveying line 1 and the metal panel conveying line 7. The lateral translation module 62 is assembled on the gantry body 61, and the longitudinal translation module is mounted on the lateral translation module 62 and driven by it to perform lateral translation. The loading clamping mechanism 3 is mounted on the longitudinal translation module via the vertical drive module and is driven by the longitudinal translation module to achieve longitudinal movement, and by the vertical drive module to achieve vertical movement. Both the lateral translation module 62 and the longitudinal translation module use a ball screw and nut pair structure to achieve translation drive; the vertical drive module is a drive cylinder.

[0039] Combination Figures 5 to 8 As shown in the diagram, the feeding clamping mechanism 3 in this embodiment mainly consists of a mounting base 31, a core board clamp 33, and a translation cylinder 34. Combined with... Figure 5 and Figure 6 As can be seen, the mounting base 31 is a rectangular frame structure, with a fixed pressure plate 311 and a sliding pressure plate 312 installed at its bottom. The fixed pressure plate 311 is fixed to the front end of the bottom of the mounting base 31 frame, and its lower surface is flush with the plane of the bottom of the mounting base 31 frame. The sliding pressure plate 312 is slidably connected to the mounting base 31, and its lower surface is also flush with the plane of the bottom of the mounting base 31 frame. The sliding cylinder 34 is mounted on the mounting base 31, and its piston rod is fixedly connected to the sliding pressure plate 312, which can drive the sliding pressure plate 312 to complete the back-and-forth reciprocating movement. Two sets of core plate grippers 33 are provided, respectively installed on the fixed pressure plate 311 and the sliding pressure plate 312. The core plate grippers 33 can be inserted into the filling core plate 8 to achieve stable gripping of the filling core plate 8.

[0040] When the core board 8 is conveyed to the loading station 12 of the core material conveying line 1, the translation cylinder 34 adjusts the position of the translation pressure plate 312 according to the actual length of the core board 8, thereby adjusting the distance between the two sets of core board grippers 33; the horizontal translation module 62 and the vertical translation module work together to drive the loading clamping mechanism 3 to move directly above the loading station 12, and then the vertical drive module drives the loading clamping mechanism 3 to move downward until the fixed pressure plate 311 and the translation pressure plate 312 press on the upper surface of the core board 8; after the two sets of core board grippers 33 are inserted into the core board 8, the gripping action of the core board 8 is completed. After the gripping is completed, the vertical drive module drives the feeding clamping mechanism 3 to reset upwards. The horizontal translation module 62 and the vertical translation module work together again to move the feeding clamping mechanism 3 to the position to be filled on the metal panel. The vertical drive module drives the feeding clamping mechanism 3 to move downwards again to place the filling core plate 8 in the corresponding filling position. At this time, the fixed pressure plate 311 and the translation pressure plate 312 press against the surface of the filling core plate 8 again to keep it in a fixed state. Then the core plate gripper 33 is pulled out from the filling core plate 8. Finally, the vertical drive module drives the feeding clamping mechanism 3 to reset upwards, thus completing the assembly operation of the filling core plate 8 and the metal panel.

[0041] In this embodiment, the feeding clamping mechanism 3 is equipped with a fixed pressure plate 311 and a translation pressure plate 312. On the one hand, after the filling core plate 8 is assembled to the designated position, the pressure plate can keep the filling core plate 8 fixed, preventing the filling core plate 8 from moving upward during the core plate claw 33 pull-out process, thus ensuring the positioning accuracy of the assembly. On the other hand, the core plate claw 33 installed on the translation pressure plate 312 can adjust its position as the translation pressure plate 312 moves, thereby realizing the flexible adjustment of the distance between the two sets of core plate claws 33, which can adapt to filling core plates 8 of different lengths and specifications, improving the versatility and adaptability of the feeding clamping mechanism 3.

[0042] Furthermore, combined Figure 7 As shown in the structure, in this embodiment, each set of core material grippers consists of left and right grippers arranged symmetrically, and the left and right grippers have completely identical structures. Now, taking the right gripper as an example, its specific structure and working principle will be explained in detail. The right gripper mainly consists of a propulsion cylinder 331, a push rod 332, a rotating shaft 333, a linkage plate 334, and a gripping hook 335. The propulsion cylinder 331 is fixedly installed on the fixed pressure plate 311 / translation pressure plate 312, and its piston rod is fixedly connected to the push rod 332, which can drive the push rod 332 to complete the reciprocating linear motion in the left and right directions. The rotating shaft 333 is rotatably mounted on the fixed pressure plate 311 / translation pressure plate 312. The rotating shaft 333 is provided with two linkage plates 334 arranged side by side in the front-back direction. Each linkage plate 334 has a waist hole 3341, and the two ends of the push rod 332 are inserted into the two waist holes 3341 respectively. There are two gripping hooks 335, which are fixed side by side in the front-back direction on the right side wall of the rotating shaft 333.

[0043] When the vertical drive module drives the feeding clamping mechanism 3 to move downward, so that the fixed pressure plate 311 and the translation pressure plate 312 press together on the surface of the filling core plate 8, air is supplied to the push cylinder 331. The piston rod of the push cylinder 331 extends outward and pushes the push rod 332 to move outward synchronously. During this process, the push rod 332 slides upward along the waist hole 3341 of the linkage plate 334, and drives the rotating shaft 333 to rotate through the limiting effect of the waist hole 3341. The rotating shaft 333 then drives the grab hook 335 to flip downward until the grab hook 335 is inserted into the filling core plate 8, thereby completing the firm fixation of the filling core plate 8.

[0044] Furthermore, to enhance the structural strength of the metal rock wool sandwich panel and optimize its overall performance in terms of thermal insulation, fire resistance, and sound insulation, the edge-positioned filling core panels 8 must be in a compressed state before being assembled into the inner frame of the metal panel. After assembly, the compressed filling core panels 8 undergo elastic expansion, pushing adjacent filling core panels 8 to press against each other, thereby improving the tightness of the splicing between the core panels. Combined with... Figure 5 , Figure 6 , Figure 7 and Figure 8 As can be seen, the feeding clamping mechanism 3 of this embodiment is also equipped with a lateral drive cylinder 36 and four extrusion units 35. The four extrusion units 35 are respectively a first extrusion unit 35, a second extrusion unit 35, a third extrusion unit 35 and a fourth extrusion unit 35. The first extrusion unit 35 is located on the front side of the mounting base 31 and is fixedly installed on the top of the frame inside the mounting base 31. The second extrusion unit 35 is located inside the frame of the mounting base 31 and is fixedly connected to the translation pressure plate 312. It can move back and forth with the translation pressure plate 312. The third extrusion unit 35 is installed on the left side of the mounting base 31. The right side of the mounting base 31 is provided with a support frame 32 for supporting the fourth extrusion unit 35. The support frame 32 is fixedly connected to the piston rod of the lateral drive cylinder 36. When the lateral drive cylinder 36 exhausts air, the fourth extrusion unit 35 can be driven to move inward through the support frame 32 to extrude an extrusion action on the filling core plate 8. As can be seen, the four extrusion units 35 correspond to the front, rear, left, and right positions of the two sets of core plate clamps 33, respectively, enabling omnidirectional extrusion of the filled core plate 8. Each extrusion unit 35 mainly consists of an extrusion cylinder 351 and an extrusion plate 352. The extrusion cylinder 351 is installed on the mounting base 31, the translation pressure plate 312, or the support frame 32 according to its arrangement. The extrusion plate 352 is connected to the piston rod of the extrusion cylinder 351 and can move up and down reciprocally under the drive of the extrusion cylinder 351.

[0045] When the feeding clamping mechanism 3 is aligned with the filling core plate 8 at the feeding station 12, the extrusion cylinder 351 drives the extrusion plate 352 to move downward, so that the filling core plate 8 is surrounded in the area formed by the four extrusion plates 352; then the translation cylinder 34 drives the translation pressure plate 312 to move towards the fixed pressure plate 311, and the extrusion plate 352 in the second extrusion unit 35, which moves synchronously with the translation pressure plate 312, extrudes the filling core plate 8 in the length direction; after the core plate clamping claw 33 finishes clamping the filling core plate 8, the lateral drive cylinder 36 drives the right extrusion plate 352 to move inward, further extruding the filling core plate 8 in the width direction, thereby achieving all-round compression of the filling core plate 8 through the above actions. After the core board 8 is assembled into the inner frame of the metal panel, the extrusion cylinder 351 drives the extrusion plate 352 to reset, the extrusion constraint on the core board 8 is released, and it expands under its own elastic restoring force, thereby forming an extrusion force on the adjacent core boards 8, improving the splicing tightness between adjacent core boards 8, and ensuring the structural stability and performance of the core board after assembly.

[0046] Furthermore, since the width of the filler core plate 8 is a fixed dimension, its length needs to be flexibly adjusted according to actual filling requirements. If the extrusion plates 352 of the third extrusion unit 35 and the fourth extrusion unit 35 are too short, the filler core plate 8 will easily expand laterally during the front-to-back extrusion, affecting the compression effect. If the extrusion plate 352 is too long, it will interfere with the surrounding already assembled filler core plates 8 during its insertion into the inner frame of the metal panel, hindering the assembly operation. Therefore, as follows... Figure 5 , Figure 6 and Figure 8 As shown, in this embodiment, the extrusion plates 352 of the third extrusion unit 35 and the fourth extrusion unit 35 are designed as a combination of multiple extrusion plates 3521. By pressing down the corresponding extrusion plates 3521 with the pressure rod 353 that moves synchronously with the translation pressure plate 312, the effective working length of the extrusion plate 352 can be adjusted according to the actual length of the filling core plate 8. This avoids the problem of lateral expansion of the filling core plate 8 and prevents the extrusion plate 352 from interfering with the surrounding filling core plates 8 due to excessive length.

[0047] Specifically, in combination Figure 5 and Figure 8As shown, in this embodiment, the third extrusion unit 35 and the fourth extrusion unit 35 have the same structure. Both extrusion cylinders 351 are mounted on the translational pressure plate 312. The extrusion cylinder 351 of the fourth extrusion unit 35 is slidably connected to the translational pressure plate 312 via a guide rod (not shown in the figure), allowing it to move along the width direction of the filling core plate 8 with the support frame 32. Furthermore, the extrusion cylinder 351 is slidably connected to the support frame 32, allowing it to move along the length direction of the filling core plate 8 under the influence of the translational pressure plate 312, ensuring both flexibility of movement and stability of support. In addition, the third extrusion unit 35 and the fourth extrusion unit 35 are also equipped with a pressure rod 353, a guide post 354, and a return spring 355. The pressure rod 353 is arranged along the length direction of the filling core plate 8 and connected to the piston rod of the extrusion cylinder 351, providing power for the downward pressing of the extrusion sheet 3521. Both extrusion plates 352 are composed of multiple extrusion sheets 3521 arranged side-by-side along the length direction of the filling core plate 8. Figure 6 Both the bottom frame of the mounting base 31 and the support frame 32 are provided with sliding grooves 313, and a row of guide posts 354 are arranged accordingly. Each extrusion piece 3521 corresponds one-to-one with a guide post 354. The extrusion piece 3521 is sleeved on the corresponding guide post 354 and inserted into the sliding groove 313 to achieve sliding guidance. At the same time, combined with Figure 8 Each guide post 354 is fitted with a return spring 355. One end of the return spring 355 is connected to the guide post 354, and the other end is fixed to the extrusion piece 3521, providing elastic support for the return of the extrusion piece 3521.

[0048] When the translation cylinder 34 drives the translation pressure plate 312 to move towards the fixed pressure plate 311, the extrusion cylinders 351 of the third extrusion unit 35 and the fourth extrusion unit 35 move synchronously with the translation pressure plate 312, and the pressure rods 353 are displaced together. At this time, the number of extrusion pieces 3521 directly opposite the pressure rods 353 will change accordingly to meet the length adaptation requirements of the filling core plate 8. After the translation cylinder 34 stops driving, the extrusion cylinders 351 on both sides synchronously drive their respective pressure rods 353 to move downward. The pressure rods 353 contact and extrude the extrusion pieces 3521 at the corresponding positions. The extrusion pieces 3521 overcome the elastic force of the return spring 355 and slide downward along the guide post 354, thereby achieving precise adjustment of the effective extension length of the extrusion plate 352. When the extrusion cylinder 351 drives the pressure rod 353 to move upward and reset, the extrusion pieces 3521 move upward along the guide post 354 and return to the initial position under the action of the return spring 355.

[0049] Furthermore, when the pressure rod 353 moves with the translation pressure plate 312, its front end may just abut against the end face of the front extrusion piece 3521, or only slightly extrude pressure on the front extrusion piece 3521. In this case, the front extrusion piece 3521 is prone to jamming due to the shift in its force application position, thus preventing the pressure rod 353 from moving downwards to extrude the remaining extrusion pieces 3521. Therefore, as follows... Figure 9 , Figure 10 As shown, in this embodiment, an elastic triggering mechanism 4 is added between the pressure rod 353 and the extrusion plate 3521. The elastic triggering mechanism 4 can trigger the pressure rod 353 to shorten, so that it avoids the extrusion plate 3521 in front, thereby effectively avoiding jamming.

[0050] Specifically, combined Figures 9 to 12 As shown in the diagram, the elastic triggering mechanism 4 of this embodiment mainly consists of a telescopic rod 41, a trigger block 42, a trigger core rod 43, a locking block 44, a tension spring 45, a return spring 46, and a wedge-shaped reset block 47. A slide rail 3531 is provided inside the pressure rod 353 along its length direction. The telescopic rod 41 is inserted into the slide rail 3531 and can slide back and forth. The tension spring 45 is placed inside the slide rail 3531, with one end connected to the telescopic rod 41 and the other end fixedly connected to the pressure rod 353, and is always in a tensioned state. The pressure rod 353 has a locking groove 3532, and the telescopic rod 41 has an installation cavity 411 along its length. The installation cavity 411 has a locking opening 412 corresponding to the position of the locking groove 3532. The trigger core rod 43 is rotatably installed in the installation cavity 411, with its front end facing the trigger block 42 and its tail end equipped with a locking block 44. The locking block 44 passes through the locking opening 412 and is engaged in the locking groove 3532. The return spring 46 is fixed to the upper end face of the front end of the trigger core rod 43. In addition, the pressure rod 353 has an opening 3533 communicating with the slide rail 3531, and the tail end of the telescopic rod 41 has a wedge-shaped groove 413. The wedge-shaped reset block 47 is installed on the cylinder body of the extrusion cylinder 351 and is positioned directly opposite the opening 3533. Multiple trigger blocks 42 are provided, with one set between each pair of adjacent extrusion plates 3521. One end of the trigger block 42 is fixed to the front extrusion plate 3521, and the other end is pressed against the rear extrusion plate 3521.

[0051] When the front end of the telescopic rod 41 is aligned with the gap between two adjacent extrusion plates 3521, or pressed against the edge of the front extrusion plate 3521, the trigger block 42 is precisely aligned with the front end of the trigger core rod 43. During the downward movement of the extrusion cylinder 351 driving the pressure rod 353, the trigger block 42 overcomes the elastic force of the return spring 46 to press the front end of the trigger core rod 43, causing the trigger core rod 43 to flip. The locking block 44 disengages from the locking groove 3532 of the pressure rod 353, thereby releasing the lock between the telescopic rod 41 and the pressure rod 353. The tension spring 45 then applies a pulling force to the telescopic rod 41, pulling it back into the slide 3531 of the pressure rod 353, so that the front end of the telescopic rod 41 is away from the front extrusion plate 3521. This avoids the problem of the front end face of the telescopic rod 41 contacting the side end face of the extrusion plate 3521, or the front extrusion plate 3521 getting stuck due to extrusion offset. When the compression cylinder 351 drives the pressure rod 353 to move upward, the wedge-shaped reset block 47 is inserted into the wedge-shaped groove 413 of the telescopic rod 41 from the opening 3533 of the pressure rod 353, and applies a pushing force to the telescopic rod 41. The telescopic rod 41 gradually extends out of the pressure rod 353 against the elastic force of the tension spring 45 until the locking block 44 is aligned with the locking groove 3532. At this time, the return spring 46 applies a squeezing force to the trigger core rod 43, causing it to flip and reset. The locking block 44 passes through the lock opening 412 again and is locked into the locking groove 3532, completing the relocking of the telescopic rod 41 and the pressure rod 353.

[0052] In this embodiment, the elastic triggering mechanism 4, through the coordinated action of the telescopic rod 41, trigger block 42, trigger core rod 43, locking block 44, tension spring 45, return spring 46 and wedge-shaped reset block 47, enables the pressure rod 353 to avoid the extrusion piece 3521 with a smaller contact area in front, thus preventing the two from getting stuck.

[0053] Furthermore, when there is a small gap between the front end face of the telescopic rod 41 and the end face of the front pressing plate 3521, because the trigger block 42 is always pressed against the rear pressing plate 3521, it may still maintain contact with the trigger core rod 43, thus causing the telescopic rod 41 and the pressing rod 353 to mis-lock. Therefore, in conjunction with... Figure 11 and Figure 12 The elastic triggering mechanism 4 in this embodiment also includes a slider 48, which is slidably mounted at the front end of the mounting cavity 411 of the telescopic rod 41 and is rotatably connected to the front end of the trigger core rod 43; the lower part of the slider 48 and the front end of the telescopic rod 41 are both provided with wedge-shaped surfaces, and the trigger block 42 is connected to the extrusion plate 3521 connected to it through a return spring 49.

[0054] When the tail end of the trigger block 42 abuts against the wedge-shaped surface of the slider 48, the slider 48 gradually pushes the trigger block 42 toward the forward pressing plate 3521 through the cooperation of the wedge-shaped surface, thereby preventing the trigger block 42 from pressing the trigger core rod 43 and causing it to flip over, and preventing the telescopic rod 41 and the pressure rod 353 from mis-locking.

[0055] The following further explains the working process of the present invention to further demonstrate its working principle and advantages: In the actual production and processing, the image acquisition mechanism 5 first acquires the actual dimensions of the inner frame of the metal panel, calculates the matching dimensions of each core board 8 at the corresponding assembly position, and then determines the cutting requirements and specific cutting length of the core material 9 based on these dimensions. Subsequently, when the core material 9 is conveyed from the first conveyor section 14 to the corresponding position in the third conveyor section 16, air is supplied to the feed cylinder 161. The piston rod of the feed cylinder 161 extends and drives the feed conveyor belt 162 and the core material 9 to move towards the cutting station 11 until the feed conveyor belt 162 stops moving close to the second conveyor section 15. Then, the feed conveyor belt 162 starts conveying the core material 9, so that both ends of the core material 9 overlap the feed conveyor belt 162 and the conveyor belt of the second conveyor section 15 respectively. The feed conveyor belt 162 and the conveyor belt of the second conveyor section 15 stop conveying synchronously, at which point the core material 9 remains stationary. After the image acquisition mechanism 5 determines the size parameters of the core board 8 to be filled, if the core material 9 does not need to be cut, the conveyor belt of the second conveying section 15 will continue to transport the core material 9 to the loading station 12; if the core material 9 needs to be cut, a control signal is sent to the positioning cylinder and an air source is supplied. The piston rod of the positioning cylinder extends, driving the lifting cylinder 23 to move horizontally along the conveying direction of the core material 9, thereby adjusting the distance between the positioning block 24 and the cutter 25 along the conveying direction; then an air source is supplied to the lifting cylinder 23, the piston rod of the lifting cylinder 23 extends, and the positioning block 24 moves upward to above the two conveyor belts of the second conveying section 15, completing the pre-positioning preparation. The conveyor belt of the second conveying section 15 continues to transport the core material 9 until the front end of the core material 9 abuts against the positioning block 24 to form a precise position; at this time, the part of the core material 9 to be cut is in the gap between the feed conveyor belt 162 and the conveyor belt of the second conveying section 15, the cutting position is fully cleared, and this cutting position is directly opposite the positioning and cutting mechanism 2. At this time, the cutter drive cylinder drives the cutter 25 to perform the cutting action. After the cutting is completed, the filling core board 8 with the same specifications is obtained. Then, it is transported by the conveyor belt of the second conveyor section 15 to the loading station 12 to wait for the material.

[0056] Subsequently, the horizontal translation module 62 and the vertical translation module work together to drive the feeding clamping mechanism 3 to move directly above the feeding station 12. The vertical drive module drives the feeding clamping mechanism 3 to move downward until the fixed pressure plate 311 and the translation pressure plate 312 press against the upper surface of the filling core plate 8. The extrusion cylinders 351 in the first extrusion unit 35 and the second extrusion unit 35 drive the extrusion plate 352 to move downward. Then, the translation cylinder 34 adjusts the position of the translation pressure plate 312 according to the actual compression length of the filling core plate 8, thereby adjusting the distance between the two sets of core plate clamps 33 and performing an extrusion action on the filling core plate 8 in the length direction. The extrusion cylinders 351 of the third extrusion unit 35 and the fourth extrusion unit 35 move synchronously with the translation pressure plate 312 and move the pressure rod 353 together. At this time, the number of extrusion pieces 3521 directly opposite the pressure rod 353 will change accordingly with the length adaptation requirements of the filling core plate 8. After the translation cylinder 34 stops driving, the extrusion cylinders 351 in the third extrusion unit 35 and the fourth extrusion unit 35 synchronously drive their respective pressure rods 353 to move downward. The pressure rods 353 contact and extrude the corresponding extrusion plates 3521. The extrusion plates 3521 overcome the elastic force of the return spring 355 and slide downward along the guide post 354, thereby achieving precise adjustment of the effective length of the extrusion plates 352 on both sides. The lateral drive cylinder 36 drives the fourth extrusion unit 35 to move inward through the support frame 32, thereby completing the extrusion of the filling core plate 8 in the width direction. At this time, the filling core plate 8 is compressed in all directions. When the front end of the telescopic rod 41 is directly opposite the gap between two adjacent extrusion plates 3521, or is pressed against the edge of the front extrusion plate 3521, the trigger block 42 is precisely aligned with the front end of the trigger rod 43. During the downward movement of the pressure rod 353 driven by the compression cylinder 351, the trigger block 42 overcomes the elastic force of the return spring 46 to compress the front end of the trigger core rod 43, causing the trigger core rod 43 to flip. The locking block 44 disengages from the locking groove 3532 of the pressure rod 353, thereby releasing the lock between the telescopic rod 41 and the pressure rod 353. The tension spring 45 then applies a pulling force to the telescopic rod 41, pulling it back into the slide 3531 of the pressure rod 353, so that the front end of the telescopic rod 41 is away from the front compression plate 3521. This avoids the problem of the front end face of the telescopic rod 41 contacting the side end face of the compression plate 3521, or the front compression plate 3521 getting stuck due to compression offset.

[0057] Air is then supplied to the push cylinder 331 of the core plate gripper 33. The piston rod of the push cylinder 331 extends outward and pushes the push rod 332 outward in sync. During this process, the push rod 332 slides upward along the waist hole 3341 of the linkage plate 334 and drives the rotating shaft 333 to rotate through the limiting action of the waist hole 3341. The rotating shaft 333 then drives the gripper hook 335 to flip downward until the gripper hook 335 is inserted into the filling core plate 8, thereby completing the firm fixation of the filling core plate 8.

[0058] After the gripping is completed, the vertical drive module drives the feeding clamping mechanism 3 to reset upwards. The horizontal translation module 62 and the vertical translation module work together again to move the feeding clamping mechanism 3 to directly above the filling position of the metal panel. The vertical drive module then drives the feeding clamping mechanism 3 to move downwards again, placing the filling core plate 8 in the corresponding filling position. At this time, the fixing pressure plate 311 and the translation pressure plate 312 press against the surface of the filling core plate 8 again to keep it in a fixed state. Then, the core plate gripper 33 is pulled out from the filling core plate 8. At the same time, the extrusion air... Cylinder 351 drives the pressure rod 353 to move upward, and the wedge-shaped reset block 47 is inserted into the wedge-shaped groove 413 of the telescopic rod 41 from the opening 3533 of the pressure rod 353, and applies a pushing force to the telescopic rod 41; the telescopic rod 41 gradually extends out of the pressure rod 353 against the elastic force of the tension spring 45 until the locking block 44 is aligned with the locking groove 3532. At this time, the return spring 46 applies a squeezing force to the trigger core rod 43, causing it to flip and reset. The locking block 44 passes through the lock opening 412 again and is locked into the locking groove 3532, completing the relocking of the telescopic rod 41 and the pressure rod 353.

[0059] Finally, the vertical drive module drives the feeding clamping mechanism 3 to reset upwards, thus completing the assembly of the filling core board 8 and the metal panel.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A sandwich panel core material feeding robot, characterized in that, include: The core material conveyor line is equipped with a cutting station and a feeding station in sequence along the conveying direction. This core material conveyor line is used for the continuous conveying of core material raw materials. The image acquisition mechanism is used to acquire the dimensions of the inner frame of the metal panel and calculate the cutting parameters of each filler core board at the corresponding assembly position. The positioning and cutting mechanism is set at the cutting station of the core material conveying line. It is used to cut the core material raw material conveyed to the cutting station to obtain a filling core board that meets the filling size requirements. The feeding clamping mechanism is used to grab the filling core plate from the feeding station and fill it into the inner frame of the metal panel according to the preset assembly sequence. The core material conveyor line transports the core material raw material to the cutting station. The positioning and cutting mechanism performs cutting operations on the core material raw material according to the cutting parameters obtained by the image acquisition mechanism to obtain a filling core board that meets the specifications. The core material conveyor line transports the filling core board to the loading station. The loading and clamping mechanism grabs the filling core board and assembles it into the designated assembly position of the inner frame of the metal panel, thereby completing the automated assembly and processing of the core material of the metal rock wool sandwich panel.

2. The sandwich panel core material feeding robot according to claim 1, characterized in that, The feeding and clamping mechanism includes: The mounting base is equipped with a fixed pressure plate and a sliding pressure plate, and the sliding pressure plate is slidably connected to the mounting base. The translation cylinder, mounted on the mounting base, can drive the translation pressure plate to move back and forth; The core board gripper is provided in two sets. These two sets of core board grippers are respectively installed on the fixed pressure plate and the translation pressure plate, and are used to grip the filling core board. When the core board is conveyed to the loading station of the core material conveying line, the translation cylinder drives the translation pressure plate to move, so as to adjust the distance between the two sets of core board clamps according to the actual length of the core board.

3. The sandwich panel core material feeding robot according to claim 2, characterized in that, The feeding clamping mechanism also includes: There are four extrusion units, which are arranged around two sets of core plate clamps. The extrusion unit located behind the core plate clamps can move with the translation pressure plate. Each extrusion unit includes an extrusion cylinder and an extrusion plate. A lateral drive cylinder is mounted on the mounting base and can adjust the lateral movement of the extrusion unit located on the side of the core plate gripper. When the feeding clamping mechanism is facing the filling core plate, the extrusion cylinder drives the corresponding extrusion plate to move down so that the four extrusion plates surround the filling core plate. The translation cylinder drives the rear extrusion plate to move inward through the translation pressure plate, and the lateral drive cylinder drives the lateral extrusion plate to move inward so that the four extrusion plates squeeze the filling core plate.

4. The sandwich panel core material feeding robot according to claim 3, characterized in that, The extrusion plate located on the side of the core plate clamps is composed of multiple extrusion sheets, and the extrusion unit located on the side of the core plate clamps also includes: The pressure bar is arranged along the length of the filling core plate and is connected to the piston rod of the extrusion cylinder; The guide post is provided in multiple rows on the mounting base, with each extruded sheet corresponding to one guide post and slidingly engaging with the corresponding guide post; The return spring is connected to the guide post at one end and fixed to the extrusion plate at the other end, and is used to reset the extrusion plate; When the translation cylinder drives the translation pressure plate to move, the two side extrusion cylinders move along with it, along with the pressure rods, until the translation cylinder stops driving. Then, the two side extrusion cylinders drive their respective pressure rods to move down, and the pressure rods contact and extrude the extrusion plates at the corresponding positions to adjust the extension length of the extrusion plates.

5. The sandwich panel core material feeding robot according to claim 4, characterized in that, An elastic triggering mechanism is provided between the pressure rod and the extrusion plate. When the front end of the pressure rod abuts against the end face of the front extrusion plate or squeezes the front extrusion plate in a small range, the elastic triggering mechanism can trigger the pressure rod to shorten so that it avoids the front extrusion plate.

6. The sandwich panel core material feeding robot according to claim 5, characterized in that, The flexible trigger mechanism includes: A trigger block is set between two adjacent extrusion plates, with one end fixed to the front extrusion plate and the other end pressed against the rear extrusion plate. The pressure rod has a slide rail along its length, and a locking groove and an opening are provided on the side wall of the pressure rod; The telescopic rod is inserted into the slide rail and can slide back and forth. The telescopic rod has an installation cavity inside, and a locking slot is provided in the installation cavity corresponding to the position of the locking groove. A wedge-shaped groove is provided at the tail end of the telescopic rod. A tension spring is placed inside the slide rail, with one end connected to the telescopic rod and the other end connected to the pressure rod, and is in a tensioned state; The trigger rod is rotatably installed in the mounting cavity, with its front end facing the trigger block and its rear end equipped with a locking block that passes through the lock opening and engages in the lock groove. The return spring is used to trigger the core rod to reset. A wedge-shaped reset block is installed on the cylinder body of the extrusion cylinder; During the downward movement of the pressure rod driven by the extrusion cylinder, the trigger block presses the front end of the trigger core rod, causing the trigger core rod to flip. The locking block disengages from the locking groove of the pressure rod to release the lock between the telescopic rod and the pressure rod. The tension spring then applies a pulling force to the telescopic rod to move the front end of the telescopic rod away from the front extrusion plate. When the pressure rod is driven upward by the extrusion cylinder, the wedge-shaped reset block inserts into the wedge-shaped groove from the opening of the pressure rod and applies a pushing force to the telescopic rod. The telescopic rod gradually extends out of the pressure rod until the locking block inserts into the locking groove, thereby relocking the telescopic rod and the pressure rod.

7. The sandwich panel core material feeding robot according to claim 1, characterized in that, The core material conveyor line includes: The first conveying section includes two conveyor belts arranged side by side on the left and right sides for conveying core material raw materials; The second conveyor section is used to convey the core board. The second conveyor section is located behind the first conveyor section, and there is a gap between the two. This gap area is the cutting station of the core material conveyor line. The third conveying section includes a feed cylinder and a feed conveyor belt. The feed cylinder is fixed between the two conveyor belts of the first conveying section. One end of the feed conveyor belt is installed at the piston rod end of the feed cylinder, and the other end extends towards the cutting station.

8. The sandwich panel core material feeding robot according to claim 1, characterized in that, The positioning and cutting mechanism includes: Positioning cylinder; The lifting cylinder can be driven by the positioning cylinder to slide back and forth along the core material conveying direction; A positioning block is installed at the top of the piston rod of the lifting cylinder; The cutter can be driven to perform a cutting action; Once the image acquisition mechanism determines the dimensional parameters of the core board to be filled, it sends a control signal to the positioning cylinder and vents air. The piston rod of the positioning cylinder extends, driving the lifting cylinder to move horizontally along the conveying direction of the core material, thereby adjusting the distance between the positioning block and the cutter. When air is vented to the lifting cylinder, the piston rod of the lifting cylinder moves the positioning block upward. After the core material conveyor line conveys the core material to the cutting station, the front end of the core material abuts against the positioning block, and the cutter is driven to perform the cutting action to achieve a fixed-length cutting of the core material.

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