Roller shaft surface processing clamping robot

Abstract

The present application relates to the technical field of manipulator, and specifically provides a roller shaft surface processing clamping manipulator, which comprises a hanging beam frame and four clamping jaw assemblies; the four clamping jaw assemblies are arranged in pairs of opposite symmetry in two mutually perpendicular horizontal directions; the clamping jaw assembly comprises a sliding base horizontally driven and slidingly installed on the hanging beam frame, a clamping jaw frame horizontally rotationally driven and installed on the sliding base, a rigid clamping part and a flexible clamping part assembled on the clamping jaw frame and used for clamping the roller shaft, and the rigid clamping part or the flexible clamping part is switched by the clamping jaw frame to clamp the roller shaft; the manipulator provided by the present application is suitable for the multi-working condition clamping requirement of the roller shaft blank processing and the functional layer processing of the functional roller with a large length-diameter ratio, can provide uniform and continuous clamping pressure, and can protect the functional layer.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and specifically proposes a roller surface machining and clamping robotic arm. Background Technology

[0002] Functional rollers are a type of roller designed to perform specific technological functions. They generally consist of a metal roller shaft and functional layers processed and attached to the surface of the metal roller shaft. Functional layers include soft coatings, hard and brittle coatings, and precision coatings. Soft coatings mainly include copper layers, rubber layers, foam layers, and polymer coatings, while hard and brittle coatings mainly include chromium layers and ceramic coatings. Precision coatings mainly include engraving and printing layers. The processing of functional rollers is mainly divided into roller shaft blank processing and functional layer processing. During the processing, it is necessary to clamp and grasp the roller shaft. This invention provides a roller shaft surface processing clamping robot, mainly for clamping and grasping large functional rollers with a large length-to-diameter ratio at different processing stages, and is especially suitable for processing and clamping small batches of different types of functional rollers.

[0003] To achieve specific process functions, in the current technology, in order to avoid damage, indentation, deformation or scratches to the functional layer, flexible clamping structures or clamping structures with adjustable stiffness are often used to clamp and grasp the functional rollers. However, the following problems still exist.

[0004] 1. The existing clamping structure is basically a single clamping end; the same clamping robot is used for clamping in the roller blank processing stage and the functional layer processing stage. However, the surface of the roller blank may have impurities such as oil, dust and rust particles. The clamping end is easily contaminated by the surface of the roller blank, which may cause potential damage to the clamping of the functional layer.

[0005] 2. Existing flexible clamping structures only focus on making flexible contact with the functional layer at the clamping end. In addition, clamping structures with adjustable stiffness, such as airbags and soft grippers, are only suitable for grasping small or irregular objects. They cannot provide continuous and uniform axial support for large functional rollers with large length-to-diameter ratios. They are more prone to bending deformation due to the weight of the functional rollers themselves and their large deflection. Furthermore, they are prone to uneven clamping pressure distribution and local stress concentration in the clamping section of the functional layer, which can damage the functional layer. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a roller surface machining and clamping robot, which solves the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention employs the following technical solution: a roller surface processing clamping robot, comprising a beam frame and four gripper assemblies; the four gripper assemblies are symmetrically arranged in pairs in two mutually perpendicular horizontal directions; each gripper assembly includes a sliding base horizontally driven and slidably mounted on the beam frame, a gripper frame horizontally rotated and mounted on the sliding base, and a rigid clamping part and a flexible clamping part for clamping the roller shaft are assembled on the gripper frame, wherein the rigid clamping part or the flexible clamping part is switched by rotating the gripper frame to clamp the roller shaft.

[0008] The flexible clamping part includes a flexible clamping plate and an adjustment assembly for adjusting the support stiffness of the flexible clamping plate. The flexible clamping plate includes a spring sheet fixed on the gripper frame. A connecting plate and a flexible pad are fixed on one side of the spring sheet. The connecting plate is fixed to the gripper frame, and the flexible pad is used for clamping contact with the roller shaft. The adjustment assembly includes multiple support sliders that are evenly distributed along the length of the spring sheet and slide together with the back end of the spring sheet. Each support slider is in support contact with the back end of the spring sheet. The adjustment assembly evenly adjusts the arrangement spacing of the multiple support sliders to adjust the support stiffness of the flexible clamping plate. When the flexible pad is clamped with the roller shaft by sliding the sliding base, the multiple support sliders are evenly distributed in the axial direction of the roller shaft.

[0009] Preferably, the gripper frame includes a horizontally rotating drive mounted on a sliding base and a base frame fixed to the rotating arm; both the rigid gripping part and the flexible gripping part are assembled on the base frame.

[0010] Preferably, the base frame has a rectangular frame structure; the base frame includes two side guide plates and two sliding plates arranged horizontally opposite each other, the two sliding plates are fixed between the two side guide plates; an elastic spring is fixed between the two side guide plates, a connecting plate is fixedly connected to one of the side guide plates, and a support slider is slidably installed between the two sliding plates.

[0011] Preferably, the adjustment assembly further includes an adjustment beam slidably mounted between two side guide plates; the support slider furthest from the connecting plate is fixed on the adjacent side guide plate, and a hinge pin is arranged between each two adjacent support sliders, with two connecting rods hinged to the hinge pins, and the two connecting rods being hinged to the two adjacent support sliders respectively; all the hinge pins are slidably mounted on the adjustment beam along a straight line parallel to the sliding direction of the support sliders.

[0012] Preferably, the rigid clamping part includes a clamping plate base fixed on the base frame and a rigid clamping plate fixed on the clamping plate base.

[0013] Preferably, the support area where multiple support sliders are distributed covers the connection section between the flexible pad and the elastic spring sheet, and extends to the connection section between the connecting plate and the elastic spring sheet.

[0014] Preferably, two parallel guide strips are fixed on the adjusting beam, and each guide strip has a guide hole extending along its length. The two ends of the hinge pin slide along the guide holes of the two guide strips.

[0015] Preferably, at least one connecting block is fixed on the adjusting beam, and an adjusting cylinder is fixedly connected to the connecting block, with the adjusting cylinder fixed on the outer wall of the base frame.

[0016] Preferably, the beam lifting frame includes a beam and two horizontally sliding frames that are adjusted and mounted on the beam; two gripper assemblies are mounted on the sliding frames in a sliding engagement with the sliding base.

[0017] Preferably, the rigid clamping plate has an isosceles trapezoidal groove that contacts the roller shaft for clamping; the clamping surface of the flexible pad is an arc-shaped concave surface.

[0018] The above technical solution has the following advantages or beneficial effects: This invention provides a roller surface processing clamping robot, mainly for surface processing clamping of large functional rollers with a large length-to-diameter ratio. It employs a double-jaw assembly for clamping both ends of the roller near their respective ends. The jaw assembly has rotatable, switchable rigid and flexible clamping parts, respectively handling the clamping of the roller blank processing stage and the functional layer processing stage, avoiding damage to the functional layer caused by mixing the clamping ends for the two processing stages. The flexible clamping part allows for adjustment of its support stiffness to accommodate the clamping force required for functional layers with different hardness and precision requirements of the roller. The flexible clamping section, through its evenly distributed rigid support points along the roller shaft axis and the design that weakens discrete support points, provides continuous and uniform support along the roller shaft axis. Combined with the clamping method of two sets of gripper assemblies close to both ends of the roller shaft, it can suppress the bending deformation of the roller shaft due to its own weight and large deflection, improve the uniformity of clamping pressure distribution, avoid local pressure concentration, and thus better protect the functional layer. In addition, with its flexible design of dual clamping ends and adjustable stiffness of flexible clamping support, it can meet the needs of flexible production of small batches and multiple types of functional rollers, and fully improve the utilization rate of the robot. Attached Figure Description

[0019] The invention, its features, shape, and advantages will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference numerals denote like parts throughout the drawings, which are not intentionally drawn to scale; the focus is on illustrating the spirit of the invention.

[0020] Figure 1 This is a schematic diagram of a three-dimensional structure of a roller surface processing and clamping robot.

[0021] Figure 2 This is a three-dimensional diagram of a roller shaft being rigidly clamped by a roller shaft surface processing and clamping robot.

[0022] Figure 3 This is a three-dimensional diagram of a roller shaft surface processing clamping robot flexibly clamping a roller shaft;

[0023] Figure 4 This is a three-dimensional structural diagram of the gripper assembly without the sliding base assembled.

[0024] Figure 5 yes Figure 4 A three-dimensional sectional view of the assembly structure shown;

[0025] Figure 6 This is a three-dimensional sectional view of the flexible clamping part;

[0026] Figure 7 It is a 3D structural diagram of the gripper frame;

[0027] Figure 8 This is a diagram showing the state of the flexible clamping part under a certain support stiffness.

[0028] Figure 9 The flexible clamping part is relative to Figure 8 State diagram when the support stiffness is relatively small.

[0029] In the diagram: 1. Lifting beam frame; 11. Lifting beam; 12. Sliding frame; 2. Gripper assembly; 3. Sliding base; 4. Gripper frame; 41. Rotating arm; 42. Base frame; 421. Side guide plate; 422. Slide plate; 5. Rigid clamping part; 51. Clamping plate base; 52. Rigid clamping plate; 6. Flexible clamping part; 61. Flexible clamping plate; 611. Elastic spring; 612. Connecting plate; 613. Flexible pad; 62. Adjusting assembly; 63. Adjusting beam; 631. Connecting block; 632. Guide hole strip; 64. Support slider; 65. Connecting rod; 66. Hinge pin; 67. Adjusting cylinder; 7. Roller. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 , Figure 2 and Figure 3As shown, a roller shaft 7 surface processing clamping robot (hereinafter referred to as the robot) includes a beam frame 1 and four gripper assemblies 2 mounted on the beam frame 1. The beam frame 1 includes a beam 11 and two horizontally sliding frames 12 mounted on the beam 11. The four gripper assemblies 2 are divided into two groups and correspondingly mounted on the two sliding frames 12, and the two groups of gripper assemblies 2 are symmetrically arranged relative to each other in the sliding direction of the sliding frames 12. The two gripper assemblies 2 on the same sliding frame 12 are symmetrically arranged relative to each other in the direction perpendicular to the sliding direction of the sliding frame 12, and are used to jointly clamp the roller shaft 7.

[0033] The robotic arm provided by this invention is mainly used for gripping and grasping large functional rollers with a large length-to-diameter ratio. It can also be used as a shared robotic arm in processing areas for multi-process machining of the roller shaft 7 surface, cooperating with multiple processing stations for rapid gripping and placement, thus significantly improving the efficiency of the robotic arm. In this embodiment, the robotic arm can be fixed to the lifting end of a crane capable of horizontal and vertical movement via a lifting beam 11. The relative span of the two sets of gripper assemblies 2 can be adjusted by the relative movement of the two sliding frames 12 to accommodate gripping roller shafts 7 of different lengths. Using two sets of gripper assemblies 2 to grip the portions near both ends of the roller shaft 7 avoids bending and deformation at both ends caused by gripping the middle of the roller shaft 7 with a large length-to-diameter ratio, and enhances the stability and safety of gripping. Furthermore, two cylinders (not shown in the figure) can be horizontally mounted on the lifting beam 11, and the two sliding frames 12 can be correspondingly fixed to the output ends of the two cylinders.

[0034] like Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 7As shown, the gripper assembly 2 includes a sliding base 3 horizontally slidably mounted on a sliding frame 12, with the sliding base 3 and the sliding frame 12 arranged perpendicularly to each other in their sliding directions. Two cylinders (not shown in the figure) are fixedly mounted on the sliding frame 12 via fixed seats. The output ends of the two cylinders are fixedly connected to the sliding bases 3 in the two gripper assemblies 2 mounted on the same sliding frame 12 via bolts. A gripper frame 4 is mounted on the sliding base 3. The gripper frame 4 includes a base frame 42, which consists of two side guide plates 421 arranged horizontally opposite to each other and two sliding groove plates 422. The two sliding groove plates 422 are fixed between the two side guide plates 421 by bolts and assembled into a rectangular frame structure. The sliding groove plates 422 have a groove along the sliding frame 12. 2. A sliding groove extending in the sliding direction; a rotating arm 41 is fixed to the outer wall of one of the side guide plates 421 by bolts, and the rotating arm 41 is horizontally rotatably mounted on the sliding base 3; the base frame 42 is equipped with a rigid clamping part 5 and a flexible clamping part 6 for clamping the roller shaft 7; the rigid clamping part 5 mainly clamps and contacts the roller shaft 7 on the surface of the blank layer, while the flexible clamping part 6 mainly clamps and contacts the roller shaft 7 on the surface of the functional layer; in this embodiment, an existing stepper motor with a brake self-locking function is also fixed on the sliding base 3 by a motor fixing seat, and the output shaft of the stepper motor is fixedly connected to the rotating shaft of the rotating arm 41. The stepper motor drives the gripper frame 4 to rotate 180 degrees, and the positions of the rigid clamping part 5 and the flexible clamping part 6 can be switched.

[0035] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the rigid clamping part 5 includes a clamping plate base 51 fixed to the outer wall of two sliding plates 422 by bolts. A rigid clamping plate 52 is fixed to the clamping plate base 51 by bolts. An isosceles trapezoidal slot is formed on the rigid clamping plate 52 to clamp and contact the roller shaft 7. When the rigid clamping part 5 is switched to the clamping state, the slots of the rigid clamping plates 52 in the two jaw assemblies 2 on the same sliding base 3 are facing each other.

[0036] like Figure 1 , Figure 4 , Figure 5 and Figure 6As shown, the flexible clamping part 6 includes a flexible clamping plate 61 and an adjusting assembly 62 for adjusting the support stiffness of the flexible clamping plate 61; the flexible clamping plate 61 includes elastic springs 611 welded to the inner walls of two side guide plates 421 at both ends along its length; a connecting plate 612 and a flexible pad 613 are tightly installed on one side of the elastic springs 611; the connecting plate 612 is fixed to the elastic springs 611 and the side guide plates 421 connected to the rotating arm 41 by bolts. The pad 613 is made of rubber and is glued and fixed to the elastic spring 611; the elastic spring 611 is a thin sheet of spring steel, and the long sides of the elastic spring 611 have partial edge contact with the connecting plate 612 and the flexible pad 613 to improve the stability and integrity of the assembly of the connecting plate 612 and the flexible pad 613 on the elastic spring 611; the flexible pad 613 is used to clamp and contact the roller 7, and the clamping surface of the flexible pad 613 is an arc-shaped concave surface.

[0037] like Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, the adjustment assembly 62 includes multiple support sliders 64. The long sides of the elastic spring 611 are provided with guide rails extending along its length. The side of the elastic spring 611 facing away from the flexible pad 613 is the back end, and the guide rails are located at the back end of the elastic spring 611. Multiple support sliders 64 are slidably mounted between the two guide rails. Multiple support sliders 64 are also slidably mounted between the grooves of the two slide plates 422. Each support slider 64 is in support contact with the back end of the elastic spring 611. An adjustment beam 63 is slidably mounted between the two side guide plates 421. The adjustment beam 63 extends vertically... The spring 611 slides along its back end face. Two parallel guide strips 632 are embedded and fixed on the adjusting beam 63. Each guide strip 632 has a guide hole extending along its length. The support slider 64 furthest from the connecting plate 612 is fixed to the adjacent side guide plate 421 by screws. A hinge pin 66 is arranged between each pair of adjacent support sliders 64. Two connecting rods 65 are hinged to each hinge pin 66, and the two connecting rods 65 are correspondingly hinged to the two adjacent support sliders 64. All hinge pins 66 slide at both ends along the guide holes of the two guide strips 632. Two connecting blocks 631, L-shaped and correspondingly adjacent to the two side guide plates 421, are fixed to the adjusting beam 63 by bolts. Adjusting cylinders 67 are fixed to the outer walls of both side guide plates 421 by bolts, and the output end of each adjusting cylinder 67 is fixedly connected to the adjacent connecting block 631 by bolts.

[0038] like Figure 5 and Figure 6As shown, the flexible clamping part 6 mainly clamps the functional layer surface of the functional roller shaft 7; multiple support sliders 64 provide rigid support for the flexible clamping plate 61. Each support slider 64 is a single rigid support point. Although the overall support is discrete, the number of support sliders 64 can be reasonably increased to reduce the discreteness. At the same time, the flexible clamping plate 61 uses a whole piece of elastic spring sheet 611 as the inner skeleton of the flexible pad 613, which enhances the uniformity of the distribution of the support force of multiple support sliders 64 after being indirectly transmitted to the flexible pad 613 through the elastic spring sheet 611, further reducing the discreteness. In addition, the flexible pad 613 with the arc concave surface clamps and contacts the roller shaft 7, forming a surface contact, which also improves the uniformity of pressure distribution. In actual use, it can be approximated that the support stiffness acting on the flexible pad 613 is uniformly distributed along the distribution direction of the support sliders 64, so the defect of stress concentration in the clamping of the functional layer caused by discrete point support can be ignored. In this embodiment, the support area of ​​the multiple support sliders 64 covers the connection section between the flexible pad 613 and the elastic spring 611, and extends to the connection section between the connecting plate 612 and the elastic spring 611. This ensures that the support stiffness of the connection section between the flexible pad 613 and the elastic spring 611 remains uniformly distributed. When gripping a functional roller with a large length-to-diameter ratio, it can provide continuous and uniform support in the axial direction of the roller shaft 7. Combined with the gripping method of the two sets of gripper assemblies 2 close to both ends of the roller shaft 7, it can suppress the bending deformation of the roller shaft 7 due to its own weight and large deflection, improve the uniformity of the gripping pressure distribution, avoid local pressure concentration, and better protect the functional layer. In addition, the connecting plate 612 compensates for the problem of insufficient support strength in the connection section with the elastic spring 611 due to the partial support of the support sliders 64.

[0039] When processing the same batch of functional rollers, the support stiffness of the flexible clamping plate 61 is pre-adjusted according to the surface hardness and precision requirements of the functional layer. During adjustment, two adjusting cylinders 67 are activated, and the adjusting beam 63 is slid through the connecting block 631. Then, the adjusting beam 63 pushes all the hinge pins 66 through the guide hole strip 632. The hinge pins 66 slide along the guide hole and further drive the non-fixed support sliders 64 to slide evenly with one of the fixed sliders as a reference through the connecting rod 65. The support stiffness actually acting on the flexible pad 613 is adjusted by adjusting the support density of multiple support sliders 64 on the elastic spring 611. After debugging, the standard is that no indentation or other damage occurs after the flexible pad 613 comes into contact with the functional layer. The clamping mode suitable for clamping the functional layer is set, such as... Figure 8 and Figure 9 The diagram shows the state of the flexible clamping part 6 under different support stiffnesses. It should be added that the robot's teach pendant can preset multiple clamping modes, each clamping mode for a different functional layer, facilitating rapid switching between multiple modes during processing.

[0040] The processing of the functional roller shaft 7 is roughly divided into two stages: first, the roller shaft 7 blank is processed, and then the functional layer is processed. It should be noted that in the functional layer processing stage, depending on the processing technology of different functional roller shaft 7 surfaces, the functional layer may be divided into multiple coating surface processing processes.

[0041] When processing the roller shaft 7 blank, it can be gripped and held by the rigid clamping part 5. Specifically, by rotating the rotating arm 41, the rigid clamping part 5 is rotated to the clamping state. During gripping, on the same sliding frame 12, the two sliding bases 3 slide towards each other, so that the roller shaft 7 is clamped in the slots of the two sets of rigid clamping plates 52. Then, the crane drives the robot arm to grip and move, completing the gripping and releasing of the roller shaft 7 blank during the processing stage. The clamping state is as follows: Figure 2 As shown.

[0042] During functional layer processing, the roller shaft 7 can be gripped and held using the flexible clamping part 6. Specifically, the flexible clamping part 6 is rotated to the clamping position by rotating the rotating arm 41. During gripping, the two sliding bases 3 slide towards each other on the same sliding frame 12, so that the roller shaft 7 is clamped between the flexible pads 613 of the two sets of flexible clamping plates 61. Then, the crane drives the robot arm to grip and move, completing the gripping and releasing of the roller shaft 7 in the functional layer processing stage. The clamping state is as follows: Figure 3 As shown.

[0043] In the blank processing stage of roller 7, rigid clamping part 5 is used for clamping. On the one hand, the rigid clamping part 5 makes the clamping operation more convenient and stable through rigid clamping. On the other hand, the rigid clamping part 5 and the flexible clamping part 6 are used for clamping in the two major processing stages of roller 7 respectively. The division of labor avoids mixing and is conducive to the protection of the functional layer.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a manner common to the art; any possible variations and modifications made by those skilled in the art without departing from the technical solution of the present invention, or equivalent embodiments with equivalent changes, do not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A roller surface machining and clamping robot, characterized in that, include: The beam lifting frame includes a beam and two horizontally sliding frames that are adjusted and mounted on the beam. And four gripper assemblies, which are divided into two groups and are correspondingly assembled on two sliding frames. The two groups of gripper assemblies are symmetrically arranged relative to each other in the sliding direction of the sliding frame. The two gripper assemblies on the same sliding frame are symmetrically arranged relative to each other in the direction perpendicular to the sliding direction of the sliding frame, and are used to cooperate in clamping the roller shaft. The gripper assembly includes a sliding base that is horizontally driven and slidably mounted on the beam lifting frame, a gripper frame that is horizontally driven and rotatably mounted on the sliding base, and a gripper frame that is horizontally driven and rotatably mounted on the sliding base and a base frame fixed on the rotating arm. The gripper frame is equipped with a rigid clamping part and a flexible clamping part for clamping the roller shaft. Both the rigid clamping part and the flexible clamping part are mounted on the base frame. The base frame has a rectangular frame structure and includes two side guide plates and two sliding plates arranged horizontally opposite each other. The two sliding plates are fixed between the two side guide plates. A stepper motor is also fixed on the sliding base via a motor mounting bracket, and the output shaft of the stepper motor is fixedly connected to the rotating shaft of the rotating arm. The stepper motor drives the gripper frame to rotate 180 degrees, which can switch the position of the rigid gripping part and the flexible gripping part. The rigid clamping part includes a clamping plate base that is fixed to the outer wall of two slide plates by bolts, and a rigid clamping plate is fixed to the clamping plate base by bolts; The flexible clamping part includes a flexible clamping plate and an adjustment assembly for adjusting the support stiffness of the flexible clamping plate. The flexible clamping plate includes a spring sheet fixed on the gripper frame, the spring sheet being fixed between two side guide plates, a connecting plate being fixedly connected to one of the side guide plates, and a support slider being slidably installed between two slide plates. A connecting plate and a flexible pad are fixed on one side of the spring sheet. The connecting plate is fixed to the gripper frame, and the flexible pad is used for clamping contact with the roller shaft. The adjustment assembly includes multiple support sliders evenly distributed along the length of the spring sheet and slidingly engaging with the back end of the spring sheet. Each support slider is in support contact with the back end of the spring sheet. The support stiffness of the flexible clamping plate is adjusted by evenly adjusting the spacing of the multiple support sliders through the adjustment assembly. When the flexible pad is clamped to the roller shaft by sliding the sliding base, multiple support sliders are evenly distributed in the axial direction of the roller shaft.

2. The roller surface processing clamping robot according to claim 1, characterized in that: The adjustment assembly also includes an adjustment beam slidably mounted between two side guide plates; the support slider furthest from the connecting plate is fixed on the adjacent side guide plate, and a hinge pin is arranged between each pair of adjacent support sliders. Two connecting rods are hinged on the hinge pins, and the two connecting rods are hinged to the two adjacent support sliders respectively; all the hinge pins are slidably mounted on the adjustment beam in a straight line parallel to the sliding direction of the support slider.

3. The roller surface processing clamping robot according to claim 1, characterized in that: The support area, where multiple support sliders are distributed, covers the connection section between the flexible pad and the elastic spring, and extends to the connection section between the connecting plate and the elastic spring.

4. The roller surface processing clamping robot according to claim 2, characterized in that: Two parallel guide bars are fixed on the adjusting beam. Each guide bar has a guide hole extending along its length. The two ends of the hinge pin slide along the guide holes of the two guide bars.

5. A roller surface processing clamping robot according to claim 2, characterized in that: At least one connecting block is fixed on the adjusting beam, and an adjusting cylinder is fixedly connected to the connecting block. The adjusting cylinder is fixed on the outer wall of the base frame.

6. The roller surface processing clamping robot according to claim 1, characterized in that: The rigid clamping plate has an isosceles trapezoidal groove that contacts the roller shaft; the clamping surface of the flexible pad is an arc-shaped concave surface.

Images