Winding drum part taking and placing robot

Abstract

The utility model discloses a winding drum part pick-and-place robot which comprises a movable chassis, a mechanical arm, a pick-and-place clamping jaw and a collecting box, the mechanical arm and the collecting box are both installed on the movable chassis, the pick-and-place clamping jaw is installed at the driving end of the mechanical arm, and the pick-and-place clamping jaw is provided with a visual identification positioning camera. An imaging part of the visual recognition positioning camera faces a clamping part of the taking and placing clamping jaw, the taking and placing clamping jaw is used for clamping a roll core or clamping a winding drum piece in an expanded mode, the collecting box is used for collecting the roll core, in this way, the moving chassis can move to be close to the winding drum piece, and the mechanical arm drives the clamping part of the taking and placing clamping jaw to stretch into the roll core of the winding drum piece. When a winding core is arranged on the shaft piece, the taking and placing clamping jaw clamps the winding core to be placed in the collecting box, the winding core is placed in the collecting box, and then the winding core is taken out and placed in the collecting box, so that the winding core can be taken out and placed in the collecting box. And when the taking and placing clamping jaw is used for clamping the winding drum piece or the winding core, the winding drum piece and the winding core are identified by the visual identification positioning camera.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a reel picking and placing robot. Background Art

[0002] The roll member 7 of the coil type is composed of a roll core 71 and a coil 72 rolled outside the roll core 71. Currently, common roll members include film rolls, waterproof rolls, foil rolls, etc., wherein the roll core slot is a paper tube. For the unwinding equipment, it has an air-expanding shaft-like shaft for sleeveing ​​the roll member. After the coil is unwound, only the roll core is left on the shaft. Currently, the remaining roll core on the shaft is mostly removed manually, and a new roll member is re-sleeved on the shaft, which results in a low degree of intelligence and requires special personnel to be on duty. Since the coils on the existing roll components of this type are not resistant to clamping (clamp marks will be left on the coils when clamping, which will affect the aesthetics of the coils), there are certain limitations in the automatic placement of the roll components, that is, the clamping method is required not to cause damage or clamp marks to the coils. However, the current expansion-type clamps mostly adopt the structure disclosed in the document No. CN110153454B "Clamp", which is an expansion-type structure with multiple teeth distributed in an annular direction at intervals, but its structure is complex and can only be expanded-type clamped, so its function is relatively simple in actual use. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a reel picking and placing robot which has a simple structure and can conveniently pick up and deliver a reel to a shaft, and can also take away and store the reel core on the shaft.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is as follows: a roll-picking and placing robot, comprising a mobile chassis, a mechanical arm, a pick-and-place clamp and a collection box, the mechanical arm and the collection box are both installed on the mobile chassis, the pick-and-place clamp is installed on the driving end of the mechanical arm, the pick-and-place clamp is provided with a visual recognition and positioning camera, the imaging part of the visual recognition and positioning camera is facing the clamping part of the pick-and-place clamp, the pick-and-place clamp is used to clamp a roll core or an expanded clamping roll, and the collection box is used to collect the roll core.

[0005] The beneficial effect of the above technical solution is that: the mobile chassis can be moved close to the roll member, and the clamping part of the pick-and-place clamping claw driven by the robot arm can extend into the core of the roll member and expand to clamp the roll member. At this time, the mobile chassis is moved close to the shaft member, and the roll member can be plugged into the shaft member. When there is a roll core on the shaft member, the roll core can be first clamped by the pick-and-place clamping claw and placed in the collection box. When the pick-and-place clamping claw clamps the roll member or the roll core, the visual recognition and positioning camera is used to identify the roll member and the roll core.

[0006] The mobile chassis described in the above technical solution is an AGV trolley.

[0007] The beneficial effect of the above technical solution is that it is flexible when moving and can move along a pre-defined moving track.

[0008] The robotic arm described in the above technical solution is a multi-degree-of-freedom robotic arm.

[0009] The beneficial effect of the above technical solution is that it drives the pick-and-place clamping claw to move flexibly.

[0010] The collecting box in the above technical solution is a square trough body, which is obliquely arranged on the moving chassis along the length direction, and a baffle is arranged in the middle of the notch of the collecting box along the transverse direction.

[0011] The beneficial effect of the above technical solution is that the roll core can be conveniently placed in the collection box, and the baffle can prevent the roll core from being thrown out of the collection box.

[0012] In the above technical solution, a partition plate is arranged in the middle of the collection box along its length direction, and the partition plate is used to divide the collection box into a plurality of sub-chambers for accommodating the winding cores.

[0013] The beneficial effect of the above technical solution is that a winding core can be placed in each sub-slot chamber along its length direction.

[0014] In the above technical solution, a guide plate is arranged inside the collecting box which is inclined toward the upper end, and the inclination angle of the guide plate is greater than the inclination angle of the collecting box.

[0015] The beneficial effect of the above technical solution is that after the pick-and-place clamping claws clamp the roll core, they are released from the end of the collection box with a higher horizontal height, and the roll core will slide into the collection box by itself.

[0016] The pick-and-place clamping claw in the above technical scheme includes a shell, a driving member, a telescopic member, a push plate and two clamping rods. The driving member is installed on the shell, the two clamping rods are parallel to each other and spaced apart, and the two clamping rods are both slidably connected to the shell and are both transmission connected to the driving member. The telescopic member is installed on the shell, and the push plate is provided with strip holes for the two clamping rods to pass through and slide. The two clamping rods both pass through the strip holes vertically, and the push plate is transmission connected to the telescopic end of the telescopic member. The driving member is used to drive the two clamping rods to move closer to or away from each other to pick up and place the reel or reel core, and the telescopic member is extended to drive the push plate to move relative to the clamping rod away from the shell to push out the reel released by the two clamping rods.

[0017] The beneficial effect of the above technical solution is that the two clamping rods can be extended into the winding core, and the driving member drives the two clamping rods to move away from each other to clamp the winding member, and when the winding member is transferred to be close to the shaft member, the other end of the winding member can be inserted into the shaft member, and then the driving member drives the two clamping rods to move close to each other to loosen the winding member, and the telescopic member drives the push plate to move away from the shell. At this time, the push plate can push the winding member to be completely sleeved on the shaft member, and the two clamping rods withdraw from the winding member, and when the winding core on the shaft member needs to be removed, the driving member directly drives the two clamping rods to move close to each other to clamp the outside of the winding core, and the winding core is pulled out from the shaft member and sent to the collection box.

[0018] The above technical solution also includes two sliders, and the two sliders correspond to the two clamping rods one by one. The two sliders are slidably installed on one side of the shell, and the two clamping rods are vertically installed on the corresponding sliders. The shell is provided with a strip sliding hole at the sliding track of the slider, and the slider has a connecting part that penetrates into the shell through the strip sliding hole. The driving member is installed in the shell, and the two connecting parts are transmission connected to the driving member. The driving member drives the two sliders to drive the two clamping rods to move closer to each other or away from each other.

[0019] The beneficial effect of the above technical solution is that the two clamping rods have better stability when sliding relative to the housing.

[0020] The driving member described in the above technical solution is a double-head telescopic cylinder or an electric bidirectional screw driving member.

[0021] The beneficial effects of the above technical solution are: its structure is simple, and the movement synchronization of the two clamping rods is good, and the movement directions are always opposite.

[0022] In the above technical solution, the push plate is a strip plate, and the strip hole is arranged along the length direction of the push plate, and the connection between the telescopic end of the telescopic member and the push plate is located in the middle of the long side of the push plate.

[0023] The beneficial effects of the above technical solution are: it has a simple structure and a compact volume, and does not affect the pushing out of the roll member. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a vertical view of the roll-picking and placing robot according to an embodiment of the utility model;

[0025] Figure 2 It is a vertical view of the collection box described in the embodiment of the utility model;

[0026] Figure 3It is a schematic diagram of the roll core sliding down in the collection box in the embodiment of the utility model;

[0027] Figure 4 It is a vertical view of the pick-and-place clamp in an upright state described in an embodiment of the utility model;

[0028] Figure 5 It is a vertical view of the pick-and-place clamping claw in a horizontal position described in an embodiment of the utility model;

[0029] Figure 6 It is a side view of the pick-and-place clamp described in the embodiment of the utility model;

[0030] Figure 7 This is a schematic diagram of the structure of the housing cut away in the embodiment of the utility model;

[0031] Figure 8 Another schematic diagram of the structure of the housing in the embodiment of the utility model is cut away;

[0032] Fig. 9 This is a schematic diagram of the installation of the telescopic member and the camera on the housing in an embodiment of the utility model;

[0033] Fig.10 It is a schematic diagram of the structure of the clamping pole and pulp drum member for expansion in the embodiment of the utility model;

[0034] Fig.11 It is a schematic diagram of the structure of the clamping rod clamping the winding core in the embodiment of the utility model.

[0035] In the figure: 1. Mobile chassis; 2. Robotic arm; 3. Pick-up and place clamping claw; 31. Shell; 311. Strip slide hole; 32. Driving member; 321. Screw rod; 322. Driving motor; 323. Driving block; 33. Telescopic member; 34. Push plate; 341. Strip hole; 35. Clamping rod; 36. Sliding block; 361. Connecting part; 37. Mounting seat; 4. Collecting box; 41. Baffle; 42. Partition plate; 43. Sub-slot chamber; 44. Guide plate; 5. Visual recognition and positioning camera; 6. Support seat; 7. Reel member; 71. Reel core. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0037] like Figure 1As shown, this embodiment provides a roll-pickup and placement robot, comprising a mobile chassis 1, a mechanical arm 2, a pick-up and placement clamp 3 and a collection box 4, wherein the mechanical arm 2 and the collection box 4 are both mounted on the mobile chassis 1, the pick-up and placement clamp 3 is mounted on the driving end of the mechanical arm 2, and the pick-up and placement clamp 3 has a visual recognition and positioning camera 5, the imaging portion of the visual recognition and positioning camera 5 faces the clamping portion of the pick-up and placement clamp 3, and the pick-up and placement clamp 3 is used to clamp a roll core 71 or an expansion-type clamping roll 7 , the collecting box 4 is used to collect the roll core 71, so that the mobile chassis can be moved close to the roll piece, and the gripping part of the pick-and-place clamp driven by the robot arm extends into the roll core of the roll piece, and expands to clamp the roll piece. At this time, the mobile chassis moves close to the shaft piece, and the roll piece can be plugged into the shaft piece. When there is a roll core on the shaft piece, the pick-and-place clamp can first clamp the roll core and place it in the collecting box. When the pick-and-place clamp clamps the roll piece or the roll core, the visual recognition positioning camera is used to identify the roll piece and the roll core.

[0038] The mobile chassis 1 described in the above technical solution is an AGV vehicle, which is flexible when moving and can move along a pre-defined moving track.

[0039] The robot arm 2 described in the above technical solution is a multi-degree-of-freedom robot arm, so that it can drive the pick-and-place gripper to move flexibly (specifically, it can be a five-degree-of-freedom robot arm, a six-degree-of-freedom robot arm, etc., of course not limited to this).

[0040] like Figure 2 As shown, the collecting box 4 in the above technical solution is a square trough body, which is tilted along the length direction on the mobile chassis 1, and a baffle 41 is horizontally arranged in the middle of the notch of the collecting box 4, so that the core can be conveniently placed in the collecting box, and the baffle can prevent the core from being thrown out of the collecting box.

[0041] The collecting box 4 is installed on the mobile chassis via a supporting base 6 .

[0042] In the above technical solution, a partition plate 42 is arranged in the middle of the collection box 4 along its length direction, and the partition plate 42 is used to divide the collection box 4 into a plurality of sub-chambers 43 for accommodating the winding core 71, so that the winding core can be placed in each sub-chamber along its length direction.

[0043] In the above technical solution, the collecting box 4 is inclined to the inner side of the upper end and a guide plate 44 is arranged, and the inclination angle of the guide plate 44 is greater than the inclination angle of the collecting box 4 (such as Figure 3As shown, the guide plate is in an inclined state relative to the bottom wall of the collection box, and its inclination direction is consistent with the inclination direction of the collection box, but the inclination angle is larger, so that the inner part of the upwardly inclined end of the collection box can slide quickly into the collection box along the slope of the guide plate after the winding core is placed on the guide plate, wherein, Figure 3 The middle dotted line represents the horizontal plane, the angle between the collection box and the horizontal plane can be about 30°, and the angle between the guide plate and the horizontal plane can be about 60°), so that after the pick-and-place clamps the roll core, it is released from the end of the collection box with a higher horizontal height. At this time, the roll core will slide into the collection box by itself.

[0044] like Figure 4-Figure 6 As shown, the pick-and-place clamp 3 in the above technical solution includes a shell 31, a driving member 32, a telescopic member 33, a push plate 34 and two clamping rods 35, the driving member 32 is installed on the shell 31, the two clamping rods 35 are parallel to each other and spaced apart, and the two clamping rods 35 are both slidably connected to the shell 31 and are both transmission-connected to the driving member 32, the telescopic member 33 is installed on the shell 31, and the push plate 34 is provided with a strip hole 341 for the two clamping rods 35 to pass through and slide, the two clamping rods 35 both vertically pass through the strip hole 341, and the push plate 34 is transmission-connected to the telescopic end of the telescopic member 33, the driving member 32 is used to drive the two clamping rods 35 to move closer to or farther away from each other to pick up and place the reel 7 or the reel core 71, and the telescopic member 33 is extended. The length is enough to drive the push plate 34 to move relative to the clamping rod 35 away from the shell body 31 to push out the reel member 7 that the two clamping rods 35 have released, so that the two clamping rods can extend into the reel core, and the two clamping rods are driven by the driving member to move away from each other to clamp the reel member, and when the reel member is transferred to close to the shaft member, the other end of the reel member can be inserted on the shaft member, and then the two clamping rods are driven by the driving member to move close to each other to loosen the reel member, and the push plate is driven by the telescopic member to move away from the shell body, at this time the push plate can push the reel member to be completely sleeved on the shaft member, and the two clamping rods are withdrawn from the reel member, and when the reel core on the shaft member needs to be removed, the two clamping rods are directly driven by the driving member to move close to each other to clamp the outer side of the reel core, and the reel core is pulled out from the shaft member and sent to the collection box.

[0045] like Figure 4-Figure 8As shown, the above technical solution also includes two sliders 36, and the two sliders 36 correspond to the two clamping rods 35 one by one. The two sliders 36 are slidably installed on one side of the shell 31, and the two clamping rods 35 are vertically installed on the corresponding sliders 36. A strip sliding hole 311 is provided on the shell 31 at the sliding track of the slider 36, and the slider 36 has a connecting portion 361 that penetrates into the shell 31 through the strip sliding hole 311. The driving member 32 is installed in the shell 31, and the two connecting portions 361 are both transmission-connected with the driving member 32. The driving member 32 drives the two sliders 36 to drive the two clamping rods 35 to move closer to or away from each other, so that the stability of the two clamping rods is better when sliding relative to the shell.

[0046] In the above technical solution, the driving member 32 has two driving ends, and the driving member 32 is used to drive the two driving ends to move synchronously to be close to or away from each other, and the two clamping rods 35 correspond to the two driving ends of the driving member 32 one by one, and each clamping rod 35 is driven to reciprocate by the corresponding driving end. The structure is simple and the operation efficiency is high. Specifically, the driving member 32 is a double-head telescopic cylinder (such as Figure 7 As shown, it can be similar to a double-axis double-rod slide cylinder with two telescopic ends that can be telescopically extended synchronously, so the double-head telescopic cylinder belongs to the existing products and will not be described here) or an electric bidirectional screw drive, which has a simple structure. Figure 8 As shown, the electric bidirectional screw drive member 32 includes a screw 321, a driving motor 322 and two driving blocks 323. The thread directions at both ends of the screw 321 are opposite, and the two driving blocks 323 are respectively threadedly connected to the two ends of the screw 321. The two driving blocks 323 correspond to the two sliders 36 one by one, and are respectively connected to the connecting parts 361 on the corresponding sliders 36. The driving motor 322 is transmission-connected to one end of the screw 321. The driving motor 322 rotates forward to drive the two driving blocks 323 to drive the two clamping rods 35 to move closer to each other. The driving motor 322 rotates reversely to drive the two driving blocks 323 to drive the two clamping rods 35 to move away from each other. The two driving blocks 323 respectively constitute the two driving ends of the driving member 32.

[0047] In the above technical solution, the push plate 34 is a strip plate, and the strip hole 341 is arranged along the length direction of the push plate 34. The connection between the telescopic end of the telescopic member 33 and the push plate 34 is located in the middle position of the long side of the push plate 34. It has a simple structure and a compact size, and does not affect the pushing out of the roll member.

[0048] In the above technical solution, the side of the two clamping rods 35 that are close to and / or away from each other is an arc-shaped surface with the axial direction consistent with its length direction, and its arc mouth is facing the other clamping rod 35. At this time, when the two clamping rods 35 expand from the inside of the winding core to clamp the winding core, the side of the two clamping rods 35 that are away from each other can better fit with the winding core, and the clamping effect is good. When the two clamping rods 35 need to clamp the winding core from the outside, the side of the two clamping rods 35 that are close to each other can better fit and clamp the winding core.

[0049] In the above technical solution, the shell 31 is a cubic shell, the two clamping rods 35 are arranged at one end of the shell 31, and the telescopic member 33 is arranged at one side of the shell 31, and its structure is simple and compact.

[0050] The middle part of the strip hole 341 in the above technical solution is expanded to both sides to form a receiving hole 342, so that when the two clamping rods 35 clamp the core of the removed coil, one end of the core can be inserted into the receiving hole for limiting, which makes the clamping effect better.

[0051] In this embodiment, a mounting seat 37 may be further provided on the housing 31 , and the mounting seat 37 is used to be connected to the driving end of the robot arm 2 .

[0052] Specifically, the housing 31 in this embodiment is in the shape of a rectangular parallelepiped, and its interior is hollow. The driving member 32 is installed in the housing 31, and the mounting seat and the two clamping rods 35 are respectively installed at both ends of the housing 31. Fig. 9 As shown, the camera and the telescopic member 33 are respectively installed on both sides of the housing 31, and the telescopic member 33 can adopt a sliding cylinder.

[0053] The visual recognition and positioning camera described in this embodiment may adopt a binocular camera (the method of identifying and positioning the roll core based on a binocular camera belongs to the prior art in this field, and can refer to the method disclosed in document number CN115049731 B "A visual mapping and positioning method based on a binocular camera", so it will not be repeated here).

[0054] like Fig.10As shown, the roll piece 7 includes a core 71 and a roll material 72 wound outside the core 71, and the target place for placing the roll piece is usually on a shaft-like component. When the pick-up and placement clamp 3 provided in this embodiment takes the roll piece, the two clamping rods 35 are inserted into one end of the core and moved away from each other to tighten the core, and then the roll piece is sent to the other end and plugged on the shaft, and then the two clamping rods 35 are moved close to each other to loosen the core, and then the telescopic member 33 is extended and the push plate 34 is pushed out to push the roll piece until it is completely mounted on the shaft, and then the telescopic member 33 contracts to drive the push plate 34 to return (in the returned state, the push plate 34 and the two sliders 36 fit each other).

[0055] like Fig.11 As shown, after the coil on the reel is unwound, only the core is left on the shaft, and the two clamping rods 35 can clamp one end of the core (the axial direction of the core is consistent with the length direction of the two clamping rods 35), and pull the core off the shaft (because the core is inserted with the shaft when it is removed from the shaft, the two clamping rods can no longer be inserted into the core, and at this time it can only be clamped from the outside of the core by the two clamping rods). In this embodiment, after the core is clamped, the telescopic member can be extended to drive the push plate to move until the clamped end of the core is inserted into the receiving hole, and then the entire pick-and-place clamp can be moved under the drive of the robotic arm to The core is pulled off from the shaft (the extension of the telescopic member can make it difficult for the core to loosen from between the two clamping rods under the limit of the push plate). After the core is pulled off, the pick-and-place clamping claws can be driven by the robotic arm to move to insert the end of the core away from the clamped end into any end of the sub-groove body with a higher horizontal height. The telescopic member is first contracted to make the push plate retreat to its reset position. The driving member then drives the two clamping rods to move away from each other to release the core. At this time, the core falls into the sub-groove body and slides downward along the inclined direction of the sub-groove body until it completely falls into the sub-groove body (in this embodiment, the accommodating hole can be a circular hole as a whole, and its hole diameter can be slightly larger than the outer diameter of the core).

[0056] In this embodiment, the maximum travel of the push plate sliding down under the drive of the telescopic member is greater than the length of the clamping rod (ie, when the telescopic member is extended, the two clamping rods are both drawn out from the strip hole or the receiving hole).

[0057] The above description is only a preferred embodiment of the utility model and does not limit the utility model in any form. Any ordinary technician in the industry can smoothly implement the utility model as shown in the drawings of the specification and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the utility model using the technical content disclosed above are all equivalent embodiments of the utility model. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the utility model are still within the protection scope of the technical solution of the utility model.

Claims

1. A roll-up pick-and-place robot, characterized in that: The invention comprises a mobile chassis (1), a mechanical arm (2), a pick-and-place clamp (3) and a collection box (4), wherein the mechanical arm (2) and the collection box (4) are both mounted on the mobile chassis (1), the pick-and-place clamp (3) is mounted on the driving end of the mechanical arm (2), the pick-and-place clamp (3) is provided with a visual recognition positioning camera (5), the imaging portion of the visual recognition positioning camera (5) faces the clamping portion of the pick-and-place clamp (3), the pick-and-place clamp (3) is used to clamp a winding core (71) or an expanding type clamping reel (7), and the collection box (4) is used to collect the winding core (71).

2. The roll-loading pick-and-place robot according to claim 1, characterized in that: The mobile chassis (1) is an AGV vehicle.

3. The roll-loading pick-and-place robot according to claim 1, characterized in that: The mechanical arm (2) is a multi-degree-of-freedom mechanical arm.

4. The roll-loading pick-and-place robot according to claim 1, characterized in that: The collection box (4) is a square trough body, which is arranged obliquely on the movable chassis (1) along the length direction, and a baffle (41) is arranged in the middle of the notch of the collection box (4) along the transverse direction.

5. The roll-loading pick-and-place robot according to claim 4, characterized in that: A partition plate (42) is provided in the middle of the collection box (4) along its length direction, and the partition plate (42) is used to divide the collection box (4) into a plurality of sub-chambers (43) for accommodating winding cores (71).

6. The roll-loading pick-and-place robot according to claim 4 or 5, characterized in that: A guide plate (44) is provided inside the collecting box (4) at an angle inclined toward the upper end, and the inclination angle of the guide plate (44) is greater than the inclination angle of the collecting box (4).

7. The roll-loading pick-and-place robot according to claim 1, characterized in that: The pick-and-place clamp (3) comprises a housing (31), a driving member (32), a telescopic member (33), a push plate (34) and two clamping rods (35), wherein the driving member (32) is mounted on the housing (31), the two clamping rods (35) are parallel to each other and spaced apart, and the two clamping rods (35) are both slidably connected to the housing (31) and are both transmission-connected to the driving member (32), the telescopic member (33) is mounted on the housing (31), and the push plate (34) is provided with a slot for the two clamping rods (35) to pass through and slide. The two clamping rods (35) are vertically passed through the strip hole (341), and the push plate (34) is transmission-connected with the telescopic end of the telescopic member (33). The driving member (32) is used to drive the two clamping rods (35) to move closer to or farther away from each other to take and place the reel member (7) or the reel core (71). The telescopic member (33) is extended to drive the push plate (34) to move relative to the clamping rod (35) to move away from the housing (31) to push out the reel member (7) released by the two clamping rods (35).

8. The roll-loading pick-and-place robot according to claim 7, characterized in that: The invention also comprises two sliders (36), the two sliders (36) correspond to the two clamping rods (35) one by one, the two sliders (36) are slidably mounted on one side of the shell (31), and the two clamping rods (35) are vertically mounted on the corresponding sliders (36), the shell (31) is provided with a strip-shaped sliding hole (311) at the sliding track of the slider (36), the slider (36) has a connecting portion (361) which penetrates into the shell (31) through the strip-shaped sliding hole (311), the driving member (32) is mounted in the shell (31), and the two connecting portions (361) are transmission-connected with the driving member (32), and the driving member (32) drives the two sliders (36) to drive the two clamping rods (35) to move closer to each other or farther away from each other.

9. The roll-loading pick-and-place robot according to claim 7, characterized in that: The driving member (32) is a double-head telescopic cylinder or an electric bidirectional screw driving member.

10. The roll-loading pick-and-place robot according to claim 7, characterized in that: The push plate (34) is a strip plate, and the strip hole (341) is arranged along the length direction of the push plate (34). The connection between the telescopic end of the telescopic member (33) and the push plate (34) is located in the middle of the long side of the push plate (34).

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