Winding drum grabbing device and grabbing robot

Abstract

The winding drum grabbing device comprises a first telescopic cylinder, the first telescopic cylinder comprises a first cylinder barrel, a first piston, a connecting assembly and at least one ejector block, a first piston cavity and a movable cavity are formed in the first cylinder barrel, and at least one guide hole communicated with the movable cavity is formed in the side wall of the first cylinder barrel in the circumferential direction of the first cylinder barrel; the ejector block is movably arranged in the guide hole, and the first piston is connected with the ejector block through a connecting assembly; the second telescopic cylinder is coaxially and fixedly connected with the first cylinder barrel; the push plate surrounds the peripheral side of the first cylinder barrel, and the first telescopic cylinder can push the push plate to do reciprocating motion in the axial direction; when the first piston is located at the first position, the ejector block is completely located in the guide hole, and when the first piston is located at the second position, at least part of the ejector block protrudes out of the surface of the first cylinder barrel. According to the winding drum grabbing device and the grabbing robot, the winding drum can be stably grabbed and placed.

Description

Technical Field

[0001] This application relates to the field of roll gripping technology, and in particular to a roll gripping device and a material gripping robot. Background Technology

[0002] In tobacco packaging production, efficient feeding of inner lining paper rolls is a key factor in ensuring the continuous operation of packaging equipment.

[0003] In existing technologies, the handling and installation of inner liner paper rolls largely rely on manual operation or traditional mechanical gripping devices, resulting in problems such as high labor intensity, low feeding efficiency, and insufficient roll positioning accuracy. For example, traditional clamps often use rigid contact gripping, which is prone to unstable gripping due to the smooth surface of the inner liner paper roll or differences in specifications, leading to displacement or dropping during handling. Furthermore, it is difficult to accurately align with the machine installation position, requiring frequent manual adjustments and severely impacting production cycle time. While some automated equipment achieves mechanical gripping, its complex structure and poor adaptability result in insufficient compatibility with rolls of different inner diameters and weights. Moreover, uneven force during pushing can easily cause roll deformation or prevent proper gripping and placement, leading to insufficient reliability, material waste, and equipment downtime. Therefore, there is an urgent need for a roll gripping device that can efficiently and stably grip and accurately position inner liner paper rolls. Utility Model Content

[0004] Therefore, it is necessary to provide a roll gripping device and a material gripping robot to address the problem that existing equipment cannot properly grip and place rolls and has insufficient reliability.

[0005] The first aspect of this application provides a roll gripping device, comprising: a first telescopic cylinder including a first cylinder barrel, a first piston, a connecting assembly, and at least one top block; the first cylinder barrel having a first piston chamber and a movable chamber formed therein; the first cylinder barrel having at least one guide hole communicating with the movable chamber formed on its circumferential sidewall; the top block being movably disposed within the guide hole; the first piston being disposed within the first piston chamber and having a first position and a second position distributed along the axial direction of the first cylinder barrel; the first piston being connected to the top block via the connecting assembly; a second telescopic cylinder coaxially and fixedly connected to the first cylinder barrel; and a push plate surrounding the circumference of the first cylinder barrel; the first telescopic cylinder being capable of pushing the push plate to reciprocate axially; when the first piston is in the first position, the top block is completely located within the guide hole; when the first piston is in the second position, the top block at least partially protrudes from the surface of the first cylinder barrel.

[0006] In one embodiment, the second telescopic cylinder includes a second cylinder barrel, a second piston, and a second piston rod; the second cylinder barrel is coaxially and fixedly connected to the first cylinder barrel; a second piston chamber is formed inside the second cylinder barrel, and the second piston is disposed in the second piston chamber and has a third position and a fourth position distributed along the axial direction of the second cylinder barrel; the two ends of the second piston rod are respectively connected to the second piston and the push plate; when the second piston is in the third position, the push plate is close to the second cylinder barrel, and when the second piston is in the fourth position, the push plate is away from the second cylinder barrel.

[0007] In one embodiment, the first cylinder extends axially into the second cylinder.

[0008] In one embodiment, the second piston divides the second piston chamber into a third sub-chamber and a fourth sub-chamber; a third vent and a fourth vent are formed on the side wall of the second cylinder, the third vent communicating with the third sub-chamber and the fourth vent communicating with the fourth sub-chamber; the top end of the first cylinder extends axially into the fourth sub-chamber.

[0009] In one embodiment, the first piston divides the first piston chamber into a first sub-chamber and a second sub-chamber; a first vent is formed on the section of the first cylinder located inside the second cylinder, and a second vent is formed on the section of the first cylinder located outside the second cylinder; a fifth vent is formed on the sidewall of the second cylinder corresponding to the fourth sub-chamber; the first sub-chamber, the first vent, and the fifth vent are sequentially connected; and the second vent is connected to the second sub-chamber.

[0010] In one embodiment, the first vent and the fifth vent are connected in a sealed manner by a connecting pipe.

[0011] In one embodiment, the first telescopic cylinder includes a spring disposed within the first piston chamber and elastically abutting against the first piston.

[0012] In one embodiment, the connecting assembly includes a connecting post and at least one rotating rod; one end of the connecting post is threadedly connected to the first piston, and one end of all the rotating rods is pivotally connected to the other end of the connecting post; the other end of the rotating rod away from the connecting post is pivotally connected to the top block.

[0013] In one embodiment, the roll gripping device includes a sealing cover; the sealing cover is disposed on the end of the second telescopic cylinder away from the first cylinder.

[0014] A second aspect of this application provides a material handling robot, including a robotic arm, a camera bracket, a distance sensor, a flange connector, and the aforementioned roll gripping device; the robotic arm is connected to the end of the second telescopic cylinder away from the first cylinder via the flange connector, and the camera bracket and the distance sensor are respectively fixedly connected to the flange connector.

[0015] The beneficial effects are:

[0016] This application provides a roll gripping device and a material gripping robot. The roll gripping device includes a first telescopic cylinder, a second telescopic cylinder, and a push plate. A first piston is axially movable within the first piston chamber of the first cylinder. When the first piston is in the first position, the top block is completely located within the guide hole. At this time, the overall size of the first telescopic cylinder is small, allowing it to be inserted into the central region of the roll. Inputting air pressure drives the first piston from the first position to the second position. The first piston moves downwards, and through a connecting assembly, the top block at least partially protrudes from the surface of the first cylinder, thereby increasing the size of the first piston. The overall size of the telescopic cylinder allows it to engage with the central area of ​​the drum, keeping the drum and the drum gripping device relatively fixed, thus enabling it to move to a predetermined position. When the drum needs to be lowered, the above process is repeated, driving the first piston from the second position to the first position. The overall size of the first telescopic cylinder decreases, and the first telescopic cylinder is no longer engaged with the central area of ​​the drum. The first telescopic cylinder pushes the push plate to move axially downward, reliably separating the drum from the first telescopic cylinder. This ensures that the drum gripping device can reliably grip and place the drum, improving the user experience. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a roll gripping device provided in some embodiments of this application, wherein the top block protrudes from the surface of the first cylinder.

[0018] Figure 2 This is a front view of a roll gripping device provided in some embodiments of this application.

[0019] Figure 3 for Figure 2 The diagram shows a cross-sectional view of the structure shown, in which the second piston is in the third position.

[0020] Figure 4 for Figure 2 The diagram shows a cross-sectional view of the structure shown, in which the second piston is in the fourth position.

[0021] Figure 5 This is a schematic diagram of the internal structure of a first telescopic cylinder provided in some embodiments of this application; wherein the first piston is in a first position.

[0022] Figure 6This is a schematic diagram of the structure of the first piston and connecting assembly provided for some embodiments of this application.

[0023] Figure 7 This is a schematic diagram of the structure of a material-grabbing robot for grasping a roll, provided in some embodiments of this application. Detailed Implementation

[0024] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, if the technical terms such as "first" and "second" appear, these terms are used only for descriptive purposes to distinguish different objects, and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0029] In the description of the embodiments of this application, if the term "multiple" appears, "multiple" means at least two (including two), such as two, three, etc., unless otherwise explicitly specified. Similarly, if the term "multiple sets" appears, "multiple sets" refers to two or more sets (including two sets), and if the term "multiple pieces" appears, "multiple pieces" refers to two or more pieces (including two pieces).

[0030] In the description of the embodiments of this application, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms 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 the embodiments of this application 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 the embodiments of this application.

[0031] In the description of the embodiments of this application, unless otherwise explicitly specified and limited, the technical terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0032] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0034] The first aspect of this application provides a roll gripping device 100 for gripping a roll 200.

[0035] See Figures 1 to 7As shown, the roll gripping device 100 includes: a first telescopic cylinder 10, a second telescopic cylinder 20, and a push plate 30.

[0036] The first telescopic cylinder 10 includes a first cylinder barrel 11, a first piston 12, a connecting assembly 13, and at least one top block 14. The first cylinder barrel 11 has a first piston chamber 111 and a movable chamber 112. At least one guide hole 113 communicating with the movable chamber 112 is formed on the circumferential sidewall of the first cylinder barrel 11. The top block 14 is movably disposed within the guide hole 113. The first piston 12 is disposed within the first piston chamber 111 and has a first position (not shown) and a second position (not shown) distributed axially along the first cylinder barrel 11. The first piston 12 is connected to the top block 14 via the connecting assembly 13. A second telescopic cylinder 20 is coaxially fixedly connected to the first cylinder barrel 11. A push plate 30 surrounds the circumference of the first cylinder barrel 11, and the first telescopic cylinder 10 can push the push plate 30 to reciprocate axially. When the first piston 12 is in the first position, the top block 14 is completely located within the guide hole 113. When the first piston 12 is in the second position, the top block 14 at least partially protrudes from the surface of the first cylinder barrel 11.

[0037] Thus, the first piston 12 is movably disposed within the first piston chamber 111 along the axial direction of the first cylinder 11; when the first piston 12 is in the first position, the top block 14 is completely located within the guide hole 113, at which time the overall size of the first telescopic cylinder 10 is small, and it can be inserted into the central region of the drum 200; input air pressure drives the first piston 12 to move from the first position to the second position, the first piston 12 along the axial direction of the first cylinder 111. Figure 2 The position of the first telescopic cylinder 10 is moved downwards, and the connecting component 13 causes the top block 14 to protrude at least partially from the surface of the first cylinder 11, thereby increasing the overall size of the first telescopic cylinder 10. This allows the first telescopic cylinder 10 to engage with the central region of the drum 200, keeping the drum 200 relatively fixed to the drum gripping device 100, and enabling it to move to a predetermined position. When the drum 200 needs to be lowered, the above process is repeated, driving the first piston 12 from the second position to the first position. The overall size of the first telescopic cylinder 10 decreases, and the first telescopic cylinder 10 is no longer engaged with the central region of the drum 200. The first telescopic cylinder 10 pushes the push plate 30 to move downwards along the axial direction, reliably separating the drum 200 from the first telescopic cylinder 10. This ensures that the drum gripping device 100 can reliably grip and place the drum 200, improving the user experience.

[0038] In some possible embodiments, see Figures 1 to 7 As shown, the second telescopic cylinder 20 includes a second cylinder barrel 21, a second piston 22, and a second piston rod 23. The second cylinder barrel 21 is coaxially and fixedly connected to the first cylinder barrel 11;

[0039] A second piston chamber 211 is formed inside the second cylinder 21. The second piston 22 is disposed inside the second piston chamber 211 and has a third position (not shown) and a fourth position (not shown) distributed along the axial direction of the second cylinder 21. The two ends of the second piston rod 23 are respectively connected to the second piston 22 and the push plate 30. When the second piston 22 is in the third position, the push plate 30 is close to the second cylinder 21. When the second piston 22 is in the fourth position, the push plate 30 is away from the second cylinder 21.

[0040] Thus, the second piston 22 is axially movable within the second piston chamber 211 along the second cylinder 21; combined with Figure 2 When the drum gripping device 100 grips or transfers the drum 200, the second piston 22 is always in the third position, causing the push plate 30 to approach the second cylinder 21, making room for the first telescopic cylinder 10 to grip the drum 200 and avoiding interference. When it is time to lower the drum 200, the first piston 12 is driven to move from the second position to the first position, the overall size of the first telescopic cylinder 10 decreases, and the first telescopic cylinder 10 is no longer stuck to the central area of ​​the drum 200. Figure 3 The first telescopic cylinder 10 pushes the push plate 30 to move axially downward, causing the second piston 22 to move from the third position to the fourth position, and the push plate 30 to move away from the second cylinder 21, that is... Figure 3 The downward movement of the push plate 30 causes it to abut against the end face of the drum 200 and move downward, thus reliably separating the drum 200 from the first telescopic cylinder 10. This ensures that the drum gripping device 100 can reliably grip and place the drum 200, improving the user experience.

[0041] In this embodiment, there are three second piston rods 23, all of which extend axially and are arranged circumferentially around the first cylinder 11. This ensures that the second piston rods 23 do not interfere with the first telescopic cylinder 10, and the three second piston rods 23 provide guidance, preventing the second piston 22 from deflecting during movement.

[0042] Optionally, the first telescopic cylinder 10 is a pneumatic cylinder.

[0043] Optionally, the second telescopic cylinder 20 is a pneumatic cylinder.

[0044] In some possible embodiments, see Figures 1 to 7 As shown, the first cylinder 11 extends axially from its top end into the second cylinder 21.

[0045] Thus, by extending the top of the first cylinder 11 into the second cylinder 21 along the axial direction, the space of the second cylinder 21 can be utilized while the stroke of the first piston 12 remains unchanged, thereby reducing the overall axial length of the drum gripping device 100, thereby reducing the space occupied by the drum gripping device 100 and making it more flexible to use.

[0046] In some possible embodiments, see Figures 1 to 7 As shown, the second piston 22 divides the second piston chamber 211 into a third sub-chamber 212 and a fourth sub-chamber 213; a third air hole 214 and a fourth air hole 215 are formed on the side wall of the second cylinder 21, the third air hole 214 communicates with the third sub-chamber 212, and the fourth air hole 215 communicates with the fourth sub-chamber 213; the top end of the first cylinder 11 extends axially into the fourth sub-chamber 213.

[0047] Thus, the third vent 214 is connected to the third sub-cavity 212, and the fourth vent 215 is connected to the fourth sub-cavity 213. When air is supplied to the third sub-cavity 212 through the third vent 214 and air is drawn from the fourth sub-cavity 213 through the fourth vent 215, the pressure difference causes the second piston 22 to move from the third position to the fourth position. Similarly, when air is drawn from the third sub-cavity 212 through the third vent 214 and air is supplied to the fourth sub-cavity 213 through the fourth vent 215, the pressure difference causes the second piston 22 to move from the fourth position to the third position. This allows the second piston 22 to switch between the third and fourth positions, thereby controlling the push plate 30 to move closer to or further away from the second cylinder 21.

[0048] In some possible embodiments, see Figures 1 to 7 As shown, the first piston 12 divides the first piston chamber 111 into a first sub-chamber 114 and a second sub-chamber 115; a first vent 116 is formed on the section of the first cylinder 11 located inside the second cylinder 21, and a second vent 117 is formed on the section of the first cylinder 11 located outside the second cylinder 21; a fifth vent 216 is formed on the side wall of the second cylinder 21 corresponding to the fourth sub-chamber 213; the first sub-chamber 114, the first vent 116, and the fifth vent 216 are connected in sequence; the second vent 117 is connected to the second sub-chamber 115.

[0049] Thus, by setting the first sub-cavity 114, the first air hole 116, and the fifth air hole 216 to be connected in sequence; and the second air hole 117 to be connected to the second sub-cavity 115, the first cylinder 11 located in the second cylinder 21 can also be controlled by external air pressure; thereby completing the switching of the first piston 12 between the second position and the first position.

[0050] Specifically, when air is supplied to the second sub-cavity 115 through the second vent 117 and air is drawn from the first sub-cavity 114 through the fifth vent 216 and the first vent 116, the pressure difference causes the first piston 12 to move from the second position to the first position. Similarly, when air is drawn from the second sub-cavity 115 through the second vent 117 and air is supplied to the first sub-cavity 114 through the fifth vent 216 and the first vent 116, the pressure difference causes the first piston 12 to move from the first position to the second position. This allows the switching of the first piston 12 between the first and second positions to be completed, thereby controlling the top block 14 to be completely located within the guide hole 113 or protruding from the surface of the first cylinder 11.

[0051] In some possible embodiments, see Figures 1 to 7 As shown, the first vent 116 and the fifth vent 216 are connected in a sealed manner through a connecting pipe 217. This ensures that the first sub-cavity 114 can communicate with the outside through the first vent 116, the connecting pipe 217, and the fifth vent 216, and also ensures that the first sub-cavity 114 is isolated from the third sub-cavity 212 by gas, and ensures that the first telescopic cylinder 10 and the second telescopic cylinder 20 can be independently controlled by air pressure.

[0052] In some possible embodiments, see Figures 1 to 7 As shown, the first telescopic cylinder 10 includes a spring 15, which is disposed in the first piston chamber 111 and elastically abuts against the first piston 12.

[0053] Thus, when the air pressure disappears, the spring 15 provides elastic force, keeping the first piston 12 in the second position. This causes the top block 14 to at least partially protrude from the surface of the first cylinder 11, allowing the first telescopic cylinder 10 to remain locked with the central area of ​​the drum 200, preventing it from falling off. When it is necessary to drive the first piston 12 from the second position to the first position, air is supplied to the second sub-cavity 115 through the second air hole 117, and air is drawn from the first sub-cavity 114 through the fifth air hole 216 and the first air hole 116. The pressure difference overcomes the elastic force of the spring 15, causing the first piston 12 to move from the second position to the first position. The overall size of the first telescopic cylinder 10 decreases, and the first telescopic cylinder 10 is no longer locked with the central area of ​​the drum 200. The first telescopic cylinder 10 pushes the push plate 30 to move axially downward, reliably separating the drum 200 from the first telescopic cylinder 10. This ensures that the drum gripping device 100 can reliably grip and place the drum 200, improving the user experience.

[0054] In some possible embodiments, see Figures 1 to 7As shown, the connecting assembly 13 includes a connecting post 131 and at least one rotating rod 132; one end of the connecting post 131 is threadedly connected to the first piston 12, and one end of all the rotating rods 132 is pivotally connected to the other end of the connecting post 131; the other end of the rotating rod 132 away from the connecting post 131 is pivotally connected to the top block 14.

[0055] Thus, when the first piston 12 moves from the first position to the second position, the first piston 12 along... Figure 5 The first piston 12 moves downward, causing the connecting column 131 to move downward. One end of the rotating rod 132 rotates upward relative to the connecting column 131, thus increasing the angle B between the rotating rod 132 and the connecting column 131. Due to the restriction of the guide hole 113, the top block 14 converts the rotation of the rotating rod 132 into radial outward movement, thereby causing the top block 14 to move outward from the guide hole 113 at least partially and eventually protrude from the surface of the first cylinder 11. In this way, the overall size of the first telescopic cylinder 10 can be increased, so that the first telescopic cylinder 10 can be locked with the central area of ​​the drum 200, keeping the drum 200 and the drum gripping device 100 relatively fixed, and thus being able to be transferred to the predetermined position.

[0056] When the first piston 12 moves from the second position to the first position, the first piston 12 along... Figure 5 The orientation of the middle moves upward, and the movement direction of the connecting column 131, the rotating rod 132 and the top block 14 is opposite to the above process, which will not be described again here.

[0057] In this embodiment, the top block 14, guide hole 113, and rotating rod 132 can be in three sets. These three rotating rods 132 are pivotally connected to the end of the connecting column 131 in a triangular configuration, ensuring uniform force distribution on the connecting column 131 and preventing skewing. Simultaneously, the three top blocks 14 protrude from the guide hole 113, facilitating a comprehensive increase in the overall size of the first telescopic cylinder 10. This allows the first telescopic cylinder 10 to more securely engage with the central region of the drum 200, preventing skewing and ensuring the stable operation of the drum gripping device 100.

[0058] In some possible embodiments, see Figures 1 to 7 As shown, the roll gripping device includes a sealing cover 40; the sealing cover 40 is disposed on the end of the second telescopic cylinder 20 away from the first cylinder 11.

[0059] Thus, the sealing cap 40 is placed on the end of the second telescopic cylinder 20 away from the first cylinder 11, ensuring the airtightness of the second telescopic cylinder 20, and at the same time, preventing the sealing cap 40 from interfering with the first telescopic cylinder 10.

[0060] A second aspect of the embodiments of this application provides a material-grabbing robot, see reference. Figure 1 As for Figure 7As shown, the material handling robot includes a robotic arm 90, a camera bracket 91, a distance sensor 92, a flange connector 93, and the aforementioned roll gripping device; the robotic arm 90 is connected to the end of the second telescopic cylinder 20 away from the first cylinder 11 through the flange connector 93, and the camera bracket 91 and the distance sensor 92 are respectively fixedly connected to the flange connector 93.

[0061] A flange connector 93 is installed, and a push-out sealing cover 40 is installed below the flange connector 93. A second cylinder 21 is installed below the sealing cover 40. The robotic arm 90 is bolted to the flange connector 93, and a camera bracket 91 and a range sensor 92 are fixed on the flange connector 93.

[0062] The camera mount 91 can mount a camera (not shown), and the range sensor 92 can be a laser sensor.

[0063] The robotic arm 90 can be a five-axis robotic arm. By rotating the five axes of the robotic arm 90, the camera is made perpendicular to the ground. When the gripping robot moves to the predetermined position, the camera triggers an image. The center of the roll 200 is identified through calculation, and the height difference of the roll 200 is determined by the image ratio. After calculating the height of the highest roll 200, the robotic arm 90 moves above this inner liner paper roll. The distance sensor 92 detects and calculates the distance between the end of the robotic arm 90 and the roll 200. The gripping robot loads the data into its running trajectory to identify the stack position of the inner liner paper roll. When it is necessary to place the roll 200 on an external machine (not shown), the five axes of the robotic arm 90 are rotated to make the camera parallel to the ground. The camera is photographed and identified by the positioning QR code on the machine. After calculating the actual deviation distance, the gripping robot moves into position. Finally, the roll gripping device 100 grips and places the roll 200. The entire process is stable and reliable.

[0064] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A roll gripping device, characterized in that, The roll gripping device includes: The first telescopic cylinder (10) includes a first cylinder (11), a first piston (12), a connecting assembly (13), and at least one top block (14). The first cylinder (11) has a first piston chamber (111) and a movable chamber (112). The first cylinder (11) has at least one guide hole (113) that communicates with the movable chamber (112) on its circumferential sidewall. The top block (14) is movably disposed in the guide hole (113). The first piston (12) is disposed in the first piston chamber (111) and has a first position and a second position distributed along the axial direction of the first cylinder (11). The first piston (12) is connected to the top block (14) through the connecting assembly (13). The second telescopic cylinder (20) is coaxially and fixedly connected to the first cylinder (11); And a push plate (30) surrounding the periphery of the first cylinder (11), wherein the first telescopic cylinder (10) is capable of pushing the push plate (30) to reciprocate along the axial direction; When the first piston (12) is in the first position, the top block (14) is completely located inside the guide hole (113). When the first piston (12) is in the second position, the top block (14) protrudes at least partially from the surface of the first cylinder (11).

2. The roll gripping device according to claim 1, characterized in that, The second telescopic cylinder (20) includes a second cylinder barrel (21), a second piston (22), and a second piston rod (23); The second cylinder (21) is coaxially and fixedly connected to the first cylinder (11); The second cylinder (21) has a second piston chamber (211) formed inside it, and the second piston (22) is disposed inside the second piston chamber (211) and has a third position and a fourth position distributed along the axial direction of the second cylinder (21); the two ends of the second piston rod (23) are respectively connected to the second piston (22) and the push plate (30). When the second piston (22) is in the third position, the push plate (30) is close to the second cylinder (21), and when the second piston (22) is in the fourth position, the push plate (30) is away from the second cylinder (21).

3. The roll gripping device according to claim 2, characterized in that, The first cylinder (11) extends axially into the second cylinder (21) at its top end.

4. The roll gripping device according to claim 3, characterized in that, The second piston (22) divides the second piston chamber (211) into a third sub-chamber (212) and a fourth sub-chamber (213); A third vent (214) and a fourth vent (215) are formed on the side wall of the second cylinder (21). The third vent (214) is connected to the third sub-cavity (212), and the fourth vent (215) is connected to the fourth sub-cavity (213). The first cylinder (11) extends axially to the top end into the fourth sub-cavity (213).

5. The roll gripping device according to claim 4, characterized in that, The first piston (12) divides the first piston chamber (111) into a first sub-chamber (114) and a second sub-chamber (115). A first vent (116) is formed on the section of the first cylinder (11) located inside the second cylinder (21), and a second vent (117) is formed on the section of the first cylinder (11) located outside the second cylinder (21); a fifth vent (216) is formed on the side wall of the second cylinder (21) corresponding to the fourth sub-cavity (213). The first sub-cavity (114), the first air hole (116), and the fifth air hole (216) are connected in sequence; The second vent (117) is connected to the second sub-cavity (115).

6. The roll gripping device according to claim 5, characterized in that, The first vent (116) and the fifth vent (216) are connected in a sealed manner through a connecting pipe (217).

7. The roll gripping device according to any one of claims 1 to 6, characterized in that, The first telescopic cylinder (10) includes a spring (15), which is disposed in the first piston chamber (111) and elastically abuts against the first piston (12).

8. The roll gripping device according to any one of claims 1 to 6, characterized in that, The connecting assembly (13) includes a connecting post (131) and at least one rotating rod (132). One end of the connecting post (131) is threadedly connected to the first piston (12), and one end of all the rotating rods (132) is pivotally connected to the other end of the connecting post (131); The other end of the rotating rod (132) away from the connecting post (131) is pivotally connected to the top block (14).

9. The roll gripping device according to any one of claims 1 to 6, characterized in that, The roll gripping device includes a sealing cover (40); the sealing cover (40) is located on the end of the second telescopic cylinder (20) away from the first cylinder (11).

10. A material-grabbing robot, characterized in that, Includes a robotic arm (90), a camera bracket (91), a range sensor (92), a flange connector (93), and a roll gripping device as described in any one of claims 1 to 9; The robotic arm (90) is connected to the end of the second telescopic cylinder (20) away from the first cylinder (11) via the flange connecting seat (93), and the camera bracket (91) and the ranging sensor (92) are respectively fixedly connected to the flange connecting seat (93).

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