A thin-walled cylinder flexible transfer robot

Abstract

The present invention discloses a thin-walled cylinder transfer robot, comprising a fixed seat, a swing frame, a rotating table, and a clamping robot. A swing reduction motor is arranged on the upper part of the fixed seat, and a swing frame is arranged on the lower part of the fixed seat. The swing reduction motor is connected to the swing frame through a sprocket set. A rotating table and a clamping robot are arranged in sequence on the lower part of the swing frame. The rotating table is connected to the rotating reduction motor. The clamping robot comprises a disc seat, a pneumatic self-locking clamp and a driving reduction motor. The present invention can effectively solve the problem of various posture changes of the cylinder during the lifting and transfer of the thin-walled cylinder. By adjusting the position of the pneumatic self-locking clamp, it can adapt to cylinders of various diameters. The pneumatic self-locking clamp can maintain a clamped self-locking state during the transfer process, effectively preventing the cylinder from falling off. The present invention has a compact structure, ingenious design, and high reliability. It can realize automatic posture change and transfer of the cylinder, reduce labor costs, and improve production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of a cylinder hoisting and transferring manipulator, and in particular to the technical field of a thin-wall cylinder flexible transferring manipulator. Background Art

[0002] The processing of thin-walled cylinders requires multiple steps such as rolling, welding, rounding, and fitting. Each step is connected by lifting and transferring. The known lifting and transferring methods are manual lifting through simple lifting fixtures or through-rods. The simple lifting fixture is to evenly distribute multiple sets of clamps on the upper edge of the upright cylinder, and use lifting equipment for lifting and transferring; through-rod lifting is to place the cylinder horizontally, and pass a lifting rod longer than the cylinder through the cylinder, and connect the two sides of the lifting rod to the lifting equipment for lifting and transferring. Both of these lifting and transferring methods require manual participation, which is time-consuming and labor-intensive, and cannot meet the needs of automatic welding processing of thin-walled cylinders, in which the cylinder is automatically converted from horizontal placement to vertical transfer feeding, or the vertical transfer cylinder is automatically converted to horizontal placement. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible transfer robot for thin-walled cylinders, which can effectively solve the problem of various posture changes of the cylinder during the lifting and transfer of the thin-walled cylinder. At the same time, the present invention can adapt to cylinders of different diameters by adjusting the position of the pneumatic self-locking jaws. The pneumatic self-locking jaws can maintain a clamped and self-locking state during the transfer process, effectively preventing the cylinder from falling off. The present invention has a compact structure, ingenious design, and high reliability. It can realize automatic posture change and transfer of the cylinder, reduce labor costs, and improve production efficiency.

[0004] The technical problem to be solved by the present invention is achieved by adopting the following technical solution.

[0005] A thin-walled cylinder flexible transfer robot comprises a fixed seat, a swing frame, a rotating table, and a clamping robot, wherein a swing reduction motor is arranged on the upper part of the fixed seat, a swing frame is arranged on the lower part of the fixed seat, the swing reduction motor is connected to the swing frame through a sprocket set, a rotating table and a clamping robot are arranged in sequence at the lower part of the swing frame, and the rotating table is connected to the rotating reduction motor; the clamping robot comprises a disc body seat, a pneumatic self-locking clamping claw, and a driving reduction motor, the driving reduction motor is fixed on the disc body seat, a central axis is arranged at the center of the disc body seat, and an input bevel gear is arranged at the output shaft end of the driving reduction motor; a driven bevel gear and a lower end bevel gear are coaxially arranged on the central axis, a plurality of screw rods are evenly distributed on the disc body seat along the radius of the disc body seat, a shaft end bevel gear is arranged at one end of the screw rod near the center of the disc body seat, the input bevel gear is meshed with the driven bevel gear, and the lower end bevel gear is meshed with a plurality of evenly distributed shaft end bevel gears; a nut is arranged on the screw rod, and the nut is connected with the pneumatic self-locking clamping claw.

[0006] The pneumatic self-locking clamp includes a strut, a support rod, a connecting rod, and a rocker rod. The support rod includes a first support rod and a second support rod. One end of the first support rod is connected to the strut rod, and the other end is connected to the second support rod; one end of the connecting rod is connected to the clamping cylinder, and the other end is hinged to the second support rod and the rocker rod. A connecting plate is provided at one end of the rocker rod, and a pressure block is provided at the lower end of the connecting plate. The other end of the rocker rod is connected to the strut rod.

[0007] A nylon pad is arranged on one side of the support rod.

[0008] When the present invention is working, the transfer robot is first moved to the top of the thin-walled cylinder to be transferred, and then the position of the pneumatic self-locking jaws is adjusted according to the cylinder diameter of the thin-walled cylinder to be transferred, so that the clamping diameter formed by a plurality of pneumatic self-locking jaws is adapted to the cylinder diameter of the thin-walled cylinder. The position adjustment process of the pneumatic self-locking jaws is as follows: the driving reduction motor is started, driving the input bevel gear arranged at the output shaft end of the driving reduction motor to rotate, and the driven bevel gear meshing with it rotates accordingly, the driven bevel gear drives the central shaft to rotate, and the lower end bevel gear arranged at the lower part of the central shaft rotates synchronously, and a plurality of shaft end bevel gears meshing with the lower end bevel gear also rotate accordingly, the shaft end bevel gear drives the screw to rotate, and the nut arranged on the screw drives the pneumatic self-locking jaws to move, so as to realize the variable diameter adjustment of the pneumatic self-locking jaws.

[0009] When the pneumatic self-locking clamp moves along the screw rod and is adjusted to the position of the required clamping diameter, the clamping cylinder is compressed, and the cylinder rod of the clamping cylinder drives one end of the connecting rod to move downward, and the connecting rod pulls the swing rod and the support rod to move. At this time, an angle is formed at the connection between the first support rod and the second support rod, and the swing rod drives the connecting plate to lift, and the connecting plate drives the pressure block to move sideways, and the pressure block is separated from the support rod. The external drive drives the entire transfer robot to move downward, and the clamping robot moves downward along the cylinder wall of the thin-walled cylinder to be transferred. At this time, the cylinder wall of the thin-walled cylinder is located between the pressure block and the support rod, and the nylon pad on one side of the support rod is in contact with the thin-walled cylinder to be transferred. The inner wall of the thin-walled cylinder fits together, and when the pneumatic self-locking clamp is lowered to the clamping position, the clamping cylinder is lifted, and the cylinder rod of the clamping cylinder drives the connecting rod to move upward, and the connecting rod pulls the rocker arm and the support rod to move, and the rocker arm drives the connecting plate to descend, and the connecting plate drives the pressure block to clamp the upper end of the thin-walled cylinder. Subsequently, the external drive drives the entire transfer robot to transfer the thin-walled cylinder according to the set path. At this time, the first support rod and the second support rod of the pneumatic self-locking clamp are in a straight line, and the rocker arm is pressed to the hinged dead point position. The pneumatic self-locking clamp is in a clamped and self-locking state, which can prevent the thin-walled cylinder from falling off during the transfer process.

[0010] When the thin-walled cylinder needs to be adjusted from a vertical state to a horizontal state or from a horizontal state to a vertical state during the transfer process, the swing reduction motor starts and drives the swing frame to rotate through the sprocket group. The swing angle range of the swing frame is 0 0 ~180 0 .

[0011] When the weld position needs to be adjusted during the thin-walled cylinder assembly process, the rotary reduction motor starts, and the rotary table drives the gripping manipulator to rotate. The rotation range of the rotary table is 0 0 ~360 0 .

[0012] The present invention can effectively solve the problem of multiple posture changes of thin-walled cylinders during hoisting and transfer. By adjusting the position of the pneumatic self-locking clamps, it can adapt to cylinders of different diameters. The pneumatic self-locking clamps can maintain a clamped self-locking state during the transfer process, effectively preventing the cylinder from falling off. The present invention has a compact structure, ingenious design, high reliability, and can realize automatic posture change transfer of the cylinder, reducing labor costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention.

[0014] Figure 2 A partial cross-sectional view of the gripping robot.

[0015] Figure 3 This is a three-dimensional diagram of the internal gear transmission of the gripping robot.

[0016] Figure 4 A cross-sectional view of a pneumatic self-locking gripper.

[0017] Figure 5 Schematic diagram of the support rod.

[0018] Among them: 1. Fixed seat; 2. Swing reduction motor; 3. Sprocket group; 4. Swing frame; 5. Rotating reduction motor; 6. Clamping manipulator; 7. Disc seat; 8. Driving reduction motor; 9. Input bevel gear; 10. Driven bevel gear; 11. Lower end bevel gear; 12. Shaft end bevel gear; 13. Screw; 14. Nut; 16. Pneumatic self-locking clamp; 17. Support rod; 18. Support rod; 18.1. First support rod; 18.2. Second support rod; 19. Connecting rod; 20. Swing rod; 21. Connecting plate; 22. Press block; 24. Press cylinder; 25. Nylon pad; 30. Rotating table; 31. Center axis. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described in detail below based on the embodiments and drawings.

[0020] like Figure 1As shown, a thin-walled cylindrical flexible transfer robot comprises a fixed seat 1, a swing frame 4, a rotating table 30, and a clamping robot 6. A swing reduction motor 2 is arranged on the upper part of the fixed seat 1, and a swing frame 4 is arranged on the lower part of the fixed seat 1. The swing reduction motor 2 is connected to the swing frame 4 through a sprocket set 3. A rotating table 30 and a clamping robot 6 are arranged in sequence on the lower part of the swing frame 4, and the rotating table 30 is connected to the rotating reduction motor 5.

[0021] like Figure 1 , Figure 2 , Figure 3 As shown, the clamping robot 6 includes a disc body seat 7, a pneumatic self-locking clamp 16, and a driving reduction motor 8. The driving reduction motor 8 is fixed on the disc body seat 7. A central axis 31 is arranged at the center of the disc body seat 7. An input bevel gear 9 is arranged at the output shaft end of the driving reduction motor 8; a driven bevel gear 10 and a lower end bevel gear 11 are coaxially arranged on the central axis 31, six screw rods 13 are evenly distributed along the radius of the disc body seat 7 on the disc body seat 7, and a shaft end bevel gear 12 is arranged at one end of the screw rod 13 near the center of the disc body seat 7, the input bevel gear 9 is meshed with the driven bevel gear 10, and the lower end bevel gear 11 is meshed with the six evenly distributed shaft end bevel gears 12; a nut 14 is arranged on the screw rod 13, and the nut 14 is connected to the pneumatic self-locking clamp 16.

[0022] like Figure 4 , Figure 5 As shown, the pneumatic self-locking clamp 16 includes a strut 17, a support rod 18, a connecting rod 19, and a rocker rod 20. The support rod 18 includes a first support rod 18.1 and a second support rod 18.2. One end of the first support rod 18.1 is connected to the strut 17, and the other end is connected to the second support rod 18.2; one end of the connecting rod 19 is connected to the clamping cylinder 24, and the other end is hinged to the second support rod 18.2 and the rocker rod 20. A connecting plate 21 is provided at one end of the rocker rod 20, and a pressure block 22 is provided at the lower end of the connecting plate 21. The other end of the rocker rod 20 is connected to the strut 17, and a nylon pad 25 is provided on one side of the strut 17.

[0023] When the present invention is working, the transfer robot is first moved to the top of the thin-walled cylinder to be transferred, and then the position of the pneumatic self-locking jaws 16 is adjusted according to the cylinder diameter of the thin-walled cylinder to be transferred, so that the clamping diameter formed by the six pneumatic self-locking jaws 16 is adapted to the cylinder diameter of the thin-walled cylinder. The position adjustment process of the pneumatic self-locking jaws 16 is as follows: the driving reduction motor 8 is started, driving the input bevel gear 9 set at the output shaft end of the driving reduction motor 8 to rotate, and the driven bevel gear 10 meshing with it rotates accordingly, and the driven bevel gear 10 drives the central shaft 31 to rotate, and the lower end bevel gear 11 set at the lower part of the central shaft 31 rotates synchronously, and the six shaft end bevel gears 12 meshing with the lower end bevel gear 11 also rotate accordingly, and the shaft end bevel gear 12 drives the screw 13 to rotate, and the nut 14 set on the screw 13 drives the six pneumatic self-locking jaws 16 to move synchronously, so as to realize the variable diameter adjustment of the pneumatic self-locking jaws 16.

[0024] When the six pneumatic self-locking clamping claws 16 move along the screw rod 13 and are adjusted to the position of the required clamping diameter, the clamping cylinder 24 is compressed, and the cylinder rod of the clamping cylinder 24 drives one end of the connecting rod 19 to move downward, and the connecting rod 19 pulls the swing rod 20 and the support rod 18 to move. At this time, an angle is formed at the connection between the first support rod 18.1 and the second support rod 18.2, and the swing rod 20 drives the connecting plate 21 to lift, and the connecting plate 21 drives the pressure block 22 to move sideways, and the pressure block 22 is separated from the support rod 17. The external drive drives the entire transfer robot to move downward, and the clamping robot 6 moves downward along the cylinder wall of the thin-walled cylinder to be transferred. At this time, the cylinder wall of the thin-walled cylinder is located between the pressure block 22 and the support rod 17, and the nylon pad 25 on one side of the support rod 17 is in contact with the thin-walled cylinder to be transferred. The inner wall of the thin-walled cylinder fits together, and when the pneumatic self-locking clamp 16 descends to the clamping position, the clamping cylinder 24 is lifted, and the cylinder rod of the clamping cylinder 24 drives the connecting rod 19 to move upward, and the connecting rod 19 pulls the swing rod 20 and the support rod 18 to move, and the swing rod 20 drives the connecting plate 21 to descend, and the connecting plate 21 drives the pressing block 22 to clamp the upper end of the thin-walled cylinder to be transferred. Subsequently, the external drive drives the entire transfer robot to transfer the thin-walled cylinder according to the set path. At this time, the first support rod 18.1 and the second support rod 18.2 of the pneumatic self-locking clamp 16 are on the same straight line, and the swing rod 20 is pressed to the hinged dead point position. The pneumatic self-locking clamp 16 is in a clamped and self-locking state, which can prevent the thin-walled cylinder from falling off during the transfer process.

[0025] When the thin-walled cylinder needs to be adjusted from a vertical state to a horizontal state or from a horizontal state to a vertical state during the transfer process, the swing reduction motor 2 is started, and the swing frame 4 is driven to rotate through the sprocket group 3. The swing angle range of the swing frame 4 is 0 0 ~180 0 .

[0026] When the weld position needs to be adjusted during the thin-walled cylinder assembly process, the rotary reduction motor 5 is started, and the rotating table 30 drives the gripping manipulator 6 to rotate. The rotation range of the rotating table 30 is 00 ~360 0 .

[0027] The present invention can effectively solve the problem of the various posture changes of the thin-walled cylinder during the lifting and transfer process. By adjusting the position of the pneumatic self-locking clamp, it can adapt to cylinders of various diameters. The pneumatic self-locking clamp can maintain a clamped self-locking state during the transfer process, effectively preventing the cylinder from falling off. The present invention has a compact structure, ingenious design, high reliability, and can realize the automatic posture change transfer of the cylinder, reducing labor costs and improving production efficiency.

Claims

1. A thin-walled cylinder flexible transfer device, comprising a fixed seat (1), a swing frame (4), a rotating table (30), and a gripping manipulator (6), Features: A swing reduction motor (2) is arranged on the upper part of the fixed seat (1), a swing frame (4) is arranged on the lower part of the fixed seat (1), the swing reduction motor (2) is connected to the swing frame (4) via a sprocket group (3), a rotating platform (30) and a gripping manipulator (6) are arranged in sequence on the lower part of the swing frame (4), and the rotating platform (30) is connected to the rotating reduction motor (5); The gripping manipulator (6) comprises a disc body seat (7), a pneumatic self-locking clamping claw (16), and a driving reduction motor (8). The driving reduction motor (8) is fixed on the disc body seat (7). A central axis (31) is arranged at the center of the disc body seat (7). An input bevel gear (9) is arranged at the output shaft end of the driving reduction motor (8). A driven bevel gear (10) and a lower end bevel gear (11) are coaxially arranged on the central axis (31). A plurality of screw rods (13) are evenly distributed on the disc body seat (7) along the radial direction of the disc body seat (7). An axial end bevel gear (12) is arranged at one end of the screw rod (13) near the center of the disc body seat (7). The input bevel gear (9) is meshed with the driven bevel gear (10), and the lower end bevel gear (11) is meshed with a plurality of evenly distributed axial end bevel gears (12). A nut (14) is arranged on the rod (13), and the nut (14) is connected to a pneumatic self-locking clamp (16); the pneumatic self-locking clamp (16) comprises a support rod (17), a supporting rod (18), a connecting rod (19), and a rocker (20); the supporting rod (18) comprises a first supporting rod (18.1) and a second supporting rod (18.2); one end of the first supporting rod (18.1) is connected to the support rod (17), and the other end is connected to the second supporting rod (18.2); one end of the connecting rod (19) is connected to a clamping cylinder (24), and the other end is hinged to the second supporting rod (18.2) and the rocker (20); a connecting plate (21) is arranged at one end of the rocker (20), and a pressing block (22) is arranged at the lower end of the connecting plate (21); the other end of the rocker (20) is connected to the support rod (17).

2. The thin-walled cylinder flexible transfer device according to claim 1, Features: A nylon pad (25) is provided on one side of the support rod (17).

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