A lifting, rotating and grasping device for cleaning and spraying of an annular baffle

Abstract

The present invention discloses a lifting, rotating and grasping device for cleaning and spraying of an annular baffle, which comprises a lifting plate. A gripper mechanism for grasping a workpiece is installed on the upper surface of the lifting plate. A bottom plate is arranged below the lifting plate, and a rocker lifting mechanism for driving the lifting plate to lift is arranged above the bottom plate. The rocker lifting mechanism comprises a plurality of second guiding optical axes fixedly installed on the bottom plate. The second guiding optical axes are slidably connected with guiding sleeves fixedly installed on the lifting plate, and the top ends of the second guiding optical axes are fixedly connected with a cylinder fixing plate. A driving cylinder is fixedly installed above the cylinder fixing plate. The lower end of the cylinder core shaft of the driving cylinder is connected with a driving plate. The design structure of the present invention is reasonable and convenient to use. By using this device, the grasping and transfer work of the annular baffle can be automatically realized, which has the advantages of stable work, high efficiency, and saves labor costs.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning and spraying equipment for annular parts, and particularly relates to a lifting, rotating and grasping device for cleaning and spraying an annular baffle plate. Background Art

[0002] An annular baffle plate is a part with an annular structure used in casting steel cylinders. During its production process, it is necessary to clean impurities on the surface of the annular baffle plate and perform surface spraying operations. The existing operation method is to manually place the annular baffle plate at the cleaning station. After the impurities on the surface of the part are cleaned, the part is then placed at the spraying station for spraying operation. The work efficiency is low and the labor cost is too high. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a lifting, rotating and grasping device for cleaning and spraying an annular baffle plate, which has a reasonable design structure and is convenient to use. By using this device, the grasping and transfer work of the annular baffle plate can be automatically realized, and it has the advantages of stable work, high efficiency, and saves labor costs.

[0004] The technical solution adopted by the present invention is: a lifting, rotating and grasping device for cleaning and spraying an annular baffle plate, including a lifting plate. A claw mechanism for grasping a workpiece is installed on the upper surface of the lifting plate. Below the lifting plate, there is a bottom plate. Above the bottom plate, there is a rocker lifting mechanism for driving the lifting plate to lift. The rocker lifting mechanism includes a plurality of second guiding optical axes fixedly installed on the bottom plate. The second guiding optical axes are slidably connected with guiding sleeves fixedly installed on the lifting plate, and the top ends of the second guiding optical axes are fixedly connected with a cylinder fixing plate. Above the cylinder fixing plate, a driving cylinder is fixedly installed. The lower end of the cylinder core shaft of the driving cylinder is connected with a driving plate. At the upper end of the driving plate, a first guiding optical axis vertically arranged and slidably connected with the cylinder fixing plate is installed. On the lower surface of the driving plate, an upper limit block is installed. The upper limit block includes a vertically arranged column and a cross plate fixedly connected with the column. The cross plate is located at the lower end of the column. At the lower surface position of the lifting plate, a plurality of lower limit blocks evenly distributed around the center of the lifting plate are installed. The lower limit blocks are in an L-shaped structure. There is a gap between the cross plate of the L-shaped structure and the lifting plate. On the upper surface of the bottom plate, a plurality of bearing seats evenly distributed around the center of the bottom plate are fixedly installed. A rocker with an outer shape of a V-shaped structure is rotatably connected to the bearing seats. On both side positions of the two ends of the rocker, a first bearing is installed. One end of the rocker is located between the cross plate of the upper limit block and the driving plate, and the other end of the rocker is arranged between the cross plate of the L-shaped lower limit block and the lifting plate. Below the bottom plate, a rotating mechanism for driving the bottom plate and the lifting plate to rotate is installed.

[0005] The number of the claw mechanisms is four groups. The four groups of claw mechanisms are installed at the upper edge position of the lifting plate and evenly distributed around the center of the lifting plate.

[0006] The gripper mechanism includes a gripper bottom plate. Four strip-shaped holes penetrating the gripper bottom plate are provided in the thickness direction of the gripper bottom plate. The four strip-shaped holes are arranged in two groups. A pin shaft perpendicular to the surface of the gripper bottom plate is installed at the position of the gripper bottom plate between the two groups of strip-shaped holes. Above the two groups of strip-shaped holes, slider 1s are respectively provided. The two slider 1s are symmetrically arranged with respect to the center line of the two groups of strip-shaped holes. Short connecting rods are respectively hinged at both ends of the slider 1. The tails of the four short connecting rods are hinged to two long connecting rods arranged crosswise. The central positions of the two long connecting rods are hinged to the pin shaft. Two fingers are fixedly installed below the slider 1. The fingers penetrate the strip-shaped holes and extend to the lower position of the gripper bottom plate.

[0007] A gripper cylinder is installed on one side of the upper surface of the gripper bottom plate. The end of the telescopic rod of the gripper cylinder is fixedly connected to the end face of one of the slider 1s.

[0008] A limiting platform with a diameter larger than that of the finger is provided at the lower end of the finger.

[0009] A gripper cover plate is provided above the slider 1. The gripper cover plate is installed on the gripper bottom plate by bolts.

[0010] The rotating mechanism includes a base. A slewing bearing connected to the bottom plate is installed on the back of the base. A rodless cylinder, a blocking cylinder and a guide rail are fixedly installed on the upper surface of the base. A slider 2 is slidably installed above the guide rail. The slider 2 is fixedly connected to the sliding block of the rodless cylinder. The moving direction of the slider 2 is parallel to the moving direction of the sliding block on the rodless cylinder. A middle swing rod fixing block is fixedly installed above the slider 2. A groove is provided on the side surface of the middle swing rod fixing block. A middle swing rod is provided in the groove. The middle swing rod is rotatably installed in the groove through a pin shaft. The middle swing rod fixing block is installed above the slider 2. A bearing 2 is rotatably connected above the middle swing rod fixing block. A swing arm with a strip-shaped hole is provided above the middle swing rod fixing block. The bearing 2 is clamped in the strip-shaped hole of the swing arm. A rotating shaft is connected to the end of the swing arm. The end of the rotating shaft is installed on the bottom plate.

[0011] The center line of the rotating shaft is parallel to the center line of the bearing 2.

[0012] The blocking cylinder is fixed above the base by bolts, and the axis direction of the telescopic rod of the blocking cylinder is perpendicular to the swinging track of the middle swing rod.

[0013] When this lifting, rotating and grasping device for cleaning and spraying of annular baffles is in use, the four gripper mechanisms are respectively located at the positions of the four workstations, which are the loading workstation, the cleaning workstation, the spraying workstation and the unloading workstation. The staff first place the annular baffle at the loading workstation, and the gripper mechanism at the loading workstation grasps the annular baffle. Under the action of the rotating mechanism and the rocker lifting mechanism, the gripper mechanism places the annular baffle at the cleaning workstation. After the annular baffle is placed at the cleaning workstation, the gripper mechanism returns to its initial position. At this time, the cleaning equipment at the cleaning workstation cleans the annular baffle. After the cleaning is completed, the gripper mechanism at the position of the cleaning workstation grasps the annular baffle and moves it to the spraying workstation. After moving to the position of the spraying workstation, the gripper mechanism returns to its original position again. After the spraying equipment at the spraying workstation sprays the annular baffle, the gripper mechanism is used to grasp the annular baffle again and place it at the unloading workstation to complete the entire working process.

[0014] During the specific operation of the gripper mechanism, the four fingers are in a combined state before grasping, that is, the distance between the two slider-ones is at the minimum value. At this time, the gripper base plate is moved above the annular baffle so that the four fingers are directly above the annular baffle. After moving the four fingers into the inner hole of the annular baffle, the gripper cylinder is started, driving the slider-one connected to the gripper cylinder to move backward. Under the action of the short connecting rod and the long connecting rod, the other slider-one also moves at the same time, so that the distance between the two slider-ones gradually increases. The increase in the distance between the two slider-ones can cause the distance between the two groups of fingers installed below the slider-one to gradually expand. Finally, the four fingers come into contact with the inner wall of the annular baffle and apply an outward expansion force to the annular baffle. When the gripper base plate rises under the action of the rocker lifting mechanism and rotates under the action of the rotating mechanism, the annular baffle can move along the moving direction of the gripper base plate. When the gripper base plate moves to the specified position, the gripper cylinder is started again, so that the telescopic rod of the gripper cylinder extends. The two slider-ones move towards each other, reducing the distance between the two groups of fingers, and the acting force applied to the inner wall of the annular baffle disappears. The annular baffle falls from the fingers to complete the grasping process.

[0015] When the rotating mechanism is working, by starting the rodless cylinder, the sliding block on the rodless cylinder moves along the axial direction to the end of the cylinder, driving the middle-position swing rod fixing block and the slider-two to move along the length direction of the guide rail. At this time, the bearing two moves from one end of the long strip-shaped through hole opened on the swing arm to the other end, causing the swing arm to swing. The swing of the swing arm drives the rotating shaft at its tail end to rotate along its own axis, thereby driving the platform connected to the rotating shaft to rotate to achieve the purpose of rotation.

[0016] When the rocker lifting mechanism is working, the driving cylinder is started, driving the driving plate connected to the lower end of the driving cylinder to move downward, driving the rocker to rotate around the center of the bearing seat, so that the other end of the rocker moves upward, driving the lifting plate to move upward. When the lifting plate rises to the limit position, the rotating mechanism and the gripper mechanism can act in sequence to complete the movement of the workpiece. After the workpiece movement is completed, the cylinder core shaft of the driving cylinder moves upward, driving the upper limit block upward, so that the upper end of the rocker rotates reversely under the action of the upper limit block. At this time, one end of the rocker used to drive the lifting plate to rise drives the lower limit block to move downward. Since the lower limit block is installed below the lifting plate, the work of driving the lifting plate to move downward is completed.

[0017] A gripper mechanism for grasping the workpiece is installed on the upper surface of the lifting plate; the purpose of this setting is: the gripper mechanism is used to grasp the annular baffle, and when grasping, four fingers are used to extend into the inner diameter position of the part and open, which has the advantages of high grasping efficiency and stable grasping, and can adapt to the grasping work of annular parts with different inner diameter sizes, and has a wide application range.

[0018] A bottom plate is provided at the lower position of the lifting plate, and a rocker lifting mechanism for driving the lifting plate to lift is arranged above the bottom plate; the purpose of this setting is: the rocker lifting mechanism is mainly used to drive the lifting plate and the gripper mechanism located above the lifting plate to lift, avoiding interference problems during the rotation process.

[0019] The rocker lifting mechanism includes a plurality of second guiding optical axes fixedly installed on the bottom plate. The second guiding optical axes are slidably connected with guiding sleeves fixedly installed on the lifting plate, and the top ends of the second guiding optical axes are fixedly connected with a cylinder fixing plate; the purpose of this setting is: to play a role in horizontally limiting the lifting plate, avoiding the lifting plate from moving in the horizontal direction, and also playing a guiding role for the lifting plate, making the lifting plate move more smoothly and reliably in the vertical direction.

[0020] The lower end of the cylinder core shaft of the driving cylinder is connected with an upper limit block. The upper limit block includes a vertically arranged column and a cross plate fixedly connected to the column. The cross plate is located at the lower end of the column; the purpose of this setting is: a cavity for accommodating the first bearing at the upper end of the rocker is formed between the cross plate of the upper limit block and the driving plate, so as to drive the first bearing at the upper end of the rocker through the driving plate during the upward movement of the lifting plate, making the rocker rotate around the center of the bearing seat; during the downward movement of the lifting plate, the cross plate below the upper limit block is used to drive the first bearing at the upper end of the rocker, making the rocker rotate, and the work is reliable.

[0021] A plurality of lower limit blocks evenly distributed around the center of the lifting plate are installed on the lower surface of the lifting plate. The lower limit blocks are in an L-shaped structure, and there is a gap between the horizontal plate of the L-shaped structure and the lifting plate. The purpose of this setting is: during the rotation of the rocker, the bearing at the lower end of the rocker can drive the lower surface of the lifting plate and the horizontal plate of the lower limit through the bearing, so that the lifting plate can realize the lifting action. Specifically, when the lifting plate needs to rise, the bearing at the lower end of the rocker applies an upward force to the lower surface of the lifting plate, so that the lifting plate rises; when the lifting plate needs to descend, the bearing at the lower end of the rocker applies a downward force to the horizontal plate of the lower limit block, so that the lifting plate descends.

[0022] A plurality of bearing seats evenly distributed around the center of the bottom plate are fixedly installed on the upper surface of the bottom plate. A rocker with an outer shape of a V-shaped structure is rotatably connected to the bearing seats. Bearings are installed on the side positions of both ends of the rocker. One end of the rocker is located between the horizontal plate of the upper limit block and the driving plate, and the other end of the rocker is arranged between the horizontal plate of the L-shaped lower limit block and the lifting plate. The purpose of this setting is: the overall structure of the rocker is a V-shaped structure, and the intersection of the V-shaped structure is hinged to the bearing seat, so that when one end of the rocker is driven to descend, the other end of the rocker is in a rising state; when one end of the rocker is driven to rise, the other end of the rocker is in a descending state; using the lever principle, the lifting drive of the lifting plate can be realized, which can save space and reduce production costs.

[0023] The beneficial effects of the present invention are:

[0024] The design structure of the present invention is reasonable and easy to use. Using this device can automatically realize the grasping and transfer of the annular baffle, with the advantages of stable operation, high efficiency, and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the rocker lifting mechanism of the present invention;

[0027] Figure 3 It is a partial perspective view of the rocker lifting mechanism of the present invention;

[0028] Figure 4 It is a perspective view of the rocker lifting mechanism of the present invention;

[0029] Figure 5 It is a structural diagram of the rotation mechanism of the present invention;

[0030] Figure 6 It is a top view of the gripper mechanism of the present invention;

[0031] Figure 7This is a side view of the gripper mechanism of the present invention.

[0032] Markings in the figure: 1. Lifting plate;

[0033] 2. Gripper mechanism; 201. Gripper bottom plate; 202. Slide block 1; 203. Short connecting rod; 204. Long connecting rod; 205. Gripper cylinder; 206. Pin shaft; 207. Strip-shaped hole; 208. Finger; 209. Limit platform; 210. Gripper cover plate;

[0034] 3. Rocker lifting mechanism; 301. Driving cylinder; 302. Guide optical axis 1; 303. Cylinder fixing plate; 304. Driving plate; 305. Upper limit block; 306. Rocker; 307. Lower limit block; 308. Guide optical axis 2; 309. Bearing seat; 310. Bearing 1;

[0035] 4. Bottom plate; 5. Slewing bearing;

[0036] 6. Rotating mechanism; 601. Base; 602. Blocking cylinder; 603. Middle swing rod; 604. Middle swing rod fixing block; 605. Slide block 2; 606. Guide rail; 607. Bearing 2; 608. Swing arm; 609. Rotating shaft; 610. Rodless cylinder. Detailed implementation manners

[0037] The following further elaborates on the detailed implementation manners of the present invention in conjunction with the accompanying drawings.

[0038] As shown in the figure, a lifting, rotating and grasping device for cleaning and spraying a ring-shaped baffle includes a lifting plate 1. A claw mechanism 2 for grasping a workpiece is installed on the upper surface of the lifting plate 1. A bottom plate 4 is provided below the lifting plate 1. Above the bottom plate 4, a rocker lifting mechanism 3 for driving the lifting plate 1 to lift and lower is provided. The rocker lifting mechanism 3 includes a plurality of second guiding optical axes 308 fixedly installed on the bottom plate 4. The second guiding optical axes 308 are slidably connected to guiding sleeves fixedly installed on the lifting plate 1, and the top ends of the second guiding optical axes 308 are fixedly connected with a cylinder fixing plate 303. Above the cylinder fixing plate 303, a driving cylinder 301 is fixedly installed. The lower end of the cylinder core shaft of the driving cylinder 301 is connected with a driving plate 304. At the upper end of the driving plate 304, a first guiding optical axis 302 vertically arranged and slidably connected to the cylinder fixing plate 303 is installed. On the lower surface of the driving plate 304, an upper limit block 305 is installed. The upper limit block 305 includes a vertically arranged column and a cross plate fixedly connected to the column. The cross plate is located at the lower end position of the column. At the lower surface position of the lifting plate 1, four lower limit blocks 307 evenly distributed around the center of the lifting plate 1 are installed. The lower limit blocks 307 are in an L-shaped structure. There is a gap between the cross plate of the L-shaped structure and the lifting plate 1. On the upper surface of the bottom plate 4, a plurality of bearing seats 309 evenly distributed around the center of the bottom plate 4 are fixedly installed. A rocker 306 with an outer shape of a V-shaped structure is rotatably connected to the bearing seats 309. At the side positions of the two ends of the rocker 306, bearings 310 are installed. One end of the rocker 306 is located between the cross plate of the upper limit block 305 and the driving plate 304, and the other end of the rocker 306 is arranged between the cross plate of the L-shaped lower limit block 307 and the lifting plate 1. A rotating mechanism 6 for driving the bottom plate 4 and the lifting plate 1 to rotate is installed below the bottom plate 4.

[0039] The number of the claw mechanisms 2 is four groups. The four groups of claw mechanisms 2 are installed at the upper edge position of the lifting plate 1 and evenly distributed around the center of the lifting plate 1 to correspond to four working positions, facilitating the grasping and transfer of parts.

[0040] The gripper mechanism 2 includes a gripper base plate 201. Four strip-shaped holes 207 penetrating the gripper base plate 201 in the thickness direction are provided on the gripper base plate 201. The four strip-shaped holes 207 are arranged in two groups. A pin shaft 206 perpendicular to the surface of the gripper base plate 201 is installed at the position of the gripper base plate 201 between the two groups of strip-shaped holes 207. Sliders 202 are respectively arranged above the two groups of strip-shaped holes 207. The two sliders 202 are symmetrically arranged with respect to the center lines of the two groups of strip-shaped holes 207. Short connecting rods 203 are respectively hinged at both ends of the slider 202. The tails of the four short connecting rods 203 are hinged to two long connecting rods 204 arranged in a cross manner. The central positions of the two long connecting rods 204 are hinged to the pin shaft 206. Two fingers 208 are fixedly installed below the slider 202. The fingers 208 penetrate the strip-shaped holes 207 and extend to the lower position of the gripper base plate 201.

[0041] A gripper cylinder 205 is installed at one side position on the upper surface of the gripper base plate 201. The end of the telescopic rod of the gripper cylinder 205 is fixedly connected to the end face of one of the sliders 202. Using the gripper cylinder 205 as a power source has the advantages of stable power and no damage to the annular baffle, and it can be applicable to the grasping work of baffles with different inner diameters, with a wide range of applications.

[0042] A limiting platform 209 with a diameter larger than that of the finger 208 is provided at the lower end position of the finger 208. The limiting platform 209 can play a role in limiting the axial direction of the annular baffle, avoiding the phenomenon of the annular baffle falling due to insufficient air source pressure during the working process.

[0043] A gripper cover plate 210 is provided above the slider 202. The gripper cover plate 210 is installed on the gripper base plate 201 by bolts to provide safety protection for the gripper mechanism 2 and prevent safety accidents during the working process.

[0044] The rotating mechanism 6 includes a base 601. A slewing bearing 5 connected to the bottom plate 4 is installed on the back surface of the base 601. An air cylinder without a rod 610, a blocking air cylinder 602, and a guide rail 606 are fixedly installed on the upper surface of the base 601. A second slider 605 is slidably installed above the guide rail 606. The second slider 605 is fixedly connected to the slider of the air cylinder without a rod 610. The moving direction of the second slider 605 is parallel to the moving direction of the slider on the air cylinder without a rod 610. A fixing block of a middle swing rod 603 is fixedly installed above the second slider 605. A groove is formed on the side surface of the fixing block of the middle swing rod 603. The middle swing rod 603 is arranged in the groove. The middle swing rod 603 is rotatably installed in the groove through a pin shaft 206. The fixing block of the middle swing rod 603 is installed above the second slider 605. A second bearing 607 is rotatably connected above the fixing block of the middle swing rod 603. A swing arm 608 with a strip-shaped hole 207 is arranged above the fixing block of the middle swing rod 603. The second bearing 607 is clamped in the strip-shaped hole 207 of the swing arm 608. A rotating shaft 609 is connected to the end of the swing arm 608. The end of the rotating shaft 609 is installed on the bottom plate 4.

[0045] The center line of the rotating shaft 609 is arranged parallel to the center line of the second bearing 607.

[0046] The blocking air cylinder 602 is fixed above the base 601 through bolts, and the axis direction of the telescopic rod of the blocking air cylinder 602 is perpendicular to the swinging track of the middle swing rod 603.

[0047] When this lifting, rotating and gripping device for cleaning and spraying of annular baffles is in use, the four gripper mechanisms 2 are respectively located at the positions of the four workstations. The four workstations are respectively a loading workstation, a cleaning workstation, a spraying workstation, and a unloading workstation. The staff first place the annular baffle at the loading workstation. The gripper mechanism 2 at the loading workstation grabs the annular baffle. Under the action of the rotating mechanism 6 and the rocker arm lifting mechanism 3, the gripper mechanism 2 places the annular baffle at the cleaning workstation. After the annular baffle is placed at the cleaning workstation, the gripper mechanism 2 returns to the initial position. At this time, the cleaning equipment at the cleaning workstation cleans the annular baffle. After the cleaning is completed, the gripper mechanism 2 at the position of the cleaning workstation grabs the annular baffle and moves it to the spraying workstation. After moving to the position of the spraying workstation, the gripper mechanism 2 returns to its original position. After the spraying equipment at the spraying workstation sprays the annular baffle, the gripper mechanism 2 is used to grab the annular baffle again and place it at the unloading workstation to complete the entire working process.

[0048] During the specific operation of the gripper mechanism 2, the four fingers 208 are in a merged state before grasping, that is, the distance between the two slider-ones 202 is at the minimum value. At this time, the gripper base plate 201 is moved above the annular baffle, so that the four fingers 208 are directly above the annular baffle. After moving the four fingers 208 into the inner hole of the annular baffle, the gripper cylinder 205 is activated, driving the slider-one 202 connected to the gripper cylinder 205 to move backward. Under the action of the short connecting rod 203 and the long connecting rod 204, the other slider-one 202 also moves at the same time, making the distance between the two slider-ones 202 gradually increase. The increase in the distance between the two slider-ones 202 can cause the distance between the two groups of fingers 208 installed below the slider-one 202 to gradually expand. The four fingers 208 finally come into contact with the inner wall of the annular baffle and apply an outward expansion force to the annular baffle. When the gripper base plate 201 rises under the action of the rocker arm lifting mechanism 3 and rotates under the action of the rotating mechanism 6, the annular baffle can move along the moving direction of the gripper base plate 201. When the gripper base plate 201 moves to the designated position, the gripper cylinder 205 is activated again, causing the telescopic rod of the gripper cylinder 205 to extend. The two slider-ones 202 move towards each other, reducing the distance between the two groups of fingers 208, and the acting force applied to the inner wall of the annular baffle disappears. The annular baffle drops from the fingers 208, completing the grasping process.

[0049] When the rotating mechanism 6 is working, by activating the rodless cylinder 610, the sliding block on the rodless cylinder 610 moves along the axial direction to the end of the cylinder, driving the middle-position swing rod fixing block 604 and the slider-two 605 to move along the length direction of the guide rail 606. At this time, the bearing-two 607 moves from one end of the long strip-shaped through hole opened on the swing arm 608 to the other end, causing the swing arm 608 to swing. The swing of the swing arm 608 drives the rotating shaft 609 at its tail end to rotate along its own axis, thereby driving the platform connected to the rotating shaft 609 to rotate, achieving the purpose of rotation.

[0050] When the rocker arm lifting mechanism 3 is working, the driving cylinder 301 is activated, driving the driving plate 304 connected to the lower end of the driving cylinder 301 to move downward, driving the rocker arm 306 to rotate around the center of the bearing seat 309, so that the other end of the rocker arm 306 moves upward, driving the lifting plate 1 to move upward. When the lifting plate 1 rises to the limit position, the rotating mechanism 6 and the gripper mechanism 2 can act in sequence to complete the movement of the workpiece. After the workpiece movement is completed, the cylinder core shaft of the driving cylinder 301 moves upward, driving the upper limit block 305 to move upward, causing the upper end of the rocker arm 306 to rotate in the reverse direction under the action of the upper limit block 305. At this time, one end of the rocker arm 306 used to drive the lifting plate 1 to rise drives the lower limit block 307 to move downward. Since the lower limit block 307 is installed below the lifting plate 1, the work of driving the lifting plate 1 to move downward is completed.

Claims

1. A lifting, rotating and grasping device for cleaning and spraying an annular baffle, characterized in that: It includes a lifting plate. A gripper mechanism for gripping workpieces is installed on the upper surface of the lifting plate. A bottom plate is provided below the lifting plate. A rocker lifting mechanism for driving the lifting plate to move up and down is arranged above the bottom plate. The rocker lifting mechanism includes a plurality of second guiding optical axes fixedly installed on the bottom plate. The second guiding optical axes are slidably connected to guiding sleeves fixedly installed on the lifting plate, and the top ends of the second guiding optical axes are fixedly connected with a cylinder fixing plate. A driving cylinder is fixedly installed above the cylinder fixing plate. The lower end of the cylinder core shaft of the driving cylinder is connected with a driving plate. The upper end of the driving plate is installed with a first guiding optical axis vertically arranged and slidably connected to the cylinder fixing plate. An upper limit block is installed on the lower surface of the driving plate. The upper limit block includes a vertically arranged column and a cross plate fixedly connected with the column. The cross plate is located at the lower end of the column. A plurality of lower limit blocks evenly distributed around the center of the lifting plate are installed on the lower surface of the lifting plate. The lower limit blocks are of an L-shaped structure. There is a gap between the cross plate of the L-shaped structure and the lifting plate. A plurality of bearing seats evenly distributed around the center of the bottom plate are fixedly installed on the upper surface of the bottom plate. A rocker with an outer shape of a V-shaped structure is rotatably connected to the bearing seats. Bearings I are installed on the side surfaces of both ends of the rocker. One end of the rocker is located between the cross plate of the upper limit block and the driving plate, and the other end of the rocker is arranged between the cross plate of the L-shaped lower limit block and the lifting plate. A rotating mechanism for driving the bottom plate and the lifting plate to rotate is installed below the bottom plate; The number of gripper mechanisms is four groups. The four groups of gripper mechanisms are installed at the upper edge position of the lifting plate and evenly distributed around the center of the lifting plate; The gripper mechanism includes a gripper bottom plate. Four strip-shaped holes penetrating the gripper bottom plate in the thickness direction are formed in the gripper bottom plate. The four strip-shaped holes are arranged in two groups. A pin shaft perpendicular to the surface of the gripper bottom plate is installed at the position of the gripper bottom plate between the two groups of strip-shaped holes. Sliders I are respectively arranged above the two groups of strip-shaped holes. The two sliders I are symmetrically arranged with respect to the center lines of the two groups of strip-shaped holes. Short connecting rods are respectively hinged at both ends of the slider I. The tails of the four short connecting rods are hinged with two cross-shaped long connecting rods. The center positions of the two long connecting rods are hinged on the pin shaft. Two fingers are fixedly installed below the slider I. The fingers penetrate the strip-shaped holes and extend to the lower position of the gripper bottom plate; The rotating mechanism includes a base. A slewing bearing connected to the bottom plate is installed on the back surface of the base. An air cylinder without a rod, a blocking air cylinder, and a guide rail are fixedly installed on the upper surface of the base. A second slider is slidably installed above the guide rail. The second slider is fixedly connected to the slider of the air cylinder without a rod. The moving direction of the second slider is parallel to the moving direction of the slider on the air cylinder without a rod. A fixed block of the middle-position swing rod is fixedly installed above the second slider. A groove is formed on the side surface of the fixed block of the middle-position swing rod. A middle-position swing rod is arranged in the groove. The middle-position swing rod is rotatably installed in the groove through a pin shaft. The fixed block of the middle-position swing rod is installed above the second slider. A second bearing is rotatably connected above the fixed block of the middle-position swing rod. A swing arm with a strip-shaped hole is arranged above the fixed block of the middle-position swing rod. The second bearing is clamped in the strip-shaped hole of the swing arm. A rotating shaft is connected to the end of the swing arm. The end of the rotating shaft is installed on the bottom plate.

2. The lifting, rotating and grasping device for cleaning and spraying of an annular baffle according to claim 1, wherein: A gripper air cylinder is installed at one side position of the upper surface of the gripper bottom plate. The end of the telescopic rod of the gripper air cylinder is fixedly connected to the end face of one of the first sliders.

3. The lifting, rotating and grasping device for cleaning and spraying of an annular baffle according to claim 1, wherein: A limiting platform with a diameter larger than that of the finger is arranged at the lower end position of the finger.

4. The lifting, rotating and grasping device for cleaning and spraying of an annular baffle according to claim 1, wherein: A gripper cover plate is arranged above the first slider. The gripper cover plate is installed on the gripper bottom plate through bolts.

5. The lifting, rotating and gripping device for cleaning and spraying of an annular baffle according to claim 1, characterized in that: The center line of the rotating shaft is arranged parallel to the center line of the second bearing.

6. The lifting, rotating and grasping device for cleaning and spraying of an annular baffle according to claim 1, wherein: The blocking air cylinder is fixedly installed above the base through bolts, and the axis direction of the telescopic rod of the blocking air cylinder is perpendicular to the swinging track of the middle-position swing rod.

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