Clamping and overturning manipulator for vertically stacking cylinder barrels

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a clamping and overturning manipulator for vertically stacking cylinder barrels, which comprises a mechanical arm, a rotating motor, a mounting plate and a clamping plate, the bottom of the mechanical arm is installed on the table top, the rotating motor is installed at the end of the mechanical arm, the mounting plate is connected to an output shaft of the rotating motor, and the side face, away from the rotating motor, of the mounting plate is slidably connected with one ends of two sliding plates. The side faces of the two clamping plates are connected to the ends, away from the mounting plate, of the two sliding plates, the side faces, close to each other, of the clamping plates are arc faces, the two clamping plates are used for clamping the cylinder barrel, and the arc faces of the clamping plates are attached to the peripheral face of the cylinder barrel. And a driving mechanism for driving the two sliding plates to slide is mounted on the mounting plate. The cylinder barrel stacking device has the effect of reducing damage to the cylinder barrels in the vertical stacking process.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a clamping and flipping manipulator for upright stacking of cylinder barrels. Background Art

[0002] The cylinder barrel is an important part of the hydraulic cylinder, usually also called the outer barrel or cylinder body of the hydraulic cylinder. The cylinder barrel is a hollow cylindrical part that contains components such as pistons, seals and hydraulic oil. It withstands hydraulic pressure and push and pull forces to achieve the movement of the mechanical device. In the cylinder barrel production process, the horizontally laid cylinder barrel needs to be placed vertically for the next step of processing.

[0003] In the related art, a Chinese invention patent with publication number CN107175653A discloses a clamping and flipping robot for upright stacking of cylinder barrels, wherein the two ends of the cylinder barrel are hooked by a left clamping hook rod and a right clamping hook rod respectively, and the left clamping hook rod and the right clamping hook rod clamp the cylinder barrel, and the left clamping hook rod and the right clamping hook rod lift and rotate the cylinder barrel to put the cylinder barrel in a vertical state, and then lower the cylinder barrel. Since the right clamping hook rod is at the bottom end of the cylinder barrel, the right clamping hook rod needs to be pulled out from the bottom end of the cylinder barrel. At this time, the bottom end of the cylinder barrel has a height with the table surface on which it is placed. After the right clamping hook rod is pulled out, the cylinder barrel will hit the table surface, and the cylinder barrel collides with the table surface, which is prone to damage, and the cylinder barrel may even tip over again, causing damage to the cylinder barrel again. Summary of the invention

[0004] In order to reduce the damage caused to the cylinder barrels during the upright stacking process, the present application provides a clamping and flipping robot for the upright stacking of the cylinder barrels.

[0005] The present application provides a clamping and flipping manipulator for upright stacking of cylinder barrels, which adopts the following technical solution: A clamping and flipping robot for upright stacking of cylinders, comprising a robot arm, a rotating motor, a mounting plate and a clamping plate; the rotating motor is mounted on the end of the robot arm, the mounting plate is connected to the output shaft of the rotating motor, and the mounting plate is slidably connected to one end of two slides on the side away from the rotating motor; two clamping plates are provided, and the side surfaces of the two clamping plates are connected to the ends of the two slides away from the mounting plate, and the sides of the clamping plates close to each other are arc surfaces, and the two clamping plates are used to clamp the cylinder, and the arc surfaces of the clamping plates are in contact with the outer circumferential surface of the cylinder; a driving mechanism for driving the two slides to slide is installed on the mounting plate.

[0006] Optionally, a vacuum adsorption cavity is provided inside the splint, and a plurality of vacuum adsorption holes are provided on the arc surface of the splint, and the vacuum adsorption holes are connected to the vacuum adsorption cavity; an air pipe is connected to the side of the splint close to the skateboard, one end of the air pipe is connected to the vacuum adsorption cavity, and the other end of the air pipe is connected to an external vacuum generator.

[0007] Optionally, a rubber head is inserted into the vacuum adsorption hole, and a through hole passing through both ends is provided in the middle position of the rubber head, the through hole is connected to the vacuum adsorption hole, and the rubber head has an interference fit with the inner wall of the vacuum adsorption hole; the end of the rubber head extends out of the arc surface of the splint, and the end face of the rubber head is pressed against the outer circumferential surface of the cylinder.

[0008] Optionally, the driving mechanism includes a driving motor, a synchronous wheel, a synchronous belt, a guide rail, a bidirectional screw and a bearing support seat; the guide rail is installed on the side of the mounting plate close to the bearing support seat, and two sliders are slidably connected to the guide rail, and the ends of the two sliders are connected to the surfaces of the two sliders; two bearing support seats are provided, and the two bearing support seats are connected to the side of the mounting plate away from the rotating motor, and the two bearing support seats are respectively located at the two ends of the guide rail, and the two ends of the bidirectional screw are respectively rotatably connected to the two bearing support seats, and the two ends of the bidirectional screw pass through the two sliders respectively, and the bidirectional screw and the slider are threaded; the driving motor is installed on the side of the mounting plate, and two synchronous wheels are provided, one of which is coaxially connected to the output shaft of the driving motor, and the other is coaxially connected to the middle position of the bidirectional screw, and the synchronous belt is wound around the two synchronous wheels.

[0009] Optionally, the mounting plate is connected to four limit plates on the side surface close to the skateboard, wherein two of the limit plates are located on one side of the skateboard, and the other two limit plates are located on the other side of the skateboard; the side surface of one of the skateboards is attached to the side surfaces of the two limit plates at one end, and the side surface of the other skateboard is attached to the side surfaces of the two limit plates at the other end.

[0010] Optionally, a first connecting plate is connected to the side of the skateboard close to the clamping plate, a second connecting plate is connected to the side of the clamping plate close to the skateboard, the side of the first connecting plate is attached to the side of the second connecting plate, and the first connecting plate is detachably connected to the second connecting plate.

[0011] Optionally, the sides of the two clamps that are away from each other are inclined, and the inclined surfaces of the clamps are facing the side away from the mounting plate; the sides of the clamps that are away from each other are provided with guide plates, and the guide plates are attached to the inclined surfaces of the clamps; the sides of the guide plates close to the clamps are connected to two T-shaped guide strips, and the sides of the clamps close to the guide plates are provided with T-shaped guide grooves for the T-shaped guide strips to slide, and the two ends of the T-shaped guide grooves are connected to the clamps; the end of the guide plate close to the mounting plate is provided with a clearance opening for the mounting plate to enter; the end face of the guide plate close to the mounting plate is connected to a baffle, the baffle is attached to the side of the clamp close to the slide board, and the side of the guide plate away from the baffle extends out of the clamp.

[0012] Optionally, both end surfaces of the clamping plate are connected with a ring, an electromagnet slides inside the ring, the end of the electromagnet is affixed to the side of the guide plate, and a limiting ring is connected to the circumference of the electromagnet, and the limiting ring is affixed to the side of the ring close to the guide plate.

[0013] Optionally, a connecting frame is provided on the circumferential surface of the splint, and the connecting frame is located on one side of the splint close to the other splint, and the sides of the two connecting frames close to each other are arc surfaces, and the inner wall of the connecting frame is connected to a rubber frame, one side of the rubber frame is tightly attached to the arc surface of the splint, and the other side of the rubber frame extends out of the connecting frame and is an arc surface, and the arc surface of the rubber frame fits the cylinder; the top surface and end surface of the splint are connected to a third connecting plate, and the top surface and end surface of the connecting frame are connected to a fourth connecting plate, the third connecting plate and the fourth connecting plate correspond one-to-one, and the third connecting plate is detachably connected to the fourth connecting plate.

[0014] Optionally, the robotic arm includes a base, a rotating base, a first connecting arm, a second connecting arm and a rotating base, the rotating base is rotatably connected to the top surface of the base, and the motor in the base drives the rotating base to rotate around the Z axis; one end of the first connecting arm is rotatably connected to the side of the rotating base, and the motor in the rotating base drives the first connecting arm to rotate around the X1 axis; one end of the second connecting arm is rotatably connected to the end of the first connecting arm away from the rotating base, and the motor in the first connecting arm drives the second connecting arm to rotate around the X2 axis; the rotating base is rotatably connected to the end of the second connecting arm away from the first connecting arm, and the motor in the end of the second connecting arm drives the rotating base to rotate around the X3 axis; the rotating motor is installed on the side of the rotating base away from the second connecting arm.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. When it is necessary to clamp the horizontally tilted cylinder barrel, the driving mechanism drives the two slide plates to separate from each other, and the two slide plates drive the two clamping plates to separate, and the program controls the mechanical arm, and the mechanical arm drives the rotating motor to move, and the rotating motor drives the mounting plate to move, so that the mounting plate is horizontal, and the rotating motor drives the mounting plate to rotate, so that the gap between the two clamping plates is aligned with the cylinder barrel, and the mechanical arm drives the mounting plate to drive the two slide plates to descend, and the slide plate drives the two clamping plates to descend, so that the two clamping plates move to both sides of the cylinder barrel, and the driving mechanism drives the two slide plates to approach each other again, and the two slide plates drive the two clamping plates to approach each other, and the arc surfaces of the two clamping plates are tightly attached to the outer circumferential surface of the cylinder barrel, and the two clamping plates clamp the middle of the cylinder barrel, and the program controls the mechanical arm, and the mechanical arm drives the mounting plate to stand up, and the rotating motor drives the mounting plate to rotate, and the mounting plate drives the cylinder barrel to rotate through the slide plate and the clamping plate, so that the cylinder barrel is vertical, and the program controls the mechanical arm, and the mechanical arm drives the cylinder barrel to descend, and the bottom end of the cylinder barrel is placed on the table surface, so as to avoid the bottom end of the cylinder barrel suddenly hitting the table surface, and reduce the damage caused by the cylinder barrel during the lowering process; 2. After the two clamps clamp the cylinder, the arc surface of the clamps is close to the outer peripheral surface of the cylinder, the outer peripheral surface of the cylinder seals the vacuum adsorption hole, the vacuum generator evacuates the vacuum adsorption chamber through the air pipe, and the vacuum adsorption hole can adsorb the cylinder; when the mounting plate rotates, the cylinder is fixed more tightly due to the adsorption effect of the vacuum adsorption hole, and when the cylinder is upright, it is difficult for the cylinder to slip off between the two clamps; 3. When the clamp is used to clamp the cylinder, control the distance between the two clamps, adjust the spacing between the bottom ends of the guide plates to be slightly larger than the diameter of the cylinder, and the clamp drives the guide plate to descend. The guide plate separates the clamped cylinder from the adjacent cylinder. The bottom end of the guide plate contacts the table where the cylinder is placed. The cylinder is located between the two guide plates, and the clamp continues to descend. The T-shaped guide strip slides in the T-shaped guide groove, and the guide plate and the clamp move relative to each other. During the descent of the clamp, the two guide plates move to the side away from the clamped cylinder, and the guide plate pushes away the cylinders around the clamped cylinder, so that the clamp can move to the side of the cylinder, providing enough space for the clamp to clamp the cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the manipulator in the embodiment of the present application; Figure 2 It is a partial structural schematic diagram of the manipulator in the embodiment of the present application; Figure 3 yes Figure 2 A schematic diagram of the enlarged structure of part A; Figure 4 is a schematic diagram of the structure of the driving mechanism of an embodiment of the present application; Figure 5 is a schematic diagram of the cross-sectional structure of a splint according to an embodiment of the present application; Figure 6 yes Figure 5A schematic diagram of the enlarged structure of part B; Figure 7 is a schematic diagram of the structure of the guide plate of an embodiment of the present application; Figure 8 It is a schematic diagram of the structure of the guide plate pushing the cylinder in the embodiment of the present application.

[0017] Description of reference numerals: 01, cylinder; 1, mechanical arm; 11, base; 12, rotating seat; 13, first connecting arm; 14, second connecting arm; 15, rotating seat; 2, rotating motor; 3, mounting plate; 31, slide plate; 311, first connecting plate; 32, limit plate; 4, clamping plate; 41, vacuum adsorption chamber; 42, vacuum adsorption hole; 43, air pipe; 44, rubber head; 441, through hole; 45, second connecting plate; 46, T-type Guide groove; 5. driving mechanism; 51. driving motor; 52. synchronous wheel; 53. synchronous belt; 54. guide rail; 541. slider; 55. bidirectional screw; 56. bearing support seat; 57. sleeve ring; 571. electromagnet; 572. limit ring; 58. third connecting plate; 6. guide plate; 61. T-shaped guide strip; 62. clearance port; 63. baffle; 7. connecting frame; 71. rubber frame; 72. fourth connecting plate. DETAILED DESCRIPTION

[0018] The following is combined with Figure 1-8 This application is described in further detail.

[0019] The present application embodiment discloses a clamping and flipping robot for upright stacking of cylinder barrels. Figure 1-8 The manipulator includes a manipulator arm 1, a rotating motor 2, a mounting plate 3 and a clamping plate 4; the bottom of the manipulator arm 1 is mounted on a table, the rotating motor 2 is mounted on the end of the manipulator arm 1, the mounting plate 3 is connected to the output shaft of the rotating motor 2, and the side of the mounting plate 3 away from the rotating motor 2 is slidably connected to one end of two slides 31; two clamping plates 4 are provided, the side surfaces of the two clamping plates 4 are connected to the ends of the two slides 31 away from the mounting plate 3, and the sides of the clamping plates 4 close to each other are arc surfaces, and the two clamping plates 4 are used to clamp the cylinder barrel 01, and the arc surfaces of the clamping plates 4 are fitted to the outer peripheral surface of the cylinder barrel 01; a driving mechanism 5 for driving the two slides 31 to slide is installed on the mounting plate 3.

[0020] When it is necessary to clamp the horizontally tilted cylinder 01, the driving mechanism 5 drives the two slide plates 31 to separate from each other, and the two slide plates 31 drive the two clamping plates 4 to separate. The robot arm 1 is controlled by the program, and the robot arm 1 drives the rotating motor 2 to move, and the rotating motor 2 drives the mounting plate 3 to move, so that the mounting plate 3 is horizontal, and the rotating motor 2 drives the mounting plate 3 to rotate, so that the gap between the two clamping plates 4 is aligned with the cylinder 01, and the robot arm 1 drives the mounting plate 3 to drive the two slide plates 31 to descend, and the slide plate 31 drives the two clamping plates 4 to descend, so that the two clamping plates 4 move to both sides of the cylinder 01, and the driving mechanism 5 drives the two slide plates 31 again. The two slides 31 drive the two clamps 4 to move closer to each other, and the arc surfaces of the two clamps 4 are tightly attached to the outer circumferential surface of the cylinder 01. The two clamps 4 clamp the middle of the cylinder 01. The program controls the robot arm 1, and the robot arm 1 drives the mounting plate 3 to stand upright. The rotating motor 2 drives the mounting plate 3 to rotate. The mounting plate 3 drives the cylinder 01 to rotate through the slides 31 and the clamps 4 to make the cylinder 01 vertical. The program controls the robot arm 1, and the robot arm 1 drives the cylinder 01 to descend and places the bottom end of the cylinder 01 on the table to prevent the bottom end of the cylinder 01 from suddenly hitting the table, thereby reducing the damage caused to the cylinder 01 during the lowering process.

[0021] A vacuum adsorption chamber 41 is arranged inside the splint 4, and a plurality of vacuum adsorption holes 42 are arranged on the arc surface of the splint 4, and the vacuum adsorption holes 42 are connected to the vacuum adsorption chamber 41; an air pipe 43 is connected to the side of the splint 4 close to the slide plate 31, one end of the air pipe 43 is connected to the vacuum adsorption chamber 41, and the other end of the air pipe 43 is connected to an external vacuum generator.

[0022] After the two clamps 4 clamp the cylinder 01, the arc surface of the clamp 4 is pressed against the outer peripheral surface of the cylinder 01, and the outer peripheral surface of the cylinder 01 is sealed against the vacuum adsorption hole 42. The vacuum generator evacuates the vacuum adsorption chamber 41 into a vacuum through the air pipe 43, and the vacuum adsorption hole 42 can adsorb the cylinder 01; when the mounting plate 3 rotates, the cylinder 01 is fixed more tightly due to the adsorption effect of the vacuum adsorption hole 42, and when the cylinder 01 is upright, it is difficult for the cylinder 01 to slip off from between the two clamps 4.

[0023] A rubber head 44 is inserted into the vacuum adsorption hole 42, and a through hole 441 is set in the middle position of the rubber head 44, which passes through both ends. The through hole 441 is connected to the vacuum adsorption hole 42, and the rubber head 44 has an interference fit with the inner wall of the vacuum adsorption hole 42; the end of the rubber head 44 extends out of the arc surface of the clamping plate 4, and the end face of the rubber head 44 is pressed tightly against the outer peripheral surface of the cylinder 01; the rubber head 44 fits more closely with the outer peripheral surface of the cylinder 01, so that the vacuum adsorption hole 42 adsorbs the cylinder 01 more firmly.

[0024] The driving mechanism 5 includes a driving motor 51, a synchronous wheel 52, a synchronous belt 53, a guide rail 54, a bidirectional lead screw 55 and a bearing support seat 56; the guide rail 54 is installed on the side of the mounting plate 3 close to the bearing support seat 56, and two sliders 541 are slidably connected to the guide rail 54, and the ends of the two sliders 31 are connected to the surfaces of the two sliders 541; there are two bearing support seats 56, the two bearing support seats 56 are connected to the side of the mounting plate 3 away from the rotating motor 2, the two bearing support seats 56 are respectively located at the two ends of the guide rail 54, the two ends of the bidirectional lead screw 55 are respectively rotatably connected in the two bearing support seats 56, the two ends of the bidirectional lead screw 55 pass through the two sliders 31 respectively, and the bidirectional lead screw 55 and the slider 31 are threadedly driven; the driving motor 51 is installed on the side of the mounting plate 3, and two synchronous wheels 52 are provided, one of which is coaxially connected to the output shaft of the driving motor 51, and the other synchronous wheel 52 is coaxially connected to the middle position of the bidirectional lead screw 55, and the synchronous belt 53 is wound around the two synchronous wheels 52.

[0025] When the two slides 31 need to be driven to move in opposite directions, the driving motor 51 drives the bidirectional lead screw 55 to rotate, and the bidirectional lead screw 55 drives the two slides 31 to move in opposite directions on the guide rail 54 through the slider 541, so that the clamping plate 4 can be approached and separated.

[0026] Four limit plates 32 are connected to the side of the mounting plate 3 close to the skateboard 31, two of which are located on one side of the skateboard 31, and the other two are located on the other side of the skateboard 31; the side of one of the skateboards 31 is in contact with the sides of the two limit plates 32 at one end, and the side of the other skateboard 31 is in contact with the sides of the two limit plates 32 at the other end.

[0027] When the mounting plate 3 is erected, the limiting plate 32 supports the sliding plate 31 , and the gravity applied to the sliding plate 31 by the cylinder 01 is applied to the limiting plate 32 , thereby reducing the pulling of the sliding plate 31 on the guide rail 54 .

[0028] The side of the skateboard 31 close to the clamping plate 4 is connected to the first connecting plate 311, and the side of the clamping plate 4 close to the skateboard 31 is connected to the second connecting plate 45. The side of the first connecting plate 311 is attached to the side of the second connecting plate 45, and the first connecting plate 311 is detachably connected to the second connecting plate 45 by bolts.

[0029] When the clamping plate 4 needs to be replaced, the bolts connecting the first connecting plate 311 and the second connecting plate 45 are removed, and the clamping plate 4 can be removed from the slide plate 31, and then a new clamping plate 4 is replaced, and the first connecting plate 311 and the second connecting plate 45 are connected by bolts.

[0030] The sides of the two clamps 4 that are away from each other are inclined, and the inclined surface of the clamps 4 is facing the side away from the mounting plate 3; the sides of the clamps 4 that are away from each other are provided with guide plates 6, and the guide plates 6 are fitted to the inclined surfaces of the clamps 4; two T-shaped guide strips 61 are connected to the side of the guide plate 6 close to the clamps 4, and the side of the clamps 4 close to the guide plate 6 is provided with a T-shaped guide groove 46 for the T-shaped guide strip 61 to slide, and the two ends of the T-shaped guide groove 46 are connected to the clamps 4; the end of the guide plate 6 close to the mounting plate 3 is provided with a clearance opening 62 for the mounting plate 3 to enter; the end face of the guide plate 6 close to the mounting plate 3 is connected to the baffle plate 63, the baffle plate 63 is fitted to the side of the clamps 4 close to the slide plate 31, and the side of the guide plate 6 away from the baffle plate 63 extends out of the clamps 4.

[0031] When the clamp 4 goes to clamp the cylinder 01, the distance between the two clamps 4 is controlled, and the spacing between the bottom ends of the guide plates 6 is adjusted to be slightly larger than the diameter of the cylinder 01. The clamp drives the guide plate 6 to descend, and the guide plate 6 separates the clamped cylinder 01 from the adjacent cylinder 01. The bottom end of the guide plate 6 contacts the table on which the cylinder 01 is placed, and the cylinder 01 is located between the two guide plates 6. The clamp 4 continues to descend, and the T-shaped guide strip 61 slides in the T-shaped guide groove 46. The guide plate 6 and the clamp 4 move relative to each other. During the descent of the clamp 4, the two guide plates 6 move to the side away from the clamped cylinder 01, and the guide plate 6 pushes away the cylinder 01 around the clamped cylinder 01, so that the clamp 4 can move to the side of the cylinder 01, providing enough space for the clamp 4 to clamp the cylinder 01.

[0032] The two end surfaces of the clamping plate 4 are connected with a ring 57, and an electromagnet 571 slides inside the ring 57. The end of the electromagnet 571 is attached to the side of the guide plate 6. The circumference of the electromagnet 571 is connected with a limit ring 572, and the limit ring 572 is attached to the side of the ring 57 close to the guide plate 6.

[0033] When the clamping plate 4 clamps the cylinder 01, the electromagnet 571 is energized, and the electromagnet 571 is adsorbed on the side of the guide plate 6, and the electromagnets 571 on both sides of the guide plate 6 fix the guide plate 6; when the cylinder 01 is lifted, the guide plate 6 will not slide relative to the clamping plate 4 until the cylinder 01 is stacked upright, at which time the electromagnet 571 is no longer energized, and the clamping of the electromagnet 571 on the guide plate 6 is released, and the clamping plate 4 clamps the cylinder 01 again, and the guide plate 6 slides downward under the action of gravity, and the baffle 63 is attached to the top surface of the clamping plate 4; at this time, the electromagnet 571 is energized, and the guide plate 6 continues to approach the cylinder 01. When the guide plate 6 contacts the table top, the electromagnet 571 is no longer energized, and the clamping of the electromagnet 571 on the guide plate 6 is released, so that the clamping plate 4 can move to both sides of the cylinder 01.

[0034] A connecting frame 7 is sleeved on the circumference of the clamp plate 4, and the connecting frame 7 is located on one side of the clamp plate 4 close to the other clamp plate 4. The sides of the two connecting frames 7 close to each other are arc surfaces. A rubber frame 71 is connected to the inner wall of the connecting frame 7. One side of the rubber frame 71 is tightly attached to the arc surface of the clamp plate 4, and the other side of the rubber frame 71 extends out of the connecting frame 7 and is an arc surface. The arc surface of the rubber frame 71 fits the cylinder 01; the top surface and end surface of the clamp plate 4 are connected to the third connecting plate 58, and the top surface and end surface of the connecting frame 7 are connected to the fourth connecting plate 72. The third connecting plate 58 and the fourth connecting plate 72 correspond to each other one by one, and the third connecting plate 58 is detachably connected to the fourth connecting plate 72 by bolts.

[0035] When the clamping plate 4 is required to clamp cylinder barrels 01 of different diameters, the rubber frame 71 is installed in the connecting frame 7, and then the connecting frame 7 is sleeved on the clamping plate 4, so that the rubber frame 71 is pressed against the arc surface of the clamping plate 4, and the third connecting plate 58, the second and the fourth connecting plates 72 are connected by bolts. At this time, the diameter of the cylinder barrel 01 clamped by the two rubber frames 71 becomes smaller; the rubber frame 71 is pressed against the outer peripheral surface of the cylinder barrel 01, and the rubber frame 71 and the cylinder barrel 01 are sealed. The vacuum adsorption hole 42 draws the space between the rubber frames 71 into a vacuum, so that the cylinder barrel 01 can be adsorbed; by replacing the connecting frames 7 and rubber frames 71 of different diameters, cylinder barrels 01 of different diameters can be clamped.

[0036] The robot arm 1 includes a base 11, a rotating base 12, a first connecting arm 13, a second connecting arm 14 and a rotating base 15. The base 11 is installed on a table top, the rotating base 12 is rotatably connected to the top surface of the base 11, and the motor in the base 11 drives the rotating base 12 to rotate around the Z axis; one end of the first connecting arm 13 is rotatably connected to the side of the rotating base 12, and the motor in the rotating base 12 drives the first connecting arm 13 to rotate around the X1 axis, one end of the second connecting arm 14 is rotatably connected to the end of the first connecting arm 13 away from the rotating base 12, and the motor in the first connecting arm 13 drives the second connecting arm 14 to rotate around the X2 axis; the rotating base 15 is rotatably connected to the end of the second connecting arm 14 away from the first connecting arm 13, and the motor in the end of the second connecting arm 14 drives the rotating base 15 to rotate around the X3 axis; the rotating motor 2 is installed on the side of the rotating base 15 away from the second connecting arm 14.

[0037] The program controls the rotating seat 12 to rotate around the Z axis, controls the first connecting arm 13 to swing around the X1 axis, controls the second connecting arm 14 to swing around the X2 axis, controls the rotating seat 15 to swing around the X3 axis, controls the rotating motor 2 to drive the mounting plate 3 to rotate, and thus the movement of the clamping plate 4 can be controlled.

[0038] The implementation principle of the clamping and flipping manipulator for upright stacking of cylinders in the embodiment of the present application is as follows: when it is necessary to clamp the horizontally tilted cylinder 01, the driving mechanism 5 drives the two slide plates 31 to separate from each other, and the two slide plates 31 drive the two clamping plates 4 to separate, and the robot arm 1 is controlled by the program, the robot arm 1 drives the rotating motor 2 to move, the rotating motor 2 drives the mounting plate 3 to move, so that the mounting plate 3 is horizontal, the rotating motor 2 drives the mounting plate 3 to rotate, so that the gap between the two clamping plates 4 is aligned with the cylinder 01, the robot arm 1 drives the mounting plate 3 to drive the two slide plates 31 to descend, the slide plate 31 drives the two clamping plates 4 to descend, so that the two clamping plates 4 move to both sides of the cylinder 01, The driving mechanism 5 then drives the two slides 31 to approach each other, and the two slides 31 drive the two clamps 4 to approach each other. The arc surfaces of the two clamps 4 are tightly attached to the outer circumferential surface of the cylinder 01, and the two clamps 4 clamp the middle part of the cylinder 01. The program controls the robot arm 1, and the robot arm 1 drives the mounting plate 3 to stand upright. The rotating motor 2 drives the mounting plate 3 to rotate. The mounting plate 3 drives the cylinder 01 to rotate through the slides 31 and the clamps 4 to make the cylinder 01 vertical. The program controls the robot arm 1, and the robot arm 1 drives the cylinder 01 to descend and places the bottom end of the cylinder 01 on the table to prevent the bottom end of the cylinder 01 from suddenly hitting the table, thereby reducing the damage caused to the cylinder 01 during the lowering process.

[0039] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A clamping and flipping manipulator for upright stacking of cylinder barrels, characterized in that: It comprises a mechanical arm (1), a rotating motor (2), a mounting plate (3) and a clamping plate (4); the rotating motor (2) is mounted on the end of the mechanical arm (1), the mounting plate (3) is connected to the output shaft of the rotating motor (2), and the mounting plate (3) is slidably connected to one end of two slides (31) away from the side of the rotating motor (2); two clamping plates (4) are provided, the side surfaces of the two clamping plates (4) are connected to the ends of the two slides (31) away from the mounting plate (3), and the side surfaces of the clamping plates (4) close to each other are arc surfaces, and the two clamping plates (4) are used to clamp the cylinder barrel (01), and the arc surfaces of the clamping plates (4) are in contact with the outer peripheral surface of the cylinder barrel (01); a driving mechanism (5) for driving the two slides (31) to slide is installed on the mounting plate (3).

2. A clamping and flipping robot for upright stacking of cylinder barrels according to claim 1, characterized in that: A vacuum adsorption chamber (41) is arranged inside the clamping plate (4), and a plurality of vacuum adsorption holes (42) are arranged on the arc surface of the clamping plate (4), and the vacuum adsorption holes (42) are connected to the vacuum adsorption chamber (41); an air pipe (43) is connected to the side of the clamping plate (4) close to the slide plate (31), one end of the air pipe (43) is connected to the vacuum adsorption chamber (41), and the other end of the air pipe (43) is connected to an external vacuum generator.

3. A clamping and flipping robot for upright stacking of cylinder barrels according to claim 2, characterized in that: A rubber head (44) is inserted into the vacuum adsorption hole (42); a through hole (441) penetrating both ends is provided in the middle of the rubber head (44); the through hole (441) is connected to the vacuum adsorption hole (42); the rubber head (44) is interference fit with the inner wall of the vacuum adsorption hole (42); the end of the rubber head (44) extends out of the arc surface of the clamping plate (4); the end face of the rubber head (44) is pressed against the outer peripheral surface of the cylinder (01).

4. The clamping and flipping robot for upright stacking of cylinders according to claim 1 is characterized in that: The driving mechanism (5) comprises a driving motor (51), a synchronous wheel (52), a synchronous belt (53), a guide rail (54), a bidirectional lead screw (55) and a bearing support seat (56); the guide rail (54) is mounted on a side of the mounting plate (3) close to the bearing support seat (56); two sliders (541) are slidably connected to the guide rail (54); the ends of the two sliders (31) are connected to the surfaces of the two sliders (541); two bearing support seats (56) are provided, the two bearing support seats (56) are connected to the side of the mounting plate (3) away from the rotating motor (2), and the two bearing support seats (56) are respectively located at The two ends of the guide rail (54) are respectively rotatably connected to the two bearing support seats (56), and the two ends of the bidirectional lead screw (55) respectively pass through the two slides (31), and the bidirectional lead screw (55) and the slides (31) are threadedly driven; the drive motor (51) is installed on the side of the mounting plate (3), and two synchronous wheels (52) are provided, one of which is coaxially connected to the output shaft of the drive motor (51), and the other is coaxially connected to the middle position of the bidirectional lead screw (55), and the synchronous belt (53) is wound around the two synchronous wheels (52).

5. The clamping and flipping robot for upright stacking of cylinders according to claim 1 is characterized in that: Four limiting plates (32) are connected to the side of the mounting plate (3) close to the slide plate (31), wherein two of the limiting plates (32) are located on one side of the slide plate (31), and the other two of the limiting plates (32) are located on the other side of the slide plate (31); the side of one of the slide plates (31) is in contact with the side of the two limiting plates (32) at one end, and the side of the other slide plate (31) is in contact with the side of the two limiting plates (32) at the other end.

6. The clamping and flipping robot for upright stacking of cylinder barrels according to claim 1 is characterized in that: The side of the slide plate (31) close to the clamp plate (4) is connected to a first connecting plate (311), and the side of the clamp plate (4) close to the slide plate (31) is connected to a second connecting plate (45); the side of the first connecting plate (311) is attached to the side of the second connecting plate (45), and the first connecting plate (311) is detachably connected to the second connecting plate (45).

7. The clamping and flipping robot for upright stacking of cylinders according to claim 1 is characterized in that: The sides of the two clamps (4) that are away from each other are inclined, and the inclined surfaces of the clamps (4) are facing the side away from the mounting plate (3); the sides of the clamps (4) that are away from each other are provided with guide plates (6), and the guide plates (6) are attached to the inclined surfaces of the clamps (4); the sides of the guide plates (6) close to the clamps (4) are connected to two T-shaped guide strips (61), and the sides of the clamps (4) close to the guide plates (6) are provided with T-shaped guide strips for the T-shaped guide strips (61) to slide. The guide plate (6) is provided with a T-shaped guide groove (46), both ends of which are connected to the clamping plate (4); the end of the guide plate (6) close to the mounting plate (3) is provided with a clearance opening (62) for the mounting plate (3) to enter; the end surface of the guide plate (6) close to the mounting plate (3) is connected with a baffle (63), the baffle (63) is attached to the side of the clamping plate (4) close to the slide plate (31), and the side of the guide plate (6) away from the baffle (63) extends out of the clamping plate (4).

8. The clamping and flipping robot for upright stacking of cylinder barrels according to claim 7 is characterized in that: The two end surfaces of the clamping plate (4) are connected with a sleeve ring (57), an electromagnet (571) slides inside the sleeve ring (57), the end of the electromagnet (571) is attached to the side of the guide plate (6), the circumference of the electromagnet (571) is connected with a limit ring (572), and the limit ring (572) is attached to the side of the sleeve ring (57) close to the guide plate (6).

9. The clamping and flipping robot for upright stacking of cylinders according to claim 1, characterized in that: The circumferential surface of the clamping plate (4) is sleeved with a connecting frame (7), and the connecting frame (7) is located on one side of the clamping plate (4) close to the other clamping plate (4), and the side surfaces of the two connecting frames (7) close to each other are arc surfaces. The inner wall of the connecting frame (7) is connected to a rubber frame (71), and one side of the rubber frame (71) is tightly attached to the arc surface of the clamping plate (4), and the other side of the rubber frame (71) extends out of the connecting frame (7) and is in the form of an arc surface. The arc surface of the rubber frame (71) is attached to the cylinder (01); the top surface and the end surface of the clamping plate (4) are both connected to the third connecting plate (58), and the top surface and the end surface of the connecting frame (7) are both connected to the fourth connecting plate (72), and the third connecting plate (58) and the fourth connecting plate (72) correspond one to one, and the third connecting plate (58) can be detachably connected to the fourth connecting plate (72).

10. The clamping and flipping robot for upright stacking of cylinder barrels according to claim 1, characterized in that: The mechanical arm (1) comprises a base (11), a rotating base (12), a first connecting arm (13), a second connecting arm (14) and a rotating base (15); the rotating base (12) is rotatably connected to the top surface of the base (11); a motor in the base (11) drives the rotating base (12) to rotate around the Z axis; one end of the first connecting arm (13) is rotatably connected to the side surface of the rotating base (12); the motor in the rotating base (12) drives the first connecting arm (13) to rotate around the X1 axis; one end of the second connecting arm (14) is rotatably connected to the side surface of the rotating base (12); the motor in the rotating base (12) drives the first connecting arm (13) to rotate around the X1 axis; The end is rotatably connected to the end of the first connecting arm (13) away from the rotating seat (12), and the motor in the first connecting arm (13) drives the second connecting arm (14) to rotate around the X2 axis; the rotating seat (15) is rotatably connected to the end of the second connecting arm (14) away from the first connecting arm (13), and the motor in the end of the second connecting arm (14) drives the rotating seat (15) to rotate around the X3 axis; the rotating motor (2) is installed on the side of the rotating seat (15) away from the second connecting arm (14).

Images