A clamping and flipping manipulator for vertical stacking of cylinder barrels

Abstract

This application relates to the technical field of manipulators, and specifically discloses a clamping and flipping manipulator for vertical stacking of cylinder barrels, which includes a robotic arm, a rotating motor, a mounting plate, and clamping plates; the bottom of the robotic arm is mounted on a tabletop, the rotating motor is mounted at the end of the robotic arm, the mounting plate is connected to the output shaft of the rotating motor, and one end of two sliding plates is slidably connected to the side of the mounting plate away from the rotating motor; there are two clamping plates, the sides of the two clamping plates are connected to the ends of the two sliding plates away from the mounting plate, the sides of the clamping plates close to each other are arc-shaped surfaces, and the two clamping plates are used to clamp the cylinder barrel, and the arc-shaped surfaces of the clamping plates are attached to the outer peripheral surface of the cylinder barrel; a driving mechanism for driving the two sliding plates to slide is mounted on the mounting plate. This application has the effect of reducing damage to the cylinder barrel during the vertical stacking process.

Description

Technical Field

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

[0002] The cylinder barrel is an important part of a hydraulic cylinder, and is usually also referred to as the outer cylinder or cylinder block of the hydraulic cylinder. The cylinder barrel is a hollow cylindrical part that houses components such as pistons, seals, and hydraulic oil inside, and bears hydraulic pressure and pushing and pulling forces to achieve the movement of mechanical devices; during the production process of the cylinder barrel, it is necessary to place the horizontally laid cylinder barrel vertically for processing in the next process.

[0003] In the related art, the Chinese invention patent with the publication number CN107175653A discloses a clamping and flipping manipulator for upright stacking of cylinder barrels. The two ends of the cylinder barrel are respectively hooked by a left clamping hook rod and a right clamping hook rod. The left clamping hook rod and the right clamping hook rod clamp the cylinder barrel, lift the cylinder barrel and rotate the cylinder barrel to make 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, it is necessary to extract the right clamping hook rod from the bottom end of the cylinder barrel. At this time, there is a height between the bottom end of the cylinder barrel and the placed tabletop. After the right clamping hook rod is extracted, the cylinder barrel will hit the tabletop, and the cylinder barrel will collide with the tabletop, which is likely to cause damage, and even the cylinder barrel may fall again, causing damage to the cylinder barrel again. Summary of the Invention

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

[0005] The clamping and flipping manipulator for upright stacking of cylinder barrels provided by the present application adopts the following technical solutions:

[0006] A clamping and flipping manipulator for upright stacking of cylinder barrels includes a robotic arm, a rotating motor, a mounting plate, and clamping plates; the rotating motor is installed at the end of the robotic arm, the mounting plate is connected to the output shaft of the rotating motor, and one ends of two sliding plates are slidably connected to the side surface of the mounting plate away from the rotating motor; there are two clamping plates, the side surfaces of the two clamping plates are connected to the ends of the two sliding plates away from the mounting plate, the mutually approaching side surfaces of the clamping plates are arc surfaces, the two clamping plates are used for clamping the cylinder barrel, and the arc surfaces of the clamping plates are attached to the outer peripheral surface of the cylinder barrel; a driving mechanism for driving the two sliding plates to slide is installed on the mounting plate.

[0007] Optionally, a vacuum adsorption cavity is arranged inside the clamping plate. A plurality of vacuum adsorption holes are arranged on the arc surface of the clamping plate, and the vacuum adsorption holes communicate with the vacuum adsorption cavity. A trachea is connected to the side of the clamping plate close to the sliding plate. One end of the trachea communicates with the vacuum adsorption cavity, and the other end of the trachea is connected to an external vacuum generator.

[0008] Optionally, a rubber head is inserted into the vacuum adsorption hole. A through hole penetrating both ends is arranged at the middle position of the rubber head, and the through hole communicates with the vacuum adsorption hole. The rubber head is in 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 clamping plate, and the end surface of the rubber head presses against the outer peripheral surface of the cylinder barrel.

[0009] Optionally, the driving mechanism includes a driving motor, a synchronous pulley, a synchronous belt, a guide rail, a bidirectional lead screw, and a bearing support. The guide rail is installed on the side of the mounting plate close to the bearing support. Two sliders are slidably connected to the guide rail, and the ends of the two sliding plates are connected to the surfaces of the two sliders. There are two bearing supports, and the two bearing supports are connected to the side of the mounting plate away from the rotating motor. The two bearing supports are respectively located at both ends of the guide rail. The two ends of the bidirectional lead screw are respectively rotatably connected to the two bearing supports, and the two ends of the bidirectional lead screw respectively pass through the two sliding plates, and the bidirectional lead screw is in threaded transmission with the sliding plates. The driving motor is installed on the side of the mounting plate. There are two synchronous pulleys. One of the synchronous pulleys is coaxially connected to the output shaft of the driving motor, and the other synchronous pulley is coaxially connected to the middle position of the bidirectional lead screw. The synchronous belt is wound around the two synchronous pulleys.

[0010] Optionally, four limiting plates are connected to the side of the mounting plate close to the sliding plate. Two of the limiting plates are located on one side of the sliding plate, and the other two limiting plates are located on the other side of the sliding plate. The side of one of the sliding plates is attached to the sides of the two limiting plates at one end, and the side of the other sliding plate is attached to the sides of the two limiting plates at the other end.

[0011] Optionally, a first connecting plate is connected to the side of the sliding plate close to the clamping plate, and a second connecting plate is connected to the side of the clamping plate close to the sliding plate. 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] In summary, the present application includes at least one of the following beneficial technical effects:

[0017] 1. When it is necessary to lift the horizontally tilted cylinder barrel, the driving mechanism drives the two sliding plates to separate from each other. The two sliding plates drive the two clamping plates to separate. The robotic arm is controlled by a program. The robotic arm drives the rotary motor to move. The rotary motor drives the mounting plate to move to make the mounting plate horizontal. The rotary motor drives the mounting plate to rotate so that the gap between the two clamping plates aligns with the cylinder barrel. The robotic arm drives the mounting plate to drive the two sliding plates to descend. The sliding plates drive the two clamping plates to descend, so that the two clamping plates move to both sides of the cylinder barrel. The driving mechanism then drives the two sliding plates to approach each other. The two sliding plates drive the two clamping plates to approach each other. The arc surfaces of the two clamping plates are tightly attached to the outer peripheral surface of the cylinder barrel. The two clamping plates clamp the middle part of the cylinder barrel. The robotic arm is controlled by a program. The robotic arm drives the mounting plate to stand up. The rotary motor drives the mounting plate to rotate. The mounting plate drives the cylinder barrel to rotate through the sliding plates and the clamping plates to make the cylinder barrel vertical. The robotic arm is controlled by a program. The robotic arm drives the cylinder barrel to descend and places the bottom end of the cylinder barrel on the tabletop, avoiding the sudden impact of the bottom end of the cylinder barrel on the tabletop and reducing the damage caused to the cylinder barrel during the lowering process;

[0018] 2. After the two clamping plates clamp the cylinder barrel, the arc surfaces of the clamping plates are tightly attached to the outer peripheral surface of the cylinder barrel. The outer peripheral surface of the cylinder barrel seals the vacuum adsorption holes. The vacuum generator evacuates the vacuum adsorption cavity into a vacuum through an air pipe, and the vacuum adsorption holes can then adsorb the cylinder barrel; when the mounting plate rotates, due to the adsorption of the vacuum adsorption holes, the cylinder barrel is fixed more tightly. When the cylinder barrel is upright, it is difficult for the cylinder barrel to slip out between the two clamping plates;

[0019] 3. When the clamping plates clamp the cylinder barrel, control the distance between the two clamping plates, and adjust the distance between the bottom ends of the guide plates to be slightly larger than the diameter of the cylinder barrel. The fixture drives the guide plates to descend. The guide plates separate the cylinder barrel to be clamped from the adjacent cylinder barrels. The bottom ends of the guide plates contact the tabletop where the cylinder barrel is placed. The cylinder barrel is located between the two guide plates. The clamping plates continue to descend. The T-shaped guide strips slide in the T-shaped guide grooves, and relative movement occurs between the guide plates and the clamping plates. During the descent of the clamping plates, the two guide plates move to the side away from the cylinder barrel to be clamped, and the guide plates push away the cylinder barrels around the cylinder barrel to be clamped, so as to facilitate the movement of the clamping plates to the side of the cylinder barrel and provide enough space for the clamping plates to clamp the cylinder barrel. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the robotic arm in the embodiment of the present application;

[0021] Figure 2 is a partial schematic structural diagram of the robotic arm in the embodiment of the present application;

[0022] Figure 3 is Figure 2 an enlarged schematic structural diagram of part A in

[0023] Figure 4 is a schematic structural diagram of the driving mechanism in the embodiment of the present application;

[0024] Figure 5 It is a schematic cross-sectional structure diagram of the splint in the embodiment of the present application;

[0025] Figure 6 is Figure 5 an enlarged structural schematic diagram of part B in

[0026] Figure 7 It is a structural schematic diagram of the guide plate in the embodiment of the present application;

[0027] Figure 8 It is a structural schematic diagram of the guide plate push cylinder in the embodiment of the present application.

[0028] Explanation of reference numerals:

[0029] 01, cylinder barrel; 1, robotic arm; 11, base; 12, rotating seat; 13, first connecting arm; 14, second connecting arm; 15, rotating seat; 2, rotating motor; 3, mounting plate; 31, sliding plate; 311, first connecting plate; 32, limiting plate; 4, splint; 41, vacuum adsorption cavity; 42, vacuum adsorption hole; 43, air pipe; 44, rubber head; 441, through hole; 45, second connecting plate; 46, T-shaped guide groove; 5, driving mechanism; 51, driving motor; 52, synchronous pulley; 53, synchronous belt; 54, guide rail; 541, slider; 55, bidirectional lead screw; 56, bearing support seat; 57, collar; 571, electromagnet; 572, limiting ring; 58, third connecting plate; 6, guide plate; 61, T-shaped guide bar; 62, relief opening; 63, baffle; 7, connecting frame; 71, rubber frame; 72, fourth connecting plate. Detailed implementation manners

[0030] The following will Figure 1-8 make a further detailed description of the present application in conjunction with the attached

[0031] The embodiment of the present application discloses a clamping and flipping robotic arm for vertical stacking of cylinder barrels. Referring to Figure 1-8 , the robotic arm includes a robotic arm 1, a rotating motor 2, a mounting plate 3 and a splint 4; the bottom of the robotic arm 1 is mounted on the table surface, the rotating motor 2 is mounted at the end of the robotic arm 1, the mounting plate 3 is connected to the output shaft of the rotating motor 2, and one end of two sliding plates 31 is slidably connected to the side surface of the mounting plate 3 away from the rotating motor 2; there are two splints 4, the side surfaces of the two splints 4 are connected to the ends of the two sliding plates 31 away from the mounting plate 3, the side surfaces of the two splints 4 close to each other are arc surfaces, the two splints 4 are used for clamping the cylinder barrel 01, and the arc surfaces of the splints 4 are attached to the outer peripheral surface of the cylinder barrel 01; a driving mechanism 5 for driving the two sliding plates 31 to slide is mounted on the mounting plate 3.

[0032] When it is necessary to clamp the horizontally tilted cylinder barrel 01, the driving mechanism 5 drives the two sliding plates 31 to separate from each other. The two sliding plates 31 drive the two clamping plates 4 to separate. The robotic arm 1 is controlled by a program. The robotic arm 1 drives the rotating motor 2 to move. The rotating motor 2 drives the mounting plate 3 to move, making the mounting plate 3 horizontal. The rotating motor 2 drives the mounting plate 3 to rotate, aligning the gap between the two clamping plates 4 with the cylinder barrel 01. The robotic arm 1 drives the mounting plate 3 to drive the two sliding plates 31 to descend. The sliding plates 31 drive the two clamping plates 4 to descend, so that the two clamping plates 4 move to both sides of the cylinder barrel 01. The driving mechanism 5 then drives the two sliding plates 31 to approach each other. The two sliding plates 31 drive the two clamping plates 4 to approach each other. The arc surfaces of the two clamping plates 4 are closely attached to the outer peripheral surface of the cylinder barrel 01. The two clamping plates 4 clamp the middle part of the cylinder barrel 01. The robotic arm 1 is controlled by a program. The robotic arm 1 drives the mounting plate 3 to stand up. The rotating motor 2 drives the mounting plate 3 to rotate. The mounting plate 3 drives the cylinder barrel 01 to rotate through the sliding plates 31 and the clamping plates 4, making the cylinder barrel 01 vertical. The robotic arm 1 is controlled by a program. The robotic arm 1 drives the cylinder barrel 01 to descend, placing the bottom end of the cylinder barrel 01 on the tabletop, avoiding the sudden impact of the bottom end of the cylinder barrel 01 on the tabletop and reducing the damage caused to the cylinder barrel 01 during the lowering process.

[0033] A vacuum adsorption cavity 41 is arranged inside the clamping plate 4. A plurality of vacuum adsorption holes 42 are arranged on the arc surface of the clamping plate 4. The vacuum adsorption holes 42 communicate with the vacuum adsorption cavity 41. One side of the clamping plate 4 close to the sliding plate 31 is connected with an air pipe 43. One end of the air pipe 43 communicates with the vacuum adsorption cavity 41, and the other end of the air pipe 43 is connected to an external vacuum generator.

[0034] After the two clamping plates 4 clamp the cylinder barrel 01, the arc surface of the clamping plate 4 is closely attached to the outer peripheral surface of the cylinder barrel 01. The outer peripheral surface of the cylinder barrel 01 seals the vacuum adsorption holes 42. The vacuum generator evacuates the vacuum adsorption cavity 41 through the air pipe 43, and the vacuum adsorption holes 42 can then adsorb the cylinder barrel 01. When the mounting plate 3 rotates, due to the adsorption effect of the vacuum adsorption holes 42, the cylinder barrel 01 is fixed more tightly. When the cylinder barrel 01 stands upright, it is difficult for the cylinder barrel 01 to slip out between the two clamping plates 4.

[0035] A rubber head 44 is inserted into the vacuum adsorption hole 42. A through hole 441 penetrating both ends is arranged at the middle position of the rubber head 44. The through hole 441 communicates with the vacuum adsorption hole 42. The rubber head 44 is in 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 presses against the outer peripheral surface of the cylinder barrel 01. The rubber head 44 fits more closely with the outer peripheral surface of the cylinder barrel 01, making the adsorption of the vacuum adsorption hole 42 on the cylinder barrel 01 more firm.

[0036] The driving mechanism 5 includes a driving motor 51, a synchronous pulley 52, a synchronous belt 53, a guide rail 54, a bidirectional lead screw 55 and a bearing support 56; the guide rail 54 is installed on the side of the mounting plate 3 close to the bearing support 56, and two sliders 541 are slidably connected to the guide rail 54, and the ends of the two slide plates 31 are connected to the surfaces of the two sliders 541; there are two bearing supports 56, and the two bearing supports 56 are connected to the side of the mounting plate 3 away from the rotating motor 2, and the two bearing supports 56 are respectively located at both ends of the guide rail 54, and both ends of the bidirectional lead screw 55 are rotatably connected to the two bearing supports 56 respectively, and both ends of the bidirectional lead screw 55 respectively pass through the two slide plates 31, and the bidirectional lead screw 55 is in threaded transmission with the slide plate 31; the driving motor 51 is installed on the side of the mounting plate 3, and there are two synchronous pulleys 52, one of the synchronous pulleys 52 is coaxially connected to the output shaft of the driving motor 51, and the other synchronous pulley 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 pulleys 52.

[0037] When it is necessary to drive the two slide plates 31 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 slide plates 31 to move in opposite directions on the guide rail 54 through the sliders 541, so that the clamping plates 4 can be approximated and separated.

[0038] Four limiting plates 32 are connected to the side of the mounting plate 3 close to the slide plate 31, two of the limiting plates 32 are located on one side of the slide plate 31, and the other two limiting plates 32 are located on the other side of the slide plate 31; the side of one slide plate 31 is attached to the sides of the two limiting plates 32 at one end, and the side of the other slide plate 31 is attached to the sides of the two limiting plates 32 at the other end.

[0039] When the mounting plate 3 is erected, the limiting plates 32 support the slide plate 31, and the gravity applied by the cylinder barrel 01 to the slide plate 31 is applied to the limiting plates 32, reducing the pulling force of the slide plate 31 on the guide rail 54.

[0040] A first connecting plate 311 is connected to the side of the slide plate 31 close to the clamping plate 4, a second connecting plate 45 is connected to the side of the clamping plate 4 close to the slide plate 31, 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.

[0041] When it is necessary to replace the clamping plate 4, remove the bolts connecting the first connecting plate 311 and the second connecting plate 45, then the clamping plate 4 can be removed from the slide plate 31, and then a new clamping plate 4 can be replaced and the first connecting plate 311 and the second connecting plate 45 can be connected by bolts.

[0042] The sides of the two clamping plates 4 facing away from each other are inclined surfaces, and the inclined surfaces of the clamping plates 4 face away from the mounting plate 3; guide plates 6 are provided on the sides of the clamping plates 4 facing away from each other, and the guide plates 6 are attached to the inclined surfaces of the clamping plates 4; two T-shaped guide bars 61 are connected to the side of the guide plate 6 close to the clamping plate 4, and T-shaped guide grooves 46 for the T-shaped guide bars 61 to slide are provided on the side of the clamping plate 4 close to the guide plate 6. The two ends of the T-shaped guide groove 46 communicate with the clamping plate 4; a relief opening 62 for the mounting plate 3 to enter is provided at the end of the guide plate 6 close to the mounting plate 3; a baffle 63 is connected to the end face of the guide plate 6 close to the mounting plate 3, and the baffle 63 is attached to the side of the clamping plate 4 close to the sliding plate 31. The side of the guide plate 6 away from the baffle 63 extends out of the clamping plate 4.

[0043] When the clamping plates 4 clamp the cylinder barrel 01, control the distance between the two clamping plates 4, and adjust the distance between the bottom ends of the guide plates 6 to be slightly larger than the diameter of the cylinder barrel 01. The fixture drives the guide plates 6 to descend. The guide plates 6 separate the cylinder barrel 01 to be clamped from the adjacent cylinder barrels 01. The bottom ends of the guide plates 6 contact the tabletop where the cylinder barrel 01 is placed. The cylinder barrel 01 is located between the two guide plates 6. The clamping plates 4 continue to descend. The T-shaped guide bars 61 slide in the T-shaped guide grooves 46, and relative movement occurs between the guide plates 6 and the clamping plates 4. During the descent of the clamping plates 4, the two guide plates 6 move away from the cylinder barrel 01 to be clamped, and the guide plates 6 push away the cylinder barrels 01 around the cylinder barrel 01 to be clamped, so as to facilitate the movement of the clamping plates 4 to the side of the cylinder barrel 01 and provide enough space for the clamping plates 4 to clamp the cylinder barrel 01.

[0044] Sleeve rings 57 are connected to the two end faces of the clamping plate 4. Electromagnets 571 slide in the sleeve rings 57. The ends of the electromagnets 571 are attached to the side edges of the guide plates 6. A limiting ring 572 is connected to the circumferential surface of the electromagnet 571, and the limiting ring 572 is attached to the side of the sleeve ring 57 close to the guide plate 6.

[0045] When the clamping plate 4 clamps the cylinder barrel 01, the electromagnet 571 is energized, and the electromagnet 571 adsorbs to the side edge of the guide plate 6. The electromagnets 571 on both sides of the guide plate 6 fix the guide plate 6; when the cylinder barrel 01 is lifted, the guide plate 6 will not slide relative to the clamping plate 4 until the cylinder barrel 01 is vertically stacked. At this time, the electromagnet 571 is no longer energized, and the clamping of the guide plate 6 by the electromagnet 571 is released. The clamping plate 4 then clamps the cylinder barrel 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 barrel 01. When the guide plate 6 contacts the tabletop, the electromagnet 571 is no longer energized at this time, and the clamping of the guide plate 6 by the electromagnet 571 is released, so as to facilitate the movement of the clamping plate 4 to both sides of the cylinder barrel 01.

[0046] A connecting frame 7 is sleeved on the peripheral surface of the clamping plate 4. The connecting frame 7 is located on the side of the clamping plate 4 close to the other clamping plate 4. The mutually approaching sides of the two connecting frames 7 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 clamping 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 is attached to the cylinder barrel 01. The top surface and the end surface of the clamping plate 4 are both connected with a third connecting plate 58, and the top surface and the end surface of the connecting frame 7 are both connected with a fourth connecting plate 72. The third connecting plates 58 and the fourth connecting plates 72 correspond one by one, and the third connecting plate 58 is detachably connected to the fourth connecting plate 72 by bolts.

[0047] When the clamping plate 4 needs to clamp cylinder barrels 01 with different diameters, install the rubber frame 71 in the connecting frame 7, then sleeved the connecting frame 7 on the clamping plate 4, so that the rubber frame 71 is pressed against the arc surface of the clamping plate 4, and connect the third connecting plate 58 and the fourth connecting plate 72 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 is sealed with the cylinder barrel 01. The vacuum adsorption holes 42 evacuate the space between the rubber frames 71 into a vacuum, and then the cylinder barrel 01 can be adsorbed; different diameters of cylinder barrels 01 can be clamped by replacing the connecting frames 7 and rubber frames 71 with different diameters.

[0048] The robotic arm 1 includes a base 11, a rotating seat 12, a first connecting arm 13, a second connecting arm 14 and a rotating seat 15. The base 11 is installed on the tabletop. The rotating seat 12 is rotatably connected to the top surface of the base 11. The motor in the base 11 drives the rotating seat 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 seat 12. The motor in the rotating seat 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 far from the rotating seat 12. 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 far from the first connecting arm 13. 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 surface of the rotating seat 15 far from the second connecting arm 14.

[0049] 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, and controls the rotating motor 2 to drive the mounting plate 3 to rotate, then the movement of the clamping plate 4 can be controlled.

[0050] The implementation principle of the clamping and flipping manipulator for vertical stacking of cylinder barrels in the embodiment of the present application is as follows: When it is necessary to pick up the horizontally tilted cylinder barrel 01, the driving mechanism 5 drives the two sliding plates 31 to separate from each other. The two sliding plates 31 drive the two clamping plates 4 to separate. Through program control of the robotic arm 1, the robotic arm 1 drives the rotation motor 2 to move. The rotation motor 2 drives the mounting plate 3 to move, making the mounting plate 3 horizontal. The rotation motor 2 drives the mounting plate 3 to rotate, aligning the gap between the two clamping plates 4 with the cylinder barrel 01. The robotic arm 1 drives the mounting plate 3 to drive the two sliding plates 31 to descend. The sliding plates 31 drive the two clamping plates 4 to descend, causing the two clamping plates 4 to move to both sides of the cylinder barrel 01. The driving mechanism 5 then drives the two sliding plates 31 to approach each other. The two sliding plates 31 drive the two clamping plates 4 to approach each other. The arc surfaces of the two clamping plates 4 are tightly attached to the outer peripheral surface of the cylinder barrel 01. The two clamping plates 4 clamp the middle part of the cylinder barrel 01. Through program control of the robotic arm 1, the robotic arm 1 drives the mounting plate 3 to stand up. The rotation motor 2 drives the mounting plate 3 to rotate. The mounting plate 3 drives the cylinder barrel 01 to rotate through the sliding plates 31 and the clamping plates 4, making the cylinder barrel 01 vertical. Through program control of the robotic arm 1, the robotic arm 1 drives the cylinder barrel 01 to descend, placing the bottom end of the cylinder barrel 01 on the tabletop, avoiding the sudden impact of the bottom end of the cylinder barrel 01 on the tabletop and reducing the damage caused to the cylinder barrel 01 during the lowering process.

[0051] The above are all the preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within 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 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 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); 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 surface 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); 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).

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 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).

8. The clamping and flipping robot for upright stacking of cylinders according to claim 1 is characterized by: 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).

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