Plane rotating cup clamping air cylinder

Abstract

The utility model discloses a plane rotating cup clamping air cylinder. Comprising an air cylinder body, a piston unit arranged in the air cylinder body and a third hollow cylinder, and a piston rod is installed in a through hole of the piston unit; a first hollow cylinder is arranged at the top end in the air cylinder body, and an L-shaped groove is formed in the side wall of the first hollow cylinder. The piston unit comprises a piston and a second hollow cylinder, the outer shape of the second hollow cylinder is a polygon prism, and an inclined groove is formed in the side wall of the second hollow cylinder; the third hollow column body is arranged outside the second hollow column body in a sleeving manner, and the inner shape of the third hollow column body is a polygon prism shape matched with the outer shape of the second hollow column body; a first pin matched with the L-shaped groove and a second pin matched with the inclined groove are arranged on the piston rod; when the first pin is located in the vertical groove of the L-shaped groove, the piston rod moves up and down along with the piston; when the first pin is located in the transverse groove of the L-shaped groove, the piston rod rotates along with vertical movement of the piston. The size of the cylinder is reduced, and the requirement for actually designing cup moving equipment is met.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a plane rotating cup clamping cylinder. Background Art

[0002] During the production process, cups need to be moved from one location to another. Since each cup needs to be moved, a large number of workers are required to perform this task. With the advancement of technology, automated cup movement has become possible, achieved through mechanized cup-moving equipment. The core component of mechanized cup-moving equipment is the cup-gripping cylinder, of which two types exist. The first type uses a dual-piston series arrangement: piston one is responsible for linear extension and retraction of the piston rod, while piston two is responsible for rotation. Together, these two pistons complete the piston rod's cup-gripping action. The second type uses a single piston with a rotating shaft between the piston and the bottom of the piston rod. The outer side of the shaft is fixedly connected to the piston, while the inner side of the piston rod is fixedly connected to the piston rod. Constrained by the rotating shaft, the piston rod cannot move up or down relative to the piston and can only rotate in a circumferential direction. A diagonal groove is located at the lower top of the piston rod, and a straight pin is installed on the cylinder body. The groove and the straight pin cooperate to allow the piston rod to extend and rotate along the path of the diagonal groove to complete the cup-gripping action. Utility Model Content

[0003] The first type of cup clamping cylinder uses two pistons connected in series, which takes up a large space. The second type of cup clamping cylinder uses a piston and a piston rod that simultaneously extend and rotate along the direction of the groove. During rotation, it also needs to extend outward and take up a large space. In the production design link, a smaller mechanized cup moving equipment is required. The cup clamping cylinder occupies a large volume in the cup moving equipment. If the volume of the cup moving equipment is to be reduced, the volume of the cup clamping cylinder must be reduced. However, the existing two types of cup clamping cylinders occupy a large space and cannot meet the requirements of reducing the volume of the mechanized cup moving equipment.

[0004] In view of the above problems, the present invention is proposed to provide a plane rotating cup clamping cylinder that overcomes the above problems or at least partially solves the above problems.

[0005] The present invention provides a planar rotary clamping cup cylinder, comprising a cylinder body, a piston unit disposed inside the cylinder body, and a third hollow cylinder, wherein a piston rod is installed in a through hole of the piston unit;

[0006] A first hollow cylinder is provided at the inner top end of the cylinder body, and at least one L-shaped groove is provided on the side wall of the first hollow cylinder;

[0007] The piston unit includes a piston and a second hollow cylinder, the second hollow cylinder has an external shape of a polygonal column, and its side wall is provided with at least one oblique groove;

[0008] The third hollow cylinder is sleeved outside the second hollow cylinder, and the inner shape of the third hollow cylinder is a polygonal column that matches the outer shape of the second hollow cylinder;

[0009] The piston rod is provided with a first pin that cooperates with the L-shaped groove and a second pin that cooperates with the oblique groove; the piston rod passes through the first hollow cylinder and the second hollow cylinder. When the first pin is located in the vertical groove of the L-shaped groove, under the joint action of the second hollow cylinder and the third hollow cylinder, the piston rod moves up and down with the piston; when the first pin is located in the horizontal groove of the L-shaped groove, under the joint action of the second pin and the oblique groove, the piston rod rotates with the up and down movement of the piston.

[0010] In a further optional embodiment, the cylinder body comprises: a rear end cover, a barrel, and a front end cover;

[0011] The rear end cover is provided with a central blind hole;

[0012] The lower end of the cylinder is connected to the upper end of the rear end cover, and the upper end of the cylinder is connected to the lower end of the front end cover; the piston unit is arranged in the cylinder;

[0013] The front end cover is a hollow structure, and the third hollow cylinder is fixedly installed at the inner lower end of the front end cover.

[0014] In a further optional embodiment, the cylinder body further comprises: a protective sleeve;

[0015] The protective sleeve is arranged above the front end cover and outside the first hollow cylinder.

[0016] In a further optional embodiment, when there is more than one L-shaped groove, they are evenly distributed along the circumference of the first hollow cylinder, and when there is more than one oblique groove, they are evenly distributed along the circumference of the second hollow cylinder;

[0017] The number of the L-shaped grooves and the oblique grooves is the same and their positions correspond.

[0018] In a further optional embodiment, the oblique groove has an inclination angle of 30° to 60°.

[0019] In a further optional embodiment, the transverse groove length of the L-shaped groove is the same as the horizontal length of the oblique groove;

[0020] The transverse groove length of the L-shaped groove is set according to the rotation angle required by the piston rod when clamping an object;

[0021] The height of the vertical groove of the L-shaped groove is set according to the up and down movement distance required by the piston rod when clamping an object.

[0022] In a further optional embodiment, the outer shape of the second hollow cylinder is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism, and correspondingly, the inner shape of the third hollow cylinder is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism.

[0023] In a further optional embodiment, a first vent hole and a second vent hole are provided on the side wall of the cylinder body, wherein the first vent hole is located above the piston and the second vent hole is located below the piston.

[0024] In a further optional embodiment, the second hollow cylinder cooperates with the third hollow cylinder to restrict the rotation of the second hollow cylinder, so that the second central cylinder can move up and down under the restriction of the third hollow cylinder;

[0025] The vertical groove of the L-shaped groove cooperates with the first pin, and the oblique groove cooperates with the second pin to limit the rotation of the piston rod and allow the piston rod to move up and down;

[0026] The transverse groove of the L-shaped groove cooperates with the first pin, and the oblique groove cooperates with the second pin to limit the up and down movement of the piston rod and allow the piston rod to rotate.

[0027] In a further optional embodiment, a first sealing member is further provided between the inner bottom end of the first hollow cylinder and the piston rod;

[0028] A second sealing member is further provided between the piston rod and the piston;

[0029] A third sealing member is further provided between the piston and the cylinder body;

[0030] A fourth sealing member is provided between the piston rod and the blind hole of the rear end cover.

[0031] The beneficial effects of the above technical solutions provided by the embodiments of the present invention include at least:

[0032] The cylinder created by the present invention is provided with only one piston unit, and compared with two pistons or more than two pistons, the volume occupied is reduced by at least the volume of one piston. The outer shape of the second hollow cylinder of the piston unit is a polygonal prism, and the inner shape of the third hollow cylinder is a polygonal prism that matches the outer shape of the second hollow cylinder. The third hollow cylinder limits the circumferential rotation of the second hollow cylinder, thereby limiting the circumferential rotation of the piston unit. When the first pin of the piston rod is in the vertical groove of the L-shaped groove, the L-shaped groove limits the circumferential rotation of the piston rod, allowing the piston rod to move in the vertical direction, thereby driving the piston rod to move in the vertical direction. When the first pin of the piston rod is in the horizontal groove of the L-shaped groove, the L-shaped groove limits the vertical movement of the piston rod, allowing the piston rod to rotate in the circumferential direction. The piston unit moves up and down, driving the second pin of the piston rod to move in the direction of the oblique groove, thereby rotating the piston rod in the circumferential direction. The expansion and contraction and rotation are performed separately, and the piston rod does not need to be extended again when rotating. This overcomes the problem that the piston rod of a piston cylinder also needs to extend during the process of rotating relative to the cylinder body, requiring space for extension, and reduces the volume occupied by the rotating piston rod. The cylinder created by the present invention reduces the occupied volume and meets the needs of practical design of cup-moving equipment.

[0033] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or may be understood through practice of the present invention. The objectives and other advantages of the present invention may be achieved and obtained through the structures particularly pointed out in the written description, claims, and drawings.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a schematic diagram of the overall structure of the plane rotating clamping cup cylinder in the embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the overall cross-sectional structure of the plane rotating clamping cup cylinder in the embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the parts structure of the overall cross-sectional structure of the plane rotating clamping cup cylinder in the embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of an embodiment of the present invention in which the first pin of the piston rod of the plane rotating clamping cup cylinder is at the bottom end of the vertical groove of the L-shaped groove;

[0040] Figure 5 This is a schematic diagram of the first pin of the piston rod of the plane rotating clamping cup cylinder reaching the inflection point in the embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the first pin of the piston rod of the plane rotating clamping cup cylinder in the embodiment of the present invention when it is at the bottom end of the horizontal groove of the L-shaped groove.

[0042] Description of reference numerals:

[0043] 1. Cylinder body; 11. Front end cover; 12. Cylinder body; 13. Rear end cover; 131. Blind hole; 14. Protective cover; 15. First hollow cylinder; 151. L-shaped groove; 16. Upper cavity; 17. Lower cavity; 18. First vent hole; 19. Second vent hole;

[0044] 2. Piston unit; 21. Piston; 22. Second hollow cylinder; 221. Oblique groove;

[0045] 3. Piston rod; 31. First pin; 32. First pin hole; 33. Second pin; 34. Second pin hole;

[0046] 4. Third hollow cylinder; 5. First sealing member; 6. Second sealing member. DETAILED DESCRIPTION

[0047] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0048] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0050] In order to solve the problems existing in the prior art, the present invention provides a planar rotating cup cylinder. Figure 1 、 Figure 2 、 Figure 3 As shown, it includes a cylinder body 1, a piston unit 2 and a third hollow cylinder arranged inside the cylinder body 1, and a piston rod 3 is installed in the through hole of the piston unit 2; a first hollow cylinder 15 is provided at the top end of the inner part of the cylinder body 1, and at least one L-shaped groove 151 is provided on the side wall of the first hollow cylinder 15; the piston unit 2 includes a piston 21 and a second hollow cylinder 22, the outer shape of the second hollow cylinder 22 is a polygonal column, and at least one oblique groove 221 is provided on its side wall; the third hollow cylinder 4 is sleeved outside the second hollow cylinder 22, and the inner shape of the third hollow cylinder 4 is the same as the outer shape of the second hollow cylinder 22 The piston rod 3 is a polygonal column with a matching shape; a first pin 31 that cooperates with the L-shaped groove 151 and a second pin 33 that cooperates with the oblique groove 221 are provided on the piston rod 3; the piston rod 3 passes through the first hollow cylinder 15 and the second hollow cylinder 22. When the first pin 31 is located in the vertical groove of the L-shaped groove 151, under the joint action of the second hollow cylinder 22 and the third hollow cylinder 4, the piston rod 3 moves up and down with the piston 21; when the first pin 31 is located in the horizontal groove of the L-shaped groove 151, under the joint action of the second pin 33 and the oblique groove 221, the piston rod 3 rotates as the piston 21 moves up and down.

[0051] In this embodiment, the cylinder body 1 includes: a rear end cover 13, a cylinder body 12, and a front end cover 11, wherein the rear end cover 13 is provided with a central blind hole 131, and the bottom end of the piston rod 3 is movably arranged in the central blind hole 131. The bottom end of the piston rod 3 cooperates with the central blind hole 131 to keep the piston rod 3 stable on the central axis; the lower end of the cylinder body 12 is connected to the upper end of the rear end cover 13, and the upper end of the cylinder body 12 is connected to the lower end of the front end cover 11. For example, the top of the rear end cover 13 is stepped, and the lower end of the cylinder body 12 is arranged on the rear end cover 13. On the step, the bottom of the front end cover 11 is stepped, and the step of the front end cover 11 is set at the upper end of the cylinder 12. The front end cover 11, the cylinder 12, and the rear end cover 13 are combined into a cavity; the piston unit 2 is set in the cylinder, and the piston unit 2 divides the cavity into an upper cavity 16 and a lower cavity 17; the front end cover 11 is a hollow structure, and the third hollow cylinder 4 is fixedly mounted on the lower end of the interior of the front end cover 11; the front end cover 11 and the first hollow cylinder 15 can be integrally formed or detachably connected, and the detachable connection can be achieved by threads.

[0052] Furthermore, the cylinder body 1 further includes a protective sleeve 14 to ensure that no foreign matter enters the L-shaped groove 151 and affects the movement of the piston rod 3 during operation.

[0053] Furthermore, when there is more than one L-shaped groove 151, they are evenly distributed along the circumference of the first hollow cylinder 15. When there is more than one oblique groove 221, they are evenly distributed along the circumference of the second hollow cylinder 22. Furthermore, the number of L-shaped grooves 151 and the oblique grooves 221 are the same and their positions correspond; for example, two or three L-shaped grooves 151 are evenly distributed along the circumference of the first hollow cylinder 15, and two or three oblique grooves 221 are evenly distributed along the circumference of the second hollow cylinder 22.

[0054] Furthermore, the inclined angle of the oblique groove 221 is 30° to 60°. For example, the inclined angle of the oblique groove 221 is 30 degrees, 40 degrees, 50 degrees, or 60 degrees according to actual conditions.

[0055] Furthermore, the horizontal length of the L-shaped groove 151 is the same as the horizontal length of the oblique groove 221. The horizontal length of the L-shaped groove 151 is set according to the rotation angle required by the piston rod 3 when clamping an object. For example, if the rotation angle required by the piston rod 3 when clamping an object is 30 degrees, the horizontal length of the L-shaped groove 151 is the length that can achieve a 30-degree rotation of the piston rod. The vertical height of the L-shaped groove 151 is set according to the vertical movement distance required by the piston rod 3 when clamping an object. For example, if the vertical movement distance required by the piston rod 3 when clamping an object is 10 cm, the vertical height of the L-shaped groove 151 is 10 cm. Of course, depending on actual conditions, the horizontal length of the L-shaped groove 151 can be less than the horizontal length of the oblique groove 221.

[0056] Furthermore, the outer shape of the second hollow cylinder 22 and the inner shape of the third hollow cylinder 4 are determined according to actual conditions; for example, the outer shape of the second hollow cylinder 22 is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism, and correspondingly, the inner shape of the third hollow cylinder 4 is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism.

[0057] Furthermore, a first air vent 18 and a second air vent 19 are provided on the side wall of the cylinder body 1, wherein the first air vent 18 is located above the piston 21 and the second air vent 19 is located below the piston 21; for example, the first air vent 18 is connected to the upper cavity 16, and the second air vent 19 is connected to the lower cavity 17. When the second air vent 19 is connected to the compressed gas, the piston unit 2 moves upward, and the first air vent 18 is connected to the compressed gas, the piston unit 2 moves downward.

[0058] Furthermore, the second hollow cylinder 22 cooperates with the third hollow cylinder 4 to limit the rotation of the second hollow cylinder 22, so that the second hollow cylinder 22 can move up and down under the restriction of the third hollow cylinder 4; the second hollow cylinder 22 cooperates with the third hollow cylinder 4 to limit the circumferential rotation of the second hollow cylinder 22, thereby limiting the circumferential rotation of the piston unit 2. The vertical groove of the L-shaped groove 151 cooperates with the first pin 31, and the oblique groove 221 cooperates with the second pin 33 to limit the rotation of the piston rod 3 and allow the piston rod 3 to move up and down, thereby causing the piston unit 2 to drive the piston rod 3 to move up and down in the vertical direction. The horizontal groove of the L-shaped groove 151 cooperates with the first pin 31, and the oblique groove 221 cooperates with the second pin 33 to limit the up and down movement of the piston rod 3 and allow the piston rod 3 to rotate, thereby causing the piston unit 2 to drive the piston rod 3 to rotate in the circumferential direction.

[0059] Furthermore, a first seal 5 is provided between the inner bottom end of the first hollow cylinder 15 and the piston rod 3; a second seal 6 is provided between the piston rod 3 and the piston 21; a third seal is provided between the piston 21 and the cylinder body 1; and a fourth seal is provided between the piston rod 3 and the blind hole 131 of the rear end cover 13 (the third and fourth seals are not shown). The first, second, and fourth seals also ensure the stability of the piston rod on the central axis. The fourth seal also ensures the stability of the piston rod on the central axis.

[0060] In this embodiment, the working process of the cylinder is as follows: compressed gas is introduced into the second vent hole 19, and the piston rod 3 moves upward. Figures 4 to 5In the process shown, the third hollow cylinder 4 restricts the circumferential rotation of the second hollow cylinder 22, and the piston unit 2 moves upward relative to the cylinder body 1. Driven by the oblique groove 221 of the second hollow cylinder 22 and restricted by the vertical groove of the L-shaped groove 151 of the first pin 31, the piston rod 3 moves upward. When the first pin 31 reaches the inflection point of the L-shaped groove 151, the piston rod 3 completes the upward movement. The rotation process of the piston rod 3 is shown in FIG. Figures 5 to 6 In the illustrated process, the piston unit 2 continues to move upward. The first pin 31 is restrained by the transverse groove of the L-shaped groove 151, and the piston rod 3 is subjected to a downward force. Simultaneously, the piston unit 2 moves the second hollow cylinder 22 upward, and the second pin 33 then moves along the oblique groove 221 of the second hollow cylinder 22, causing the second pin 33 to rotate the piston rod 3. These two steps can achieve gripping and cup removal, as well as resetting, in different application scenarios.

[0061] The compressed gas is introduced into the first vent hole 18, and the piston rod rotates back as shown in the following figure. Figure 6 to Figure 5 In the process shown, the first pin 31 is restricted by the transverse groove of the L-shaped groove 151, and the piston unit 2 moves downward with the second hollow cylinder 22, causing the second pin 33 to move along the oblique groove 221 of the second hollow cylinder 22. Then, the second pin 33 rotates the piston rod 3 backward, and the first pin reaches the inflection point of the L-shaped groove and the rotation ends. The downward movement process of the piston rod is shown in Figure 5. Figure 4 In the process shown, the first pin 31 is restrained by the vertical groove of the L-shaped groove 151, and the piston unit 2 drives the second hollow cylinder 22 to continue moving downward. The oblique groove 221 of the second hollow cylinder 22 then moves the second pin 33 downward, and the second pin 33 then moves the piston rod 3 downward. These two steps can achieve a reset action, a gripping action, or a cup removal action in different application scenarios.

[0062] The cylinder of this embodiment is provided with only one piston unit, and compared with two or more pistons, the volume occupied is reduced by at least the volume of one piston. The outer shape of the second hollow cylinder of the piston unit is a polygonal prism, and the inner shape of the third hollow cylinder is a polygonal prism that matches the outer shape of the second hollow cylinder. The third hollow cylinder restricts the circumferential rotation of the second hollow cylinder, thereby restricting the circumferential rotation of the piston unit. When the first pin of the piston rod is in the vertical groove of the L-shaped groove, the L-shaped groove restricts the circumferential rotation of the piston rod, allowing the piston rod to move in the vertical direction, thereby driving the piston rod to move in the vertical direction. When the first pin of the piston rod is in the horizontal groove of the L-shaped groove, the L-shaped groove restricts the piston rod to move in the vertical direction, allowing the piston rod to rotate in the circumferential direction. The piston unit moves up and down, driving the second pin of the piston rod to move in the direction of the oblique groove, thereby causing the piston rod to rotate in the circumferential direction. The expansion and contraction and rotation are performed separately, and the piston rod does not need to be extended during rotation. This overcomes the problem that the piston rod of a cylinder with a single piston also needs to extend during rotation relative to the cylinder body, requiring space for extension, thereby reducing the volume occupied by the extended rotating piston rod. Furthermore, the cylinder created by the present invention reduces the occupied volume and meets the needs of practical design of cup-moving equipment.

[0063] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0064] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are clearly recited in each claim. On the contrary, as reflected in the appended claims, the invention comprises less than all the features of a single disclosed embodiment. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0065] The foregoing description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purposes of describing the above embodiments, but one of ordinary skill in the art will recognize that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to encompass all such changes, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including," as explained in terms of "including," used as a transitional word in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or."

Claims

1. A plane rotating cup cylinder, characterized in that: It comprises a cylinder body, a piston unit arranged inside the cylinder body and a third hollow cylinder, wherein a piston rod is installed in the through hole of the piston unit; A first hollow cylinder is provided at the inner top end of the cylinder body, and at least one L-shaped groove is provided on the side wall of the first hollow cylinder; The piston unit includes a piston and a second hollow cylinder, the second hollow cylinder has an external shape of a polygonal column, and its side wall is provided with at least one oblique groove; The third hollow cylinder is sleeved outside the second hollow cylinder, and the inner shape of the third hollow cylinder is a polygonal column that matches the outer shape of the second hollow cylinder; The piston rod is provided with a first pin that cooperates with the L-shaped groove and a second pin that cooperates with the oblique groove; the piston rod passes through the first hollow cylinder and the second hollow cylinder. When the first pin is located in the vertical groove of the L-shaped groove, under the joint action of the second hollow cylinder and the third hollow cylinder, the piston rod moves up and down with the piston; when the first pin is located in the horizontal groove of the L-shaped groove, under the joint action of the second pin and the oblique groove, the piston rod rotates with the up and down movement of the piston.

2. The cylinder according to claim 1, wherein The cylinder body comprises a rear end cover, a cylinder body and a front end cover; The rear end cover is provided with a central blind hole; The lower end of the cylinder is connected to the upper end of the rear end cover, and the upper end of the cylinder is connected to the lower end of the front end cover; the piston unit is arranged in the cylinder; The front end cover is a hollow structure, and the third hollow cylinder is fixedly installed at the inner lower end of the front end cover.

3. The cylinder according to claim 2, characterized in that The cylinder body further includes: a protective sleeve; The protective sleeve is arranged above the front end cover and outside the first hollow cylinder.

4. The cylinder according to claim 1, wherein: When there is more than one L-shaped groove, they are evenly distributed along the circumference of the first hollow cylinder; when there is more than one oblique groove, they are evenly distributed along the circumference of the second hollow cylinder; The number of the L-shaped grooves and the oblique grooves is the same and their positions correspond.

5. The cylinder according to claim 1, wherein: The inclination angle of the oblique groove is 30° to 60°.

6. The cylinder according to claim 1, wherein The transverse length of the L-shaped groove is the same as the horizontal length of the oblique groove; The transverse groove length of the L-shaped groove is set according to the rotation angle required by the piston rod when clamping an object; The height of the vertical groove of the L-shaped groove is set according to the up and down movement distance required by the piston rod when clamping an object.

7. The cylinder according to claim 1, wherein The outer shape of the second hollow cylinder is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism, and correspondingly, the inner shape of the third hollow cylinder is a triangular prism, a quadrangular prism, a pentagonal prism or a hexagonal prism.

8. The cylinder according to claim 1, wherein: A first vent hole and a second vent hole are provided on the side wall of the cylinder body, wherein the first vent hole is located above the piston and the second vent hole is located below the piston.

9. The cylinder according to claim 8, characterized in that The second hollow cylinder cooperates with the third hollow cylinder to limit the rotation of the second hollow cylinder, so that the second central cylinder can move up and down under the restriction of the third hollow cylinder; The vertical groove of the L-shaped groove cooperates with the first pin, and the oblique groove cooperates with the second pin to limit the rotation of the piston rod and allow the piston rod to move up and down; The transverse groove of the L-shaped groove cooperates with the first pin, and the oblique groove cooperates with the second pin to limit the up and down movement of the piston rod and allow the piston rod to rotate.

10. The cylinder according to any one of claims 1 to 9, characterized in that: A first sealing member is further provided between the inner bottom end of the first hollow cylinder and the piston rod; A second sealing member is further provided between the piston rod and the piston; A third sealing member is further provided between the piston and the cylinder body; A fourth sealing member is provided between the piston rod and the blind hole of the rear end cover.

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