Fire extinguisher steel cylinder grabbing manipulator

Abstract

The utility model discloses a fire extinguisher steel cylinder grabbing manipulator which comprises a square pipe frame, a moving plate, a first motor, a first gear, a second rack plate, a second fixing plate, a connecting plate, a fifth air cylinder, a moving block and a clamping rod. The square pipe frame is fixed to the inner wall of a mounting frame, and the moving plate is slidably connected to the outer wall of one side of the square pipe frame; the first motor is fixed to the outer wall of one side of the moving plate, an output shaft of the first motor penetrates through the outer wall of one side of the moving plate, the first gear is connected to the output shaft of the first motor through a coupler, the second fixing plate is slidably connected to the outer wall of one side of the moving plate, and the second rack plate is fixed to the outer wall of the second fixing plate. And the first gear is engaged with the second rack plate. The output shaft of the buffering air cylinder is used for guiding and buffering the second fixing plate which moves up and down, and the stability when the second fixing plate drives the clamped fire extinguisher steel cylinder to move up and down is improved.

Description

Technical Field

[0001] This utility model relates to the field of steel cylinder assembly and welding technology, and in particular to a mechanical hand for grasping fire extinguisher steel cylinders. Background Technology

[0002] Fire extinguisher cylinders are one of the main components of a fire extinguisher. In the production of extinguishing agent steel sheets, welding is usually required. To weld a fire extinguisher cylinder, the existing technology requires the operator to first manually assemble the upper end cap, lower end cap, and cylinder body together, and then place them on a simple rotating table for welding. Therefore, the cylinder welding efficiency is low and it is labor-intensive.

[0003] A search revealed a Chinese patent application, CN201820645042.4, which discloses a robotic arm for repositioning and turning fire extinguishers. The arm includes a vertically mounted mounting plate at the top, a lifting and lowering module at the bottom, and a motor module vertically connected to the bottom of the lifting and lowering module. However, this technical solution lacks a mechanism to buffer the movement of the robotic arm when gripping the fire extinguisher cylinder. Therefore, when the lifting and lowering module stops the robotic arm, the fire extinguisher cylinder will sway due to its own inertia, making it easy for the cylinder to detach from the gripping robotic arm. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm for grasping fire extinguisher cylinders.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A fire extinguisher cylinder gripping robot includes a square tube frame, a movable plate, a first motor, a first gear, a second rack plate, a second fixed plate, a connecting plate, a fifth cylinder, a movable block, and a clamping rod. The square tube frame is fixed to the inner wall of an installation frame. The movable plate is slidably connected to one outer wall of the square tube frame. The first motor is fixed to one outer wall of the movable plate, and the output shaft of the first motor passes through one outer wall of the movable plate. The first gear is connected to the output shaft of the first motor via a coupling. The second fixed plate is slidably connected to one outer wall of the movable plate. The second rack plate is fixed to the outer wall of the second fixed plate. The first gear and the second rack plate are meshed together.

[0007] A buffer cylinder is fixed to one side of the outer wall of the movable plate, and a limit baffle is fixed to the outer wall of the second fixed plate. The output shaft of the buffer cylinder is fixed to one side of the outer wall of the limit baffle.

[0008] As a further embodiment of this utility model: the connecting plate is fixed to the bottom outer wall of the second fixing plate, the moving block is fixed to the bottom outer wall of the connecting plate, the fifth cylinder is fixed to the outer walls of both sides of the moving block, a set of clamping rods is slidably connected to the inner wall of the moving block, and the output shaft of the fifth cylinder is fixed to the outer wall of one side of the clamping rod.

[0009] As a further embodiment of this utility model: a second motor is fixed to one side of the outer wall of the movable plate, the output shaft of the second motor passes through the outer wall of one side of the movable plate, and the output shaft of the second motor is connected to a second gear through a coupling.

[0010] As a further embodiment of this utility model: a first rack plate is fixed to one side of the outer wall of the square tube frame, and a second gear is meshed and connected to the outer wall of the first rack plate.

[0011] As a further improvement of this utility model, a set of third linear slide rails is fixed to one side of the outer wall of the square tube frame.

[0012] As a further improvement of this utility model, one side of the outer wall of the movable plate is slidably connected to the outer wall of the third linear slide rail.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. When the first motor drives the second fixed plate to move up and down through the first gear and the second rack plate, the output shaft of the buffer cylinder will move up and down through the limit baffle fixed on the top outer wall of the second fixed plate. Thus, the output shaft of the buffer cylinder guides and buffers the second fixed plate when it moves up and down, thereby improving the stability of the second fixed plate when it drives the clamped fire extinguisher cylinder to move up and down. Attached Figure Description

[0015] Figure 1 A schematic diagram of the main structure of an automated assembly and welding equipment for fire extinguisher cylinders;

[0016] Figure 2 A schematic diagram of the internal main structure of an automated assembly and welding equipment for fire extinguisher cylinders;

[0017] Figure 3 A schematic diagram of the main structure of an automatic assembly equipment for fire extinguisher cylinders;

[0018] Figure 4 A side view of the automatic assembly equipment for fire extinguisher cylinders;

[0019] Figure 5 A schematic diagram of the first mounting frame structure for an automatic assembly equipment for fire extinguisher cylinders;

[0020] Figure 6 A schematic diagram of the support frame structure for an automated assembly equipment for fire extinguisher cylinders;

[0021] Figure 7 This is a schematic diagram of the main structure of a fire extinguisher cylinder gripping robot proposed in this utility model;

[0022] Figure 8 This is a schematic diagram of the square tube frame structure of a fire extinguisher cylinder gripping robot proposed in this utility model;

[0023] Figure 9 This is a schematic diagram of the moving plate structure of a fire extinguisher cylinder gripping robot proposed in this utility model.

[0024] Figure 10 A schematic diagram of the automatic welding mechanism of an automatic assembly and welding equipment for fire extinguisher cylinders;

[0025] Figure 11 A schematic diagram of the second mounting frame structure for the automatic assembly and welding equipment for fire extinguisher cylinders;

[0026] Figure 12 A schematic diagram of the support frame structure for an automated assembly and welding equipment for fire extinguisher cylinders;

[0027] Figure 13 A schematic diagram of the lifting seat structure for an automated assembly and welding equipment for fire extinguisher cylinders.

[0028] In the diagram: 1. Installation frame; 2. Assembly mechanism; 3. Robotic arm mechanism; 4. Automatic welding mechanism; 11. Fire extinguisher cylinder.

[0029] 21 First cylinder conveyor belt, 22 First cylinder, 23 Second cylinder, 24 First mounting plate, 25 First fixing plate, 26 First mounting frame, 27 End cap conveyor belt, 28 Third cylinder, 29 Support frame, 210 Fourth cylinder, 211 First moving seat, 212 Baffle, 213 Elastic telescopic rod, 214 First linear slide rail, 215 First positioning clamp, 216 Fixed clamp, 217 Second linear slide rail, 218 Connecting frame, 219 Movable plate, 220 Eccentric wheel;

[0030] 31 Square tube frame, 32 Third linear slide rail, 33 First rack plate, 34 Second fixed plate, 35 Moving plate, 36 First motor, 37 Second rack plate, 38 First gear, 39 Fifth cylinder, 310 Clamping rod, 311 Second motor, 312 Second gear, 313 Moving block, 314 Connecting plate, 315 Limiting baffle, 317 Buffer cylinder;

[0031] 41 Second mounting bracket, 42 Lifting plate, 43 Bracket, 44 Sixth cylinder, 45 Second cylinder conveyor belt, 46 First rotating chuck, 47 First movable frame, 48 Third motor, 49 Second mounting plate, 410 Seventh cylinder, 411 Eighth cylinder, 412 First support plate, 413 Guide plate, 414 Fourth linear guide rail, 415 Fifth linear guide rail, 416 Ninth cylinder, 417 Second positioning chuck, 418 Second movable frame, 419 Second rotating chuck, 420 Second support plate, 421 Sixth linear guide rail, 422 Tenth cylinder. Detailed Implementation

[0032] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0033] The embodiments of this patent are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this patent, and should not be construed as limiting this patent.

[0034] Example 1

[0035] A robotic arm for gripping fire extinguisher cylinders, the device being a robotic arm mechanism 3 installed in an automatic assembly and welding equipment for fire extinguisher cylinders, such as... Figure 1-13 As shown, the system includes an installation frame 1, an assembly mechanism 2, a robotic arm mechanism 3, and an automatic welding mechanism 4 are sequentially fixed to the inner wall of the installation frame 1, and a control panel is fixed to the outer wall of the installation frame 1. The assembly mechanism 2, the robotic arm mechanism 3, and the automatic welding mechanism 4 are electrically connected to the control panel.

[0036] The assembly mechanism 2 includes a first mounting frame 26, a first fixing plate 25, a first linear slide rail 214, a first movable seat 211, a second linear slide rail 217, a connecting frame 218, a third cylinder 28, a movable plate 219, a first cylinder 22, an eccentric wheel 220, a fixed gripper 216, a support frame 29, a baffle 212, and a fourth cylinder 210. The first mounting frame 26 is fixed to the outer wall of the mounting frame 1, and the two sets of first linear slide rails 214 are fixed to the first mounting frame 26. On the top outer wall, the first movable seat 211 is slidably connected to the outer wall of the first linear slide rail 214, the first fixed plate 25 is fixed to the top outer wall of the first movable seat 211, a set of second linear slide rails 217 is fixed to one side outer wall of the first fixed plate 25, the first cylinder 22 is fixed to the top outer wall of the first fixed plate 25, the movable plate 219 is slidably connected to the outer wall of the second linear slide rail 217, and the output shaft of the first cylinder 22 is fixed to the top outer wall of the movable plate 219.

[0037] The connecting frame 218 is fixed to one side of the outer wall of the movable plate 219, the third cylinder 28 is rotatably connected to the inner wall of the connecting frame 218, the eccentric wheel 220 is rotatably connected to one side of the outer wall of the movable plate 219, the output shaft of the third cylinder 28 is rotatably connected to one side of the outer wall of the eccentric wheel 220, one end of the fixing claw 216 is fixed to the outer wall of the eccentric wheel 220, and the support frame 29 is fixed to the outer wall of the first mounting frame 26.

[0038] The fourth cylinder 210 is fixed to one side of the outer wall of the first fixing plate 25, the baffle 212 is fixed to the outer wall of the first mounting bracket 26, and the output shaft of the fourth cylinder 210 is fixed to one side of the outer wall of the baffle 212.

[0039] The support frame 29 has a first mounting plate 24 fixed on each of its two outer walls, and a set of second cylinders 23 fixed on one outer wall of the first mounting plate 24.

[0040] The output shaft of the second cylinder 23 passes through the outer wall of one side of the first mounting plate 24, and the output shaft of the second cylinder 23 is fixed with the first positioning chuck 215;

[0041] The first mounting frame 26 has end cap conveyor belts 27 installed on both outer walls;

[0042] The first steel cylinder conveyor belt 21 is fixed to one side of the outer wall of the first mounting frame 26;

[0043] The outer walls on both sides of the baffle 212 are respectively fixed with elastic telescopic rods 213.

[0044] Fire extinguisher cylinders 11, which require end caps to be welded at both ends, are transported to one side of the first mounting frame 26 via the first cylinder conveyor belt 21. The fire extinguisher cylinders 11 are then placed on top of the support frame 29. The upper and lower end caps are then conveyed to one side of the third cylinder 28 via end cap conveyor belts 27 on both sides of the first mounting frame 26. The third cylinder 28 then pushes the eccentric wheel 220 forward, causing the fixed gripper 216 to rotate downwards by a corresponding angle, so that the opening of the fixed gripper 216 faces downwards. Subsequently, the fourth cylinder 210 pushes the output shaft forward, causing the two first moving seats 211 to move to both sides under the guidance of the first linear slide rail 214, so that the downward-facing fixed gripper 216 moves to the end cap on the outer wall of the end cap conveyor belt 27. At the top, the first cylinder 22 pushes the movable plate 219 to move downward under the guidance of the second linear slide rail 217, so that the opening of the fixed claw 216 is inserted into the outer wall of the end cap. Then, the first cylinder 22 drives the movable plate 219 to move upward, so as to clamp the end cap from the end cap conveyor belt 27. Then, the third cylinder 28 drives the eccentric wheel 220 to rotate back, so as to lift the end cap held by the fixed claw 216 upward and align it with the opening on one side of the fire extinguisher cylinder 11. Then, the fourth cylinder 210 drives the output shaft to reset, so as to drive the two fixed claws 216 holding the end cap to move relative to each other, inserting the two end caps into the two ends of the fire extinguisher cylinder 11 respectively, thus automatically completing the assembly of the end caps at both ends of the fire extinguisher cylinder 11.

[0045] After assembling the upper and lower end caps at both ends of the fire extinguisher cylinder 11, the second cylinder 23 can be controlled to push the first positioning clamp 215 forward, thereby clamping and fixing both ends of the fire extinguisher cylinder 11 through the first positioning clamp 215.

[0046] The elastic telescopic rods 213 located on both sides of the baffle 212 can limit and buffer the first moving seat 211 as it moves forward through its own elasticity, so that the end cap held by the fixed claw 216 can be stably inserted into both ends of the fire extinguisher cylinder 11.

[0047] like Figure 7-9 As shown, the robotic arm mechanism 3 includes a square tube frame 31, a movable plate 35, a first motor 36, a first gear 38, a second rack plate 37, a second fixed plate 34, a connecting plate 314, a fifth cylinder 39, a movable block 313, and a clamping rod 310. The square tube frame 31 is fixed to the inner wall of the mounting frame 1. The movable plate 35 is slidably connected to one side of the outer wall of the square tube frame 31. The first motor 36 is fixed to one side of the outer wall of the movable plate 35. The output shaft of the first motor 36 passes through one side of the outer wall of the movable plate 35. The first gear 38 is connected to the output shaft of the first motor 36 through a coupling. The second fixed plate 34 is slidably connected to one side of the outer wall of the movable plate 35. The second rack plate 37 is fixed to the outer wall of the second fixed plate 34. The first gear 38 and the second rack plate 37 are meshed together.

[0048] The connecting plate 314 is fixed to the bottom outer wall of the second fixing plate 34, the moving block 313 is fixed to the bottom outer wall of the connecting plate 314, the fifth cylinder 39 is fixed to the outer walls of both sides of the moving block 313, a set of clamping rods 310 is slidably connected to the inner wall of the moving block 313, and the output shaft of the fifth cylinder 39 is fixed to the outer wall of one side of the clamping rod 310.

[0049] A second motor 311 is fixed to one side of the outer wall of the movable plate 35. The output shaft of the second motor 311 passes through one side of the outer wall of the movable plate 35. The output shaft of the second motor 311 is connected to a second gear 312 through a coupling.

[0050] A first rack plate 33 is fixed to one side of the outer wall of the square tube frame 31, and a second gear 312 is meshed with and connected to the outer wall of the first rack plate 33.

[0051] A set of third linear slide rails 32 is fixed on one side of the outer wall of the square tube frame 31, and the outer wall of one side of the movable plate 35 is slidably connected to the outer wall of the third linear slide rails 32.

[0052] A buffer cylinder 317 is fixed to one side of the outer wall of the movable plate 35, and a limit baffle 315 is fixed to the outer wall of the second fixed plate 34. The output shaft of the buffer cylinder 317 is fixed to one side of the outer wall of the limit baffle 315.

[0053] The second motor 311 can be controlled to drive the second gear 312 to rotate, thereby causing the moving plate 35, which is slidably connected to the outer wall of the third linear slide rail 32, to move back and forth on one side of the square tube frame 31. After the assembly mechanism 2 inserts the upper and lower end caps into the two ends of the fire extinguisher cylinder 11, the second motor 311 can be controlled to drive the moving plate 35 to the top of the first mounting plate 24. Then, the first motor 36 can be controlled to drive the first gear 38 to rotate, causing the second rack plate 37, which meshes with it, to move downward, thereby moving the two clamping rods 310 at the bottom of the connecting plate 314 to the two sides of the assembled fire extinguisher cylinder 11. Then, the fifth cylinder 39 can be controlled to push the corresponding clamping rods 310 forward a corresponding distance, thereby clamping the fire extinguisher cylinder. The fire extinguisher cylinder 11 is clamped at both ends. Then, the first motor 36 is controlled to drive the second fixing plate 34 to move upward, so that the assembled fire extinguisher cylinder 11 can be taken out from the assembly mechanism 2. Then, the second motor 311 is controlled to drive the second gear 312 to rotate in the opposite direction, so that the moving plate 35 is moved to the top of the automatic welding mechanism 4. Then, the first motor 36 is controlled to drive the second fixing plate 34 to move downward, so that the fire extinguisher cylinder 11 is placed on the automatic welding mechanism 4. Then, the fifth cylinder 39 is controlled to drive the two clamping rods 310 to open, releasing the clamping rods 310 from clamping the two ends of the fire extinguisher cylinder 11. The assembled fire extinguisher cylinder 11 can be quickly transported to the automatic welding mechanism 4, improving the welding efficiency of the fire extinguisher cylinder 11.

[0054] When the first motor 36 drives the second fixed plate 34 to move up and down through the first gear 38 and the second rack plate 37, the output shaft of the buffer cylinder 317 will move up and down through the limit baffle 315 fixed on the top outer wall of the second fixed plate 34. Thus, the output shaft of the buffer cylinder 317 guides and buffers the second fixed plate 34 when it moves up and down, thereby improving the stability of the second fixed plate 34 when it drives the clamped fire extinguisher cylinder 11 to move up and down.

[0055] like Figure 10-13 As shown, the automatic welding mechanism 4 includes a second mounting frame 41, a fourth linear guide rail 414, a lifting plate 42, a sixth cylinder 44, a bracket 43, a ninth cylinder 416, a support plate 412, a first movable frame 47, a second support plate 420, a first rotating chuck 46, a fifth linear guide rail 415, a sixth linear guide rail 421, an eighth cylinder 411, a tenth cylinder 422, a second movable frame 418, and a second rotating chuck 419. The second mounting frame 41 is fixed to the inner wall of the mounting frame 1, and the support plates 412 are respectively fixed to the second mounting frame 41. On the left and right sides, the fifth linear guide 415 and the sixth linear guide 421 are respectively fixed to the top outer wall of the support plate 412. The first movable frame 47 is slidably connected to the outer wall of the fifth linear guide 415, and the second movable frame 418 is slidably connected to the outer wall of the sixth linear guide 421. The eighth cylinder 411 and the tenth cylinder 422 are respectively fixed to the top outer wall of the support plate 412. The output shaft of the eighth cylinder 411 is fixed to one side outer wall of the second movable frame 418, and the output shaft of the tenth cylinder 422 is fixed to one side outer wall of the first movable frame 47.

[0056] The first rotating chuck 46 and the second rotating chuck 419 are respectively rotatably connected to the inner wall of one side of the first movable frame 47 and the second movable frame 418. A set of fourth linear slide rails 414 are fixed to the outer wall of the second mounting bracket 41. The second support plate 420 is slidably connected to the outer wall of the fourth linear slide rails 414. The sixth cylinder 44 is fixed to the outer wall of one side of the second support plate 420. The lifting plate 42 is slidably connected to the outer wall of one side of the second support plate 420. The output shaft of the sixth cylinder 44 is fixed to the bottom outer wall of the lifting plate 42. The ninth cylinder 416 is fixed to the outer wall of the second mounting bracket 41. The output shaft of the ninth cylinder 416 is fixed to the outer wall of one side of the second support plate 420. The bracket 43 is fixed to the top outer wall of the lifting plate 42.

[0057] The bracket 43 has a second mounting plate 49 fixed on each of its two outer walls. A set of seventh cylinders 410 is fixed on the outer wall of the second mounting plate 49. The output shaft of the seventh cylinder 410 passes through one outer wall of the second mounting plate 49. The output shaft of the seventh cylinder 410 is fixed with a second positioning chuck 417.

[0058] A third motor 48 is fixed to the outer wall of the second movable frame 418, and the output shaft of the third motor 48 is connected to one side of the outer wall of the second rotating chuck 419 via a coupling.

[0059] A guide plate 413 is fixed to the outer wall of the second mounting plate 49;

[0060] The second mounting bracket 41 has a second cylinder conveyor belt 45 fixed to its outer wall.

[0061] The assembled fire extinguisher cylinder 11 is transported to the top of the bracket 43 by the robotic arm mechanism 3. Then, the ninth cylinder 416 is controlled to push the second support plate 420 forward a corresponding distance, thus moving the bracket 43 to the opposite side of the first movable frame 47 and the second movable frame 418. Next, the sixth cylinder 44 is controlled to push the lifting plate 42 upward a corresponding distance, thereby moving the fire extinguisher cylinder 11 on the bracket 43 upward, so that the fire extinguisher cylinder 11 is moved to the corresponding position between the first rotating clamp 46 and the second rotating clamp 419. Finally, the eighth cylinder 411 and the tenth cylinder 422 are controlled to push the first movable frame 47 and the second movable frame 418 forward a corresponding distance, so that the first rotating clamp 410... 6. The second rotating chuck 419 abuts against the mouth and tail end of the fire extinguisher cylinder 11 respectively. Then, the sixth cylinder 44 and the ninth cylinder 416 are controlled to reset, so that the bracket 43 leaves the fire extinguisher cylinder 11 held by the first rotating chuck 46 and the second rotating chuck 419 and returns to its original position. Then, the third motor 48 is controlled to drive the second rotating chuck 419 to rotate, so that the assembled fire extinguisher cylinder 11 rotates. At this time, the corresponding welding head (not shown in the figure) installed on the outer wall of the first movable frame 47 can be used to weld the connection parts between the two ends of the rotating fire extinguisher cylinder 11 and the end cap, so as to automatically complete the welding of the end caps of the assembled fire extinguisher cylinder 11 and improve the welding processing efficiency of the fire extinguisher cylinder 11.

[0062] After the rotating fire extinguisher cylinder 11 is welded by the welding head, the eighth cylinder 411 and the tenth cylinder 422 can be controlled to drive the first movable frame 47 and the second movable frame 418 to move back and reset, thereby releasing the clamp on the welded fire extinguisher cylinder 11. Then the fire extinguisher cylinder 11 will fall onto the guide plate 413 and roll into the second cylinder conveyor belt 45 under the guidance of the guide plate 413. It will then be transported to the next process by the second cylinder conveyor belt 45, which facilitates the automatic recycling and transportation of the welded fire extinguisher cylinder 11.

[0063] The second mounting plate 49 can clamp and limit the two ends of the fire extinguisher cylinder 11 placed on the bracket 43 through the seventh cylinder 410 and the second positioning clamp 417 set on the outer walls of both sides, so as to prevent the fire extinguisher cylinder 11 from shaking when it moves up, down and left and right with the bracket 43. When the fire extinguisher cylinder 11 moves with the bracket 43 between the first rotating clamp 46 and the second rotating clamp 419, the control panel will control the seventh cylinder 410 to drive the second positioning clamp 417 to reset, thereby releasing the clamping limit of the second positioning clamp 417 on the fire extinguisher cylinder 11.

[0064] Working principle: The fire extinguisher cylinder 11 is transported to one side of the first mounting frame 26 via the first cylinder conveyor belt 21. Then, the fire extinguisher cylinder 11 is placed on top of the support frame 29. Subsequently, the upper and lower end caps are transported to one side of the third cylinder 28 via the end cap conveyor belts 27 on both sides of the first mounting frame 26. Then, the third cylinder 28 pushes the eccentric wheel 220 to rotate forward, causing the fixed gripper 216 to rotate downward accordingly, so that the opening of the fixed gripper 216 faces downward. Then, the fourth cylinder 210 pushes the output shaft forward, causing the two first moving seats 211 to move to both sides under the guidance of the first linear slide rail 214, so that the fixed gripper 216 with the opening facing downward moves to the end cap. The top of the end cap on the outer wall of the conveyor belt 27 is then moved downward by the first cylinder 22, which pushes the movable plate 219 to move downward under the guidance of the second linear slide rail 217, so that the opening of the fixed claw 216 is inserted into the outer wall of the end cap. Then the first cylinder 22 drives the movable plate 219 to move upward, clamping the end cap from the end cap conveyor belt 27. Then the third cylinder 28 drives the eccentric wheel 220 to rotate back, so that the end cap held by the fixed claw 216 is lifted upward and aligned with the opening on one side of the fire extinguisher cylinder 11. Then the fourth cylinder 210 drives the output shaft to reset, causing the two fixed claws 216 holding the end cap to move relative to each other, inserting the two end caps into the two ends of the fire extinguisher cylinder 11 respectively.

[0065] Then, the second motor 311 is controlled to drive the second gear 312 to rotate, causing the moving plate 35, which is slidably connected to the outer wall of the third linear slide rail 32, to move back and forth on one side of the square tube frame 31. After the assembly mechanism 2 inserts the upper and lower end caps into the two ends of the fire extinguisher cylinder 11, the second motor 311 is controlled to drive the moving plate 35 to the top of the first mounting plate 24. Then, the first motor 36 is controlled to drive the first gear 38 to rotate, causing the second rack plate 37, which meshes with it, to move downward, so that the two clamping rods 310 at the bottom of the connecting plate 314 move to the two sides of the assembled fire extinguisher cylinder 11. Then, the fifth cylinder 39 is controlled to push the corresponding clamping rods 310 forward a corresponding distance. The fire extinguisher cylinder 11 is clamped at both ends by clamping rods 310. Then, the first motor 36 is controlled to drive the second fixing plate 34 to move upward, so that the assembled fire extinguisher cylinder 11 can be taken out from the assembly mechanism 2. Then, the second motor 311 is controlled to drive the moving plate 35 to move to the top of the automatic welding mechanism 4. Then, the first motor 36 is controlled to drive the second fixing plate 34 to move downward, so that the fire extinguisher cylinder 11 is placed on the automatic welding mechanism 4. Then, the fifth cylinder 39 is controlled to drive the two clamping rods 310 to open, releasing the clamping rods 310 from clamping both ends of the fire extinguisher cylinder 11, so that the assembled fire extinguisher cylinder 11 can be quickly transported to the automatic welding mechanism 4.

[0066] Then, control the ninth cylinder 416 to push the support frame 42 forward a corresponding distance, so that the lifting seat 43 moves to one side of the two movable frames 47. Then, control the sixth cylinder 44 to push the lifting seat 43 upward a corresponding distance, so that the fire extinguisher cylinder 11 moves to the corresponding position between the two rotating clamps 46. Then, control the eighth cylinder 411 to push the movable frame 47 forward a corresponding distance, so that the rotating clamp 46 on one side of the movable frame 47 abuts against the end caps at both ends of the fire extinguisher cylinder 11. Then, control the sixth cylinder 44 and the ninth cylinder 416 to reset, so that the lifting seat 43 leaves the fire extinguisher cylinder 11 held by the rotating clamp 46 and returns to its original position. Then, control the third motor 48 to drive the rotating clamp 46 to rotate, so that the assembled fire extinguisher cylinder 11 rotates. At this time, the corresponding welding head (not shown in the figure) installed on the outer wall of the movable frame 47 can be used to weld the connection parts between the two ends of the rotating fire extinguisher cylinder 11 and the end cap, automatically completing the welding of the end caps at both ends of the assembled fire extinguisher cylinder 11.

[0067] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A fire extinguisher cylinder gripping robot, comprising a square tube frame (31), a moving plate (35), a first motor (36), a first gear (38), a second rack plate (37), a second fixed plate (34), a connecting plate (314), a fifth cylinder (39), a moving block (313), and a clamping rod (310), characterized in that, The square tube frame (31) is fixed to the inner wall of the mounting frame (1), the movable plate (35) is slidably connected to the outer wall of one side of the square tube frame (31), the first motor (36) is fixed to the outer wall of one side of the movable plate (35), the output shaft of the first motor (36) passes through the outer wall of one side of the movable plate (35), the first gear (38) is connected to the output shaft of the first motor (36) through a coupling, the second fixed plate (34) is slidably connected to the outer wall of one side of the movable plate (35), the second rack plate (37) is fixed to the outer wall of the second fixed plate (34), and the first gear (38) and the second rack plate (37) are meshed together. A buffer cylinder (317) is fixed to one side of the outer wall of the movable plate (35), and a limit baffle (315) is fixed to the outer wall of the second fixed plate (34). The output shaft of the buffer cylinder (317) is fixed to one side of the outer wall of the limit baffle (315).

2. The fire extinguisher cylinder gripping robot according to claim 1, characterized in that, The connecting plate (314) is fixed to the bottom outer wall of the second fixed plate (34), the moving block (313) is fixed to the bottom outer wall of the connecting plate (314), the fifth cylinder (39) is fixed to the outer walls of both sides of the moving block (313), a set of clamping rods (310) is slidably connected to the inner wall of the moving block (313), and the output shaft of the fifth cylinder (39) is fixed to the outer wall of one side of the clamping rod (310).

3. The fire extinguisher cylinder gripping robot according to claim 1, characterized in that, A second motor (311) is fixed to one side of the outer wall of the movable plate (35). The output shaft of the second motor (311) passes through the outer wall of one side of the movable plate (35). The output shaft of the second motor (311) is connected to a second gear (312) through a coupling.

4. The fire extinguisher cylinder gripping robot according to claim 1, characterized in that, The square tube frame (31) has a first rack plate (33) fixed on one side of its outer wall, and a second gear (312) is meshed with the outer wall of the first rack plate (33).

5. The fire extinguisher cylinder gripping robot according to claim 4, characterized in that, A set of third linear slide rails (32) is fixed on one side of the outer wall of the square tube frame (31).

6. The fire extinguisher cylinder gripping robot according to claim 3, characterized in that, The outer wall of one side of the movable plate (35) is slidably connected to the outer wall of the third linear slide rail (32).

Images