Carrier conversion machine

Abstract

The invention belongs to the technical field of carrier conversion equipment, and discloses a carrier conversion machine which comprises a transfer module, a workpiece turnover module and a workpiece taking module which cooperate with one another to achieve precise transfer and turnover operation of workpieces between different carriers and different stations. Automatic transfer of steel sheets and workpieces among multiple stations is achieved, turnover treatment can be achieved after workpiece suction is completed through the design of the workpiece turnover module, the turnover action and the carrying action are combined together through the design, the workpiece turnover module and the workpiece taking module which are arranged at the fixed positions are matched, and the work efficiency is improved. By means of the system, the overturned workpieces can be accurately handed over from the first carrier to the second carrier, the problem that the posture is unstable in the overturning process is effectively solved, the placement precision and the process consistency of the workpieces are greatly improved, dependence on manual operation is further reduced, and key equipment support is provided for achieving a few-person unmanned production line.

Description

Technical Field

[0001] The present invention relates to the technical field of carrier conversion equipment, and in particular to a carrier conversion machine. Background Art

[0002] Flexible printed circuits (FPCs) are widely used in consumer electronics, automotive electronics, medical devices, and other fields. Their production process typically involves multiple steps, including dispensing, lamination, welding, and testing. To ensure smooth transitions between these steps, production lines commonly use carriers such as steel sheets and tooling boards to support and transport workpieces. This ensures that the workpieces maintain a stable shape throughout the manufacturing process, facilitating positioning and handling.

[0003] In the existing technology, most FPC production lines still rely mainly on manual methods to complete the replacement and transportation of carriers. Specifically, the operator needs to manually remove the workpiece from the carrier and transfer it to the next workstation or a new carrier. Sometimes, auxiliary actions such as flipping, returning to the original position, and alignment are also required to meet the clamping requirements of subsequent processes. However, this type of manual operation has obvious limitations: on the one hand, relying on manpower to complete transportation and docking can easily lead to limited process rhythm and difficulty in improving production efficiency. Especially in scenarios with large batches of workpieces, fast pace, or frequent process switching, manual operation is more likely to become a bottleneck of the production line; on the other hand, during manual transportation, the workpiece is prone to position deviation, flipping errors, or surface scratches, which seriously affect the yield and consistency of the finished product.

[0004] To improve the level of automation, some production lines have introduced automated devices such as robots and rail conveyors to replace manual operations. However, due to factors such as the high rigidity of the equipment structure and limited module layout space, the existing automation solutions still have many shortcomings in coping with scenarios with multiple workstations, high-frequency load changes, and vehicles of different specifications.

[0005] Therefore, a carrier conversion machine is proposed to solve the above problems. Summary of the Invention

[0006] The main purpose of the present invention is to provide a carrier conversion machine, which aims to solve the problems of inaccurate positioning, difficult flipping, low efficiency and large equipment space occupied in the existing FPC production line due to the fact that carrier replacement and workpiece transfer mainly rely on manual operation.

[0007] In order to achieve the above-mentioned object, the present invention provides a carrier conversion machine, comprising: Transfer modules, at least two of which are connected to external production lines, and the two transfer modules are used to transfer the first carrier and the second carrier respectively; Steel sheet grabbing modules, at least two of which are installed above the transfer module, and the two steel sheet grabbing modules are used to grab / place steel sheets on the first carrier and the second carrier respectively; a workpiece turning module, which is installed above the transfer module and is used to grab the workpiece from the first carrier and turn it over; A workpiece picking module is installed above the transfer module, and is used to pick up the workpiece from the workpiece turning module and place it on the second carrier; Among them, the steel sheet grabbing module removes the steel sheets of the first carrier and the second carrier to open the cavities of the first carrier and the second carrier, and the workpiece flipping module cooperates with the workpiece picking module to grab the workpiece from the first carrier and flip it to the second carrier.

[0008] Furthermore, the two transfer modules are each provided with a corresponding transport rail, the first carrier and the second carrier are respectively slidably installed on the transport rail, the workpiece picking module includes an angle adjustment edge and an adjustment feedback part, the adjustment feedback part is electrically connected to the angle adjustment edge, and a lower camera assembly is provided on the opposite side of the two transport rails, the lower camera assembly runs synchronously with the two groups of transport rails, the lower camera assembly is electrically connected to the adjustment feedback part, and the lower camera assembly is configured to detect the position information of the workpiece.

[0009] Furthermore, the transfer module includes a Y-axis linear module, a first X-linear module and a second X-linear module, the Y-axis linear module is slidably mounted on the first X-linear module, and the second X-linear module is slidably connected to the Y-axis linear module; The first X-linear module is used to drive the Y-axis linear module to reciprocate along the feeding direction of the workpiece, the second X-linear module reciprocates along the track opened by the Y-axis linear module, and the second X-linear module is used to drive the first carrier and the second carrier to slide along the two carrying rails respectively.

[0010] Furthermore, the second X-linear module is provided with a lifting and positioning assembly, which includes a mounting plate, a positioning column and a first positioning sensor. The mounting plate is connected to the inner wall of the second X-linear module and is located at the lower end of the carrying track. The positioning column and the first positioning sensor are both provided on the mounting plate, and the positioning column is electrically connected to the first positioning sensor.

[0011] Furthermore, at least two second X-linear modules are provided, and the two second X-linear modules are adjacently designed along the feeding direction of the workpiece; In which, the jacking and positioning assembly also includes a second positioning sensor, which is located on the opposite side of the two groups of the second X-linear modules and is configured not to detect the moving stroke of the two groups of the second X-linear modules so that the two groups of the second X-linear modules will not collide.

[0012] Furthermore, the second X-linear module is provided with a track adjustment component, the second X-linear module includes a fixed track edge and an adjustment edge, the fixed track edge and the adjustment edge are jointly arranged to form a carrying track, the track adjustment component includes a driving end and a sliding end, the adjustment edge is slidingly connected to the sliding end, and the driving end is used to drive the adjustment edge to slide along the sliding end to adjust the distance between the fixed track edge and the adjustment edge.

[0013] Furthermore, the steel sheet grabbing module includes a steel sheet driving component and a steel sheet suction cup, and the two ends of the steel sheet driving component are respectively connected to the frame and the steel sheet suction cup, and the steel sheet driving component is used to drive the steel sheet suction cup to move in the direction of approaching / moving away from the first carrier and the second carrier.

[0014] Furthermore, it also includes a flip moving component, the workpiece flip module includes a flip suction cup, and the workpiece flip module is installed above the transfer module through the flip moving component; The flip moving assembly is used to drive the flip suction cup to approach or move away from the first carrier, and the flip suction cup grabs the workpiece of the first carrier.

[0015] Furthermore, the workpiece flipping module includes a rotating member and a flip driving member, both ends of the rotating member are respectively connected to the flip driving member and the flip suction cup, and the flip driving member is used to drive the flip suction cup to flip the workpiece.

[0016] Furthermore, it also includes an upper camera assembly, which is arranged above the second carrier and located between the steel sheet grabbing module and the workpiece picking module, and is configured to perform quality inspection on the workpiece on the second carrier.

[0017] Beneficial effects: A carrier conversion machine of the present invention realizes the precise transfer and flipping of workpieces between different carriers and different workstations through the coordinated cooperation of a transfer module, a workpiece flipping module and a workpiece picking module; the device realizes the automatic transfer of steel sheets and workpieces between multiple workstations through two transfer modules, a first carrier and a second carrier arranged on the frame, thereby improving the consistency and stability of the production rhythm; the design of the workpiece flipping module can realize flipping processing after the workpiece is sucked, and the flipping action is combined with the carrying action through such a design, which is particularly suitable for the manufacturing process of electronic workpieces with high requirements for positive and negative processes such as FPC; in conjunction with the workpiece flipping module and the workpiece picking module arranged in a fixed position, the system can realize the precise handover of the flipped workpiece from the first carrier to the second carrier, effectively solving the problem of unstable posture during the flipping process, and greatly improving the placement accuracy and process consistency of the workpiece; in addition, by setting two steel sheet grabbing modules, automatic loading and unloading and circulation of steel sheets are realized, further reducing the dependence on manual operation, and providing key equipment support for the realization of less-manned or unmanned production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of a carrier conversion machine according to an embodiment of the present invention; Figure 2 is a schematic diagram of a hidden frame of a carrier converter according to an embodiment of the present invention; Figure 3 is a partial structural diagram of a carrier conversion machine according to an embodiment of the present invention; Figure 4 is a partial structural diagram of a carrier conversion machine according to an embodiment of the present invention; Figure 5 is a top view of a portion of the structure of a carrier conversion machine according to an embodiment of the present invention; Figure 6 is a partial structural diagram of a carrier conversion machine according to an embodiment of the present invention; Figure 7 2 is a schematic diagram of a second X-linear module of a carrier conversion machine according to an embodiment of the present invention; Figure 8 is a schematic diagram of a workpiece flipping module of a carrier conversion machine according to an embodiment of the present invention; Figure 9 This is a partial enlarged view of a workpiece turning module of a carrier conversion machine according to an embodiment of the present invention; Figure 10 is a schematic diagram of a workpiece retrieving module of a carrier conversion machine according to an embodiment of the present invention; Figure 11 is a partial enlarged view of a workpiece retrieving module of a carrier conversion machine according to an embodiment of the present invention; Figure 12Schematic diagram of a steel sheet grabbing module of a carrier conversion machine according to an embodiment of the present invention; Figure 13 It is a partial enlarged view of a steel sheet grabbing module of a carrier conversion machine according to an embodiment of the present invention.

[0019] in: 100, rack; 110, control component; 200, transfer module; 210, first station; 220, second station; 230, Y-axis linear module; 240, first X linear module; 250, second X linear module; 2501, fixed track edge; 2502, adjustment edge; 2503, first linear module; 2504, second linear module; 260, jacking and positioning assembly; 2601, mounting plate; 2602, positioning column; 2603, first positioning sensor; 2604, second positioning sensor; 270, track adjustment assembly; 2701, driving end; 2702, sliding end; 280, carrier track; 300, lower camera assembly; 400, steel sheet grabbing module; 410, steel sheet driving component; 420, steel sheet suction cup; 430, feeding position pick-up and placement robot; 440, discharging position pick-up and placement robot; 500, workpiece picking module; 510, lifting unit; 520, workpiece picking suction cup; 600, workpiece turning module; 610, turning suction cup; 620, rotating part; 700, flip movement assembly; 710, lateral displacement assembly; 720, lifting displacement assembly; 800, upper camera assembly; 900, quick-change connector; 910, limiter; The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0022] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0023] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0024] Reference Figures 1 to 13 , a carrier conversion machine is invented, comprising: a transfer module 200, at least two of the transfer modules 200 are connected to external production lines, and the two transfer modules 200 are used to transfer a first carrier and a second carrier respectively; Steel sheet grabbing modules 400, at least two of which are installed above the transfer module 200, and the two steel sheet grabbing modules 400 are used to grab / place steel sheets on the first carrier and the second carrier respectively; A workpiece flipping module 600 is installed above the transfer module 200 and is used to grab the workpiece from the first carrier and flip it; A workpiece picking module 500 is installed above the transfer module 200. The workpiece picking module 500 is used to pick up the workpiece from the workpiece turning module 600 and place it on the second carrier; The steel sheet grabbing module 400 removes the steel sheets from the first carrier and the second carrier to open the cavities of the first carrier and the second carrier, and the workpiece flipping module 600 cooperates with the workpiece retrieving module 500 to grab the workpiece from the first carrier and flip it to transfer it to the second carrier. It also includes a flip moving component 700, the workpiece flip module 600 includes a flip suction cup 610, and the workpiece flip module 600 is installed above the transfer module 200 through the flip moving component 700; The flip moving assembly 700 is used to drive the flip suction cup 610 to move closer to or away from the first carrier, and the flip suction cup 610 grabs the workpiece of the first carrier; The workpiece flip module 600 includes a rotating member 620 and a flip driving member. Both ends of the rotating member 620 are connected to the flip driving member and the flip suction cup 610 respectively. The flip driving member is used to drive the flip suction cup 610 to flip the workpiece.

[0025] The carrier conversion machine of the present invention includes a frame 100, a transfer module 200, a steel sheet grabbing module 400 and a workpiece flipping module 600. The transfer module 200 is fixedly installed on the frame 100 and includes a first workstation 210 and a second workstation 220. The transfer module 200 is provided with at least two, which are used to connect to the external production line respectively. The two transfer modules 200 transfer the first carrier and the second carrier respectively for carrying steel sheets and workpieces; the flipping movement component 700 is fixedly installed on the frame 100 and is located above the transfer module 200, including a lateral displacement component 710 and a lifting displacement component 720. The lifting displacement component 720 is connected to the lateral displacement component 710, and the lateral displacement component 710 is used to drive the lifting displacement component 720 to move back and forth along the frame 100; the workpiece flipping module 600 is installed on the lifting displacement component 720, and the lifting displacement component 720 is used to drive the workpiece flipping module 600 to move closer to / away from the transfer module. 200, the workpiece flipping module 600 includes a flipping suction cup 610, a flip driving member and a rotating member 620, the two ends of the rotating member 620 are respectively connected to the lifting displacement assembly 720 and the flipping suction cup 610, the flipping suction cup 610 is configured to suck the workpiece of the first carrier, and the flip driving member is used to drive the flipping suction cup 610 to drive the workpiece to flip; the workpiece picking module 500 is fixedly installed on the frame 100, including a lifting part 510 and a workpiece picking suction cup 520, the two ends of the lifting part 510 are respectively connected to the frame 100 and the workpiece picking suction cup 520, the lifting part 510 is used to drive the workpiece picking suction cup 520 to move in the direction of approaching / moving away from the workpiece, and the workpiece picking suction cup 520 is configured to suck the workpiece on the flipping suction cup 610; the steel sheet grabbing module 400 includes at least two, and the two groups of steel sheet grabbing modules 400 are respectively located at the first station 210 and the second station 220, and are configured to suck / place the steel plate.

[0026] The carrier conversion machine of the present invention combines multiple functional modules to provide a highly automated, flexible, and precise solution to meet the frequent carrier replacement, workpiece flipping, and transfer requirements of FPC (flexible printed circuit board) production lines. This modular and integrated design solves the problems of traditional production lines such as high manual intervention, low efficiency, and large operational errors.

[0027] The equipment of the present invention includes multiple modules such as a frame 100, a control component 110, a transfer module 200, a flipping and moving component 700, a workpiece flipping module 600, a workpiece picking module 500 and a steel sheet grabbing module 400, which ensure that the steel sheets and workpieces are always under precise control during the feeding, unloading, flipping and transfer processes. Through the control component 110, the lifting and lateral movement of the flipping and moving component 700 is controlled, and the workpiece flipping module 600 can quickly and accurately complete the flipping operation of the workpiece, solve the errors in manual operation, and improve the efficiency and accuracy of the entire production line.

[0028] On the basis of the above embodiment, the transfer module 200 carries the first carrier and transmits it along the first station 210. The first carrier carries the steel sheet and the workpiece. The first carrier is transported to the bottom of the steel sheet grabbing module 400, the workpiece turning module 600, and the workpiece picking module 500 through the transfer module 200. Specifically, the steel sheet grabbing module 400 is provided with at least two groups, which are respectively located on the first station 210 and the second station 220, responsible for sucking or placing the steel sheet to automatically complete the loading and unloading operations of the steel sheet, reduce manual intervention, and improve work efficiency; the turning and moving component 700 is composed of a lateral displacement component 710 and a lifting and displacement component 720; the lateral displacement component 710 drives the lifting and displacement component 720 to move back and forth along the direction of the frame 100, so as to adjust the position and height of the component as needed during the work process, thereby providing the necessary space for the turning and picking operations; the workpiece turning module 600 is installed on the lifting and displacement component 720, and is rotated by the rotating member 62 0 drives the flipping suction cup 610 to complete the flipping operation; when the steel sheet grabbing module 400 located at the first station 210 completes the grabbing of the steel sheet, the transfer module 200 transports the first carrier after completing the grabbing of the steel sheet to the bottom of the workpiece flipping module 600, and the flipping suction cup 610 sucks the workpiece and controls its flipping action through the rotating part 620 to ensure that the flipping operation of the workpiece can be completed efficiently and accurately. The design of the rotating part 620 makes the flipping process smooth and reduces the damage to the workpiece caused by incomplete or incorrect flipping; the flipping suction cup 610 completes the grabbing of the workpiece and drives the flipping of the workpiece to be completed. After the workpiece is flipped, the lifting part 510 drives the workpiece picking suction cup 520 to move along the direction of the flipping suction cup 610, and after receiving the workpiece on the flipping suction cup 610, it is placed on the second carrier of the second station 220, and further completed by the steel sheet grabbing module 400 on the second station 220. The precise control of this process ensures the stable transfer of the workpiece.

[0029] The present invention replaces manual intervention with an automated system, significantly improving the degree of automation of the production line, reducing errors and instabilities caused by manual operations, and thus improving production efficiency and workpiece quality; the design of the workpiece flipping module 600 effectively solves the error problem that may occur during the workpiece flipping process, and the flipping process is smoother through the cooperation of the flipping suction cup 610 and the rotating part 620; the loading and unloading, flipping, and transfer of steel sheets and workpieces are all completed by automated equipment, reducing dependence on operators, reducing errors caused by human factors, and improving the stability and yield of the production line; in addition, the carrier conversion machine of this embodiment can complete the carrier switching, flipping and transfer operations between multiple stations in a relatively short time, greatly shortening the production cycle and improving the overall production efficiency; the device has a compact structure and a small footprint, adapts to the production environment of multiple stations, reduces space waste, and improves the flexibility of equipment layout and the overall efficiency of the production line; and because the unstable factors in manual operation are reduced and the automated system can achieve more precise control, the placement accuracy and process consistency of the workpiece are effectively guaranteed, thereby improving the overall quality of the workpiece.

[0030] On the basis of the above embodiment, the two transfer modules 200 are each provided with a corresponding transport rail 280, the first carrier and the second carrier are respectively slidably installed on the transport rail 280, the workpiece picking module 500 includes an angle adjustment edge 2502 and an adjustment feedback part, the adjustment feedback part is electrically connected to the angle adjustment edge 2502, and a lower camera assembly 300 is provided on the opposite side of the two transport rails 280, and the lower camera assembly 300 runs synchronously with the two groups of transport rails 280, the lower camera assembly 300 is electrically connected to the adjustment feedback part, and the lower camera assembly 300 is configured to detect the position information of the workpiece.

[0031] The design idea of the carrier conversion machine of the present invention is to realize the precise positioning and angle correction of the workpiece at the first station 210 and the second station 220 through the cooperation of the synchronously moving lower camera assembly 300 and the workpiece picking module 500. The core of this design is to use the lower camera assembly 300 to detect the position information of the workpiece in real time, and adjust the position of the workpiece picking module 500 through camera feedback, so as to realize the precise grasping, flipping and transfer of the workpiece; in order to ensure the efficient operation of the system, precise synchronization is achieved between all components, especially the cooperation between the lower camera assembly 300 and the carrier of the first station 210 and the second station 220, so that errors can be reduced during the workpiece transfer process and the consistency of the process can be ensured.

[0032] Specifically, the workpiece is fed into the system through the first carrier of the first station 210, and the synchronously moving lower camera assembly 300 is installed on the track of the first station 210 and the second station 220. When the workpiece of the first station 210 is grabbed, the lower camera assembly 300 is located below the workpiece picking module 500 to monitor the position and angle of the workpiece in real time. When the second carrier of the second station 220 is ready to be placed, the lower camera assembly 300 of the second station 220 will cooperate with the workpiece picking module 500 to achieve precise docking; since the workpiece picking module 500 cannot be displaced horizontally, during the workpiece transfer process between the first station 210 and the second station 220, the lower camera assembly 300 must move synchronously to ensure that the workpiece at each position can be accurately grabbed and transferred. This process ensures the angle correction and precise positioning of the workpiece, and solves the instability factors caused by human operation or machine errors. In actual operation, after the lower camera component 300 detects the deviation of the workpiece position, it controls the corresponding flip moving component 700 through the feedback signal to fine-tune the workpiece, ensuring that the positioning and angle of the workpiece are always in an ideal state. This automatic feedback mechanism greatly improves the intelligence level of the system, reduces human intervention, and improves production efficiency and accuracy through precise synchronous control.

[0033] The design of this embodiment adopts a synchronously moving lower camera assembly 300 in conjunction with the workpiece picking module 500, so that the workpiece can always maintain the correct position and angle during the entire feeding, transportation, and unloading process, significantly improving the positioning accuracy and consistency of the workpiece; compared with traditional manual operation or imprecise robot arm operation, the system of the present invention can accurately complete the workpiece grabbing, flipping and placement operations without human intervention, thereby greatly improving the automation level of the production line; secondly, the system can effectively solve the subsequent processing errors caused by incorrect workpiece angles through real-time detection and angle correction, which not only improves the quality of the workpiece, but also optimizes the process consistency in the production process, and reduces the scrap rate and defective rate due to workpiece errors; by reducing manual intervention, reducing dependence on manual operation, improving production efficiency, and reducing process fluctuations caused by human operational errors, it further ensures a high yield of the workpiece.

[0034] Based on the above embodiment, the transfer module 200 includes a Y-axis linear module 230, a first X-linear module 240, and a second X-linear module 250. The Y-axis linear module is slidably mounted on the first X-linear module 240, and the second X-linear module 250 is slidably connected to the Y-axis linear module 230. Among them, the first X-linear module 240 is used to drive the Y-axis linear module 230 to reciprocate along the feeding direction of the workpiece, and the second X-linear module 250 reciprocates along the track opened by the Y-axis linear module 230. The second X-linear module 250 is used to drive the carrier to slide along the first carrier and the second carrier respectively along the two carrying rails 280.

[0035] The design concept of this embodiment is to introduce a multi-degree-of-freedom motion structure into a traditional carrier transfer machine. Specifically, through the cooperation of the Y-axis linear module 230, the first X-linear module 240, and the second X-linear module 250, the problems of limited space and path interference during multi-station transfer are solved. The two-stage X-axis motion structure can precisely control the motion path of each component, eliminating the interference and collision issues between the upper and lower guide rails, thereby ensuring efficient operation of the equipment and space optimization. The goal of this design is to make the movement of the workpiece between the first station 210 and the second station 220 smoother, reduce physical interference in highly constrained production environments, and improve the system's integration and stability.

[0036] This design effectively utilizes the alternating control mechanism. Through the control of the bottom X-axis module, the movement of the upper X-axis module is made more precise and interference-free, which greatly reduces the space occupied. At the same time, it ensures that the movement between the various components will not conflict, thereby improving the flexibility and operability of the equipment. The linkage between the Y-axis linear module 230 and the two sets of X-linear modules realizes the multi-directional control of the equipment. Specifically, the first X-linear module 240 drives the Y-axis linear module 230 to reciprocate along the feeding direction, ensuring that the workpiece or carrier can be accurately positioned and smoothly transferred. The second X-linear module 250 is installed on the Y-axis module, and by controlling its trajectory along the Y-axis The double motion realizes the precise driving of the carrier, so that the carrier can slide along the set transport track 280 to complete the transfer of the workpiece; since the transport tracks 280 of the first station 210 and the second station 220 will "overlap" in stroke, the design adopts a two-stage X-axis structure to avoid interference between the upper and lower guide rails; in actual operation, the lower X-axis module alternately controls the upper X-axis module to avoid possible interference and collision between the two, thereby ensuring the smooth operation of the system; through this multi-level motion control, the workpiece can be seamlessly transferred from the first station 210 to the second station 220, while minimizing the occupied space.

[0037] Furthermore, the first X-shaped linear module 240 in this embodiment has a limited range of motion. Combining the first X-shaped linear module 240 with the second X-shaped linear module 250 enables the overall system to achieve a larger range of motion and higher precision. Specifically, the first X-shaped linear module 240 is primarily designed for large-scale reciprocating motion along the feed direction. However, its range is limited by physical space and structure, making it unable to meet the precise displacement requirements between all workstations. Therefore, the second X-linear module 250 is designed to cooperate with the first X-linear module 240. Through the reciprocating motion of the second X-linear module 250, the working area and the moving range are further expanded, ensuring that the carrier can be smoothly transferred between various workstations. The advantage of this cooperation method is that through the joint movement of the two X-linear modules, it not only solves the problem of limited stroke of a single X-axis module, but also reduces the problem of over-reliance or excessive load caused by a single module. The addition of the second X-linear module 250 not only enables the system to cover a larger working range, but also provides more precise positioning and movement control in complex path planning, thereby improving the adaptability of the equipment in high-precision process requirements. Through this design, more efficient carrier conversion is achieved in a limited space, while ensuring the accuracy and stability in each work step, ensuring the efficient operation of the entire production line.

[0038] This embodiment adopts a two-stage X-axis motion structure to effectively avoid interference and collision when the tracks of the first station 210 and the second station 220 "overlap", ensuring the stability of the system in high-precision and high-efficiency operation; this design solves the path interference problem in traditional automation systems, allowing the equipment to operate more efficiently and stably; secondly, the alternating control mechanism greatly saves the equipment's footprint; in traditional designs, in order to ensure the normal movement of the robotic arm, it is usually necessary to configure a larger horizontal module or space at the first station 210 and the second station 220, while the present invention makes the equipment's motion path more flexible through the linkage of the Y-axis and X-axis modules, and reduces the space requirement of the horizontal module, thereby greatly reducing the equipment's footprint and improving the overall efficiency of the production line.

[0039] Furthermore, the second X-linear module 250 is provided with a lifting and positioning assembly 260, and the lifting and positioning assembly 260 includes a mounting plate 2601, a positioning column 2602 and a first positioning sensor 2603. The mounting plate 2601 is connected to the inner wall of the second X-linear module 250 and is located at the lower end of the carrying rail 280. The positioning column 2602 and the first positioning sensor 2603 are both arranged on the mounting plate 2601, and the positioning column 2602 is electrically connected to the first positioning sensor 2603.

[0040] In this embodiment, the lifting positioning assembly 260 mainly completes the positioning of the carrier through the cooperation of the positioning column 2602 and the first positioning sensor 2603 to ensure accurate docking during the transportation process and reduce the deviation or misalignment of the workpiece during the transfer process. The mounting plate 2601 fixes the positioning assembly at the lower end of the transport track 280 by connecting with the inner wall of the second X-linear module 250, thereby ensuring its stability and reliability; the core of this design is to use the positioning sensor to monitor the position of the carrier in real time, and adjust it through the electrical signal feedback control system. This control method can ensure that the carrier is always in the correct position in each movement link, thereby improving the overall accuracy of the system.

[0041] The second X-linear module 250 drives the carrier to move along the transport track 280. The jacking and positioning assembly 260 is connected to the inner wall of the module through the mounting plate 2601 to fix the positioning device on the lower end of the carrier. The positioning column 2602 and the first positioning sensor 2603 are installed on the mounting plate 2601. The positioning column 2602 provides physical support to ensure that the position of the carrier on the track does not shift; in the actual working process, the first positioning sensor 2603 monitors the position change of the carrier in real time, and feeds back the detected position information to the system control unit through an electrical signal. When the position of the carrier deviates, the control system will automatically adjust the position of the carrier according to the feedback information to ensure its accurate docking and precise positioning throughout the entire transportation process. Through the precise adjustment of such a feedback control system, the carrier can always maintain the correct position on the track, reducing the error accumulation or operational errors caused by position deviation.

[0042] There are at least two second X-linear modules 250, and the two second X-linear modules 250 are adjacently designed along the feeding direction of the workpiece; In which, the jacking positioning assembly 260 also includes a second positioning sensor 2604, which is located on the opposite side of the two groups of second X-linear modules 250 and is configured not to detect the moving stroke of the two groups of second X-linear modules 250 so that the two groups of second X-linear modules 250 will not collide.

[0043] The second X-axis linear module 250 of the present invention is designed to be arranged in two adjacent modules, including a first linear module 2503 and a second linear module 2504, and the movement stroke of the module is monitored in real time by a second positioning sensor 2604, thereby ensuring that the system can avoid collisions between the two X-axis modules during operation; by precisely controlling the movement trajectories of the two X-axis modules, they can maintain an appropriate spacing during synchronous movement to avoid mechanical interference or collision; for this purpose, a second positioning sensor 2604 is added to monitor the operation status of the two second X-axis linear modules 250, and provide real-time feedback to the control system based on the detection results, adjust the speed or position during the movement, and ensure precise coordination and smooth operation between the modules.

[0044] In actual operation, the second X-linear modules 250 include at least two adjacent modules, designed along the workpiece feed direction. Each second X-linear module 250 is responsible for driving the carrier to slide along the track, achieving precise workpiece transfer. Due to the relative proximity of the two second X-linear modules 250, there is a risk of motion interference or collision. Therefore, the system is equipped with a second positioning sensor 2604. This sensor is installed on the opposite side of the first linear module 2503 and the second linear module 2504 to monitor their movement in real time. When the second X-linear modules 250 are in operation, the second positioning sensor 2604 continuously detects the module's motion trajectory and provides feedback to the control system. Based on the position information provided by the sensor, the system precisely adjusts the movement of the two modules to ensure that they do not interfere or collide during operation. If the system detects the risk of a possible collision, it will adjust the movement speed or direction to avoid interference, thereby ensuring smooth operation of the equipment and system stability.

[0045] The second X-linear module 250 is provided with a track adjustment component 270, and the second X-linear module 250 includes a fixed track edge 2501 and an adjustment edge 2502. The fixed track edge 2501 and the adjustment edge 2502 are jointly arranged to form a carrying track 280. The track adjustment component 270 includes a driving end 2701 and a sliding end 2702. The adjustment edge 2502 is slidingly connected to the sliding end 2702. The driving end 2701 is used to drive the adjustment edge 2502 to slide along the sliding end 2702 to adjust the distance between the fixed track edge 2501 and the fixed part.

[0046] The second X-linear module 250 in the present invention is designed with a track adjustment component 270, the purpose of which is to provide higher flexibility and adaptability, and to be able to dynamically adjust the spacing of the carrier track 280 according to the size changes of different carriers or workpieces during the production process. Specifically, the track adjustment component 270 is provided with a fixed track edge 2501 and an adjustment edge 2502, so that the spacing between the fixed track edge 2501 and the fixed part can be flexibly adjusted as needed. By providing the adjustment edge 2502 with a driving end 2701 and a sliding end 2702, the adjustment edge 2502 can slide along the sliding end 2702, further optimizing the width of the track to adapt to changes in different workpieces or process requirements. The core of this design concept is to enhance the versatility of the system through flexible track adjustment, which is particularly suitable for automated production environments with multiple stations, multiple sizes, and multiple workpieces.

[0047] During operation, the track adjustment component 270 controls the sliding of the adjustment edge 2502 through the driving end 2701 to achieve flexible adjustment of the width of the carrier track 280. The fixed track edge 2501 and the adjustment edge 2502 are jointly arranged to form the carrier track 280, and the carrier slides along the track. When the track width needs to be adjusted, the driving end 2701 will drive the adjustment edge 2502 to slide along the sliding end 2702, thereby adjusting the distance between the fixed track edge 2501 and the fixed part. The adjusted track spacing can adapt to workpieces or carriers of different sizes, allowing the system to respond to various production needs more flexibly; through this adjustment method, the width of the track can be adjusted in real time according to the needs of different carriers or workpieces without changing the configuration or structure of the entire production line. The control method of the track adjustment component 270 is very precise, ensuring the stability and efficiency of the entire system, while ensuring the accuracy and safety of the workpiece during movement.

[0048] The steel sheet grabbing module 400 includes a steel sheet driving member 410 and a steel sheet suction cup 420. The two ends of the steel sheet driving member 410 are connected to the frame 100 and the steel sheet suction cup 420 respectively. The steel sheet driving member 410 is used to drive the steel sheet suction cup 420 to move in a direction close to or away from the first carrier and the second carrier. The first workstation 210 and the second workstation 220 correspond one-to-one to the two second X-linear modules 250, and the steel sheet grabbing module 400 includes a feed position pick-and-place robot 430 and a discharge position pick-and-place robot 440; Among them, the feeding position picking and placing robot 430 is used to grab / place the steel sheet on the first carrier, the workpiece flipping module 600 grabs the workpiece of the first carrier, the workpiece picking module 500 is used to grab the workpiece on the workpiece flipping module 600 and place it on the second carrier, and the discharging position picking and placing robot 440 is used to place the steel sheet on the second carrier.

[0049] By combining the steel sheet driver 410 with the steel sheet suction cup 420, and the first and second carriers, the system optimizes the entire process of steel sheet grasping, workpiece flipping, and placement. In particular, the coordination of the two second X-linear modules 250 with the infeed and outfeed pick-and-place robots 440 allows for efficient completion of tasks from feeding, flipping, to discharging without human intervention, thereby enhancing the automation and efficiency of the production line. This design, through precise control of the steel sheet and workpiece, ensures that each workpiece is transported through the system in a stable manner while avoiding collisions or deviations caused by errors. The close coordination of the workpiece flip module 600 and the workpiece pick-up module 500 ensures precise docking of workpieces between stations, reducing precision losses caused by human operation or equipment errors.

[0050] The system consists of a steel sheet grabbing module 400, a first carrier, a second carrier, a material feeding position pick-and-place robot 430, a material discharging position pick-and-place robot 440, and a workpiece turning module 600. The working principle is as follows: Steel sheet grabbing module 400: At the beginning of work, the steel sheet driving component 410 drives the steel sheet suction cup 420 to move in the direction of approaching or moving away from the steel sheet so as to grab the steel sheet from the first carrier. The steel sheet driving component 410 accurately controls the movement path of the steel sheet suction cup 420 so that it can move on a precise track to ensure the stable grabbing and placement of the steel sheet. Specifically, the feeding position pick-up and placement robot 430 is mainly responsible for grabbing the steel sheet on the first carrier, and the transfer module 200 then transfers it to the workpiece flipping module 600 or the next workstation. The process of grabbing and placing the steel sheets of the first and second carriers is completed by the steel sheet driving component 410 and the steel sheet suction cup 420, ensuring that the steel sheet can accurately enter the subsequent work link; the discharging position pick-up and placement robot 440 is responsible for placing the steel sheet on the workpiece on the second carrier, completing the entire steel sheet and workpiece exchange process. The robot also accurately positions and places the steel sheet through the cooperation of the steel sheet driving component 410 and the steel sheet suction cup 420.

[0051] First and second vehicles: The two carriers correspond one-to-one with the two sets of second X-linear modules 250, and can move precisely on the track. Through the cooperation of the two carriers, steel sheets and workpieces can be accurately transferred to different workstations, reducing errors caused by track mismatch.

[0052] Workpiece turning module 600 and workpiece picking module 500: Once the steel sheet is transferred to the workpiece flipping module 600, it will complete the grabbing and flipping operations on the workpiece on the first carrier. Then, the workpiece picking module 500 grabs the flipped workpiece and accurately places it on the second carrier, ensuring that the workpiece does not shift during the entire transfer process.

[0053] The workpiece flipping module 600 , the workpiece picking module 500 and the steel sheet grabbing module 400 are all provided with quick-change joints 900 , and the quick-change joints 900 are detachably connected to the flipping suction cup 610 , the workpiece picking suction cup 520 and the steel sheet suction cup 420 , respectively.

[0054] In the present invention, the workpiece flip module 600, workpiece retrieving module 500, and steel sheet grabbing module 400 are each equipped with a quick-change connector 900, which is removably connected to the flip suction cup 610, workpiece retrieving suction cup 520, and steel sheet suction cup 420. This design enhances the flexibility and adaptability of the equipment. By using the quick-change connector 900, the various components can be quickly and easily replaced or adjusted to suit the needs of different workpiece types or processes. The design of the quick-change connector 900 makes the replacement of the suction cups and working components more efficient and simple, solving the problems of traditional fixed connection methods such as cumbersome disassembly, time-consuming disassembly, and difficult adjustment.

[0055] In actual operation, the quick-change connector 900 is detachably connected to the suction cup. When a different type of suction cup needs to be replaced, the operator or the automated system can quickly connect and disconnect it. Specifically, the suction cups in the steel sheet grasping module 400, the workpiece turning module 600, and the workpiece retrieving module 500 are all connected to their corresponding components via the quick-change connector 900. Operators can simply remove or replace the suction cups to adapt to different workpieces or changing process requirements. The quick-change connector 900 ensures precision and stability during suction cup replacement, while also addressing production delays or downtime caused by the inability to replace suction cups in a timely manner. Once the suction cup has completed its task, it can be easily removed and replaced with another suction cup suitable for the process, ensuring high flexibility. Furthermore, in this embodiment, the workpiece turning module 600 and the workpiece retrieving module 500 are equipped with stoppers 910 to limit the rotation angle of the turning suction cup 610 and the workpiece retrieving suction cup 520, respectively, to a range of 0 to 180 degrees.

[0056] The carrier conversion machine also includes an upper camera assembly 800, which is fixedly connected to the frame 100 and is arranged above the second carrier. The upper camera assembly 800 is located between the discharge position pick-up and placement robot 440 and the workpiece picking module 500, and is configured to perform quality inspection on the workpiece on the second carrier.

[0057] In this embodiment, by designing the upper camera assembly 800, real-time quality inspection of the workpiece on the second carrier is achieved during the automated production process. The quality inspection link is an important step in the production process to ensure the quality and consistency of the workpiece. Especially in the automated production line, the quality inspection link usually relies on the visual system to quickly and accurately detect the quality of the workpiece. The addition of the upper camera assembly 800 can monitor the status of the workpiece on the production line in real time to ensure that it meets the quality standards and can deal with problems in a timely manner when they are found to prevent unqualified products from flowing into subsequent processes or leaving the factory; the upper camera assembly 800 is fixedly installed on the frame 100, located between the discharging position pick-up robot 440 and the workpiece picking module 500. The choice of this position enables the upper camera to perform the last round of quality inspection tasks during the process of transferring the workpiece from the discharging position pick-up robot 440 to the workpiece picking module 500. By coordinating the camera system with the robot and the picking assembly, the system can ensure that the workpiece undergoes quality inspection before the final transfer to avoid any quality problems.

[0058] During operation, the upper camera assembly 800 is fixedly mounted on the frame 100 and is located between the discharging position pick-up and placement robot 440 and the workpiece picking module 500. When the workpiece is grabbed from the discharging position pick-up and placement robot 440 and is ready to be transferred to the workpiece picking module 500, the upper camera assembly 800 will take real-time photos and analyze the workpiece. The camera uses a high-resolution lens to capture the appearance of the workpiece and detect whether the workpiece has surface defects, dimensional deviations, irregular shapes, and other problems. Through image processing algorithms, the system can quickly analyze this data and determine whether the workpiece is qualified according to preset quality standards; the close cooperation between the upper camera assembly 800 and the control system and electronic control equipment makes the quality inspection process fully automated, efficient, and accurate.

[0059] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A carrier conversion machine for turning over a workpiece and replacing a workpiece carrier, characterized in that: include: Transfer modules (200), at least two of the transfer modules (200) are connected to external production lines, and the two transfer modules (200) are used to transfer the first carrier and the second carrier respectively; Steel sheet grabbing modules (400), at least two of the steel sheet grabbing modules (400) are installed above the transfer module (200), and the two steel sheet grabbing modules (400) are used to grab / place the steel sheets on the first carrier and the second carrier respectively; a workpiece turning module (600), the workpiece turning module (600) being installed above the transfer module (200) and being used for grabbing the workpiece from the first carrier and turning it over; a workpiece picking module (500) installed above the transfer module (200), the workpiece picking module (500) being used to pick up the workpiece from the workpiece turning module (600) and place it on the second carrier; The steel sheet grabbing module (400) removes the steel sheets of the first carrier and the second carrier to open the cavities of the first carrier and the second carrier, and the workpiece flipping module (600) cooperates with the workpiece picking module (500) to grab the workpiece from the first carrier and flip it over to transfer it to the second carrier.

2. The carrier conversion machine according to claim 1, wherein: The two transfer modules (200) are each provided with a corresponding transport rail (280), the first carrier and the second carrier are respectively slidably installed on the transport rail (280), the workpiece picking module (500) includes an angle adjustment edge (2502) and an adjustment feedback part, the adjustment feedback part is electrically connected to the angle adjustment edge (2502), and a lower camera assembly (300) is provided on the opposite side of the two transport rails (280), the lower camera assembly (300) is synchronously operated with the two groups of transport rails (280), the lower camera assembly (300) is electrically connected to the adjustment feedback part, and the lower camera assembly (300) is configured to detect the position information of the workpiece.

3. The carrier conversion machine according to claim 2, wherein: The transfer module (200) comprises a Y-axis linear module (230), a first X-linear module (240) and a second X-linear module (250), wherein the Y-axis linear module is slidably mounted on the first X-linear module (240), and the second X-linear module (250) is slidably connected to the Y-axis linear module (230); The first X-axis linear module (240) is used to drive the Y-axis linear module (230) to reciprocate along the feeding direction of the workpiece, the second X-axis linear module (250) reciprocates along the track opened by the Y-axis linear module (230), and the second X-axis linear module (250) is used to drive the first carrier and the second carrier to slide along the two carrying rails (280) respectively.

4. The carrier conversion machine according to claim 3, wherein: The second X-linear module (250) is provided with a lifting and positioning assembly (260), and the lifting and positioning assembly (260) includes a mounting plate (2601), a positioning column (2602) and a first positioning sensor (2603). The mounting plate (2601) is connected to the inner wall of the second X-linear module (250) and is located at the lower end of the carrying track (280). The positioning column (2602) and the first positioning sensor (2603) are both provided on the mounting plate (2601), and the positioning column (2602) is electrically connected to the first positioning sensor (2603).

5. The carrier conversion machine according to claim 4, characterized in that: At least two of the second X-linear modules (250) are provided, and the two second X-linear modules (250) are adjacently designed along the feeding direction of the workpiece; The lifting and positioning assembly (260) further includes a second positioning sensor (2604), which is located on the opposite side of the two groups of the second X-linear modules (250) and is configured not to detect the moving stroke of the two groups of the second X-linear modules (250) so that the two groups of the second X-linear modules (250) will not collide.

6. The carrier conversion machine according to claim 5, characterized in that: The second X-linear module (250) is provided with a track adjustment component (270), the second X-linear module (250) includes a fixed track edge (2501) and an adjustment edge (2502), the fixed track edge (2501) and the adjustment edge (2502) are jointly arranged to form a carrying track (280), the track adjustment component (270) includes a driving end (2701) and a sliding end (2702), the adjustment edge (2502) is slidingly connected to the sliding end (2702), and the driving end (2701) is used to drive the adjustment edge (2502) to slide along the sliding end (2702) to adjust the distance between the fixed track edge (2501) and the adjustment edge (2502).

7. The carrier conversion machine according to claim 1, wherein: The steel sheet grabbing module (400) includes a steel sheet driving component (410) and a steel sheet suction cup (420), wherein the steel sheet driving component (410) is connected to the steel sheet suction cup (420), and the steel sheet driving component (410) is used to drive the steel sheet suction cup (420) to move in a direction approaching / moving away from the first carrier and the second carrier.

8. The carrier conversion machine according to claim 1, wherein: It also includes a flipping and moving assembly (700), the workpiece flipping module (600) includes a flipping suction cup (610), and the workpiece flipping module (600) is installed above the transfer module (200) through the flipping and moving assembly (700); The flip moving assembly (700) is used to drive the flip suction cup (610) to approach / move away from the first carrier, and the flip suction cup (610) grabs the workpiece of the first carrier.

9. The carrier conversion machine according to claim 8, wherein: The workpiece flipping module (600) comprises a rotating member (620) and a flipping driving member, wherein both ends of the rotating member (620) are respectively connected to the flipping driving member and the flipping suction cup (610), and the flipping driving member is used to drive the flipping suction cup (610) to cause the workpiece to flip.

10. The carrier conversion machine according to claim 8, wherein: It also includes an upper camera assembly (800), which is arranged above the second carrier and located between the steel sheet grabbing module (400) and the workpiece picking module (500), and is configured to perform quality inspection on the workpiece on the second carrier.

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