Automatic positioning and flipping mechanism

Abstract

The present invention discloses an automatic positioning and flipping mechanism, comprising: a fixed plate, a swing block rotatably provided on the fixed plate, a limiting rod provided on one side of the swing block, a material receiving block rotatably provided on the front side of the swing block, the material receiving block being movably connected to the fixed plate, a positioning assembly for positioning and adjusting the position of the material after flipping is provided on the outer side of the material receiving block; a driving part for driving the swing block to rotate is also provided on the fixed plate. Flipping is achieved by contact between the material and the limiting rod, which reduces the movement amplitude of the flipping process and is less likely to cause material throwing and damage. The positioning assembly can limit the flipping process of the material, and the material can be positioned and adjusted during the process of the material receiving block moving to a horizontal state; the driving part drives the swing block to drive the material receiving block to move, so that the flipped material is in a horizontal state, which is convenient for material removal. The flipping mechanism has a simple structure, occupies little space, and reduces production costs.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic component packaging, and more particularly to an automatic positioning and turning mechanism. Background Art

[0002] In order to meet the high efficiency, high quality and low cost requirements for the production, packaging and assembly of electronic components, after production, electronic components need to be inspected and packaged by various types of packaging machines such as taping machines and tray placing machines. The commonly used product tray placing method for electronic component packaging is to collect the products on a turntable and suck the materials onto a tray equipped with an XY motion module through a swing arm suction nozzle. In order to meet the specific filling position, a flip mechanism needs to be added to better meet the needs of the next step of automation.

[0003] However, existing flipping mechanisms typically rely on cams for positioning, resulting in large motion ranges and bulky structures. These panning machines pose a risk of material drop, occupy a large amount of space, and are relatively expensive, potentially damaging the product and resulting in significant resource waste. Therefore, it is necessary to propose an automatic positioning flipping mechanism to at least partially address the challenges of existing technologies. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides an automatic positioning and flipping mechanism, comprising: a fixed plate, a pendulum block is rotatably provided on the fixed plate, a limit rod is provided on one side of the pendulum block, a material receiving block is rotatably provided on the front side of the pendulum block, the material receiving block is movably connected to the fixed plate, and a positioning component is provided on the outer side of the material receiving block for positioning and adjusting the position of the material after flipping; the fixed plate is also provided with a driving part for driving the pendulum block to rotate.

[0006] Preferably, the positioning assembly includes: a limit block, the limit block is fixedly arranged on the fixed plate, the top of the limit block is arranged on one side of the material receiving block, and is used to cooperate with the material receiving block to limit the material after it falls and turns over.

[0007] Preferably, the pendulum block is provided with a first mounting hole for fixedly connecting with the output shaft of the driving part, and a second mounting hole for fixing a connecting shaft, and the connecting shaft is rotatably connected to the material receiving block.

[0008] Preferably, one side of the pendulum block is connected to the limiting rod via an L-shaped plate, a limiting plate is provided on the other opposite side of the pendulum block, and the fixed plate is provided with a first limiting column for limiting the limiting plate and a second limiting column for limiting the pendulum block.

[0009] Preferably, the material receiving block comprises: a material receiving plate for receiving the turned material, and one end of the material receiving plate close to the fixed plate is provided with a sliding plate rotatably connected to the connecting shaft and movably connected to the fixed plate.

[0010] Preferably, the side of the material receiving plate close to the limit block is provided with a slot for allowing the limit block to pass through and a limit protrusion protruding from the top surface of the material receiving plate, the side of the limit block close to the material receiving plate is provided with a first inclined surface, the first inclined surface is provided with air holes, the air holes are used to provide auxiliary turning power when the material is turned over, and the top surface of the material receiving plate is provided with a suction port for fixing the turned material.

[0011] Preferably, the sliding plate is provided with a third mounting hole rotatably connected to the connecting shaft, the sliding plate is also provided with a slide groove, the fixed plate is provided with a limiting shaft, a rotating sleeve is rotatably provided on the limiting shaft, annular baffles are provided at both ends of the outer circumference of the rotating sleeve, and the rotating sleeve between the two annular baffles is limitedly connected in the slide groove.

[0012] Preferably, the positioning assembly further comprises: a stopper and a positioning block, the stopper being provided on the side of the top surface of the material receiving block close to the fixed plate, the positioning block for adjusting the front and rear position of the material being provided on the front side of the limit block, and the second inclined surface and the third inclined surface being provided on the top of the opposite side of the positioning block and the stopper respectively;

[0013] The positioning block is driven by a driving assembly to reciprocate linearly in the front-to-back direction. The distance between the positioning block and the stop block includes: a first distance for limiting the falling of the material, and a second distance for adjusting the position of the material on the top surface of the receiving block in the front-to-back direction. The first distance is greater than the second distance.

[0014] Preferably, the device further comprises: a control unit for controlling the operation of the driving unit, the control unit comprising: a first position detection module for detecting contact between the limit plate and the first limit column, a second position detection module for detecting contact between the pendulum block and the second limit column, and a material detection module for detecting whether there is material on the material receiving block;

[0015] If the first position detection module detects that the limiting plate is in contact with the first limiting column, the material receiving block is located at the inclined material receiving position, and when the material detection module detects that the material has fallen onto the material receiving block, the driving unit is controlled to drive the material receiving block to rotate to the horizontal material taking position;

[0016] If the second position detection module detects that the pendulum block is in contact with the second limit column, the material receiving block is located at the horizontal material picking position. When the material detection module detects that the material on the material receiving block is taken away, the driving part is controlled to drive the material receiving block to rotate to the inclined material receiving position.

[0017] Preferably, the device further comprises: a regulator for adjusting the adsorption force of the suction port on the material, so that the positioning assembly can adjust the position of the material during the movement of the material receiving block from the inclined material receiving position to the horizontal material taking position;

[0018] The controller adjusting the suction force of the suction port includes:

[0019] Step 1: When the receiving block moves from the inclined receiving position to the horizontal receiving position, determining the preset adsorption force required at each moment of the movement of the receiving block;

[0020] Step 2: determining a first pressure in the suction port and a second pressure at a connection point between the suction port and the suction device based on the preset adsorption force, and obtaining a pressure difference between the first pressure and the second pressure corresponding to the preset adsorption force;

[0021] Step 3: adjusting the pressure difference detected at the current moment to a pressure difference corresponding to the preset adsorption force through the controller.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects:

[0023] The automatic positioning and flipping mechanism described in the present invention realizes flipping through the contact between the material and the limiting rod, which reduces the movement amplitude of the flipping process and is less likely to cause material throwing and damage. The flipping process of the material can be limited by the positioning component, and the material can be positioned and adjusted during the movement of the receiving block to a horizontal state; the driving part drives the swing block to move the receiving block, so that the flipped material is in a horizontal state, which is convenient for material removal. The flipping mechanism has a simple structure, occupies little space, and reduces production costs.

[0024] The automatic positioning and flipping mechanism of the present invention, and other advantages, objectives and features of the present invention will be partially reflected in the following description, and will also be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1This is a structural schematic diagram of the automatic positioning and flipping mechanism of the present invention at an inclined material receiving position;

[0027] Figure 2 This is a schematic structural diagram of the automatic positioning and flipping mechanism of the present invention;

[0028] Figure 3 This is a schematic structural diagram of the limit block, the material receiving block and the swing block in the automatic positioning and turning mechanism of the present invention;

[0029] Figure 4 This is a structural schematic diagram of the automatic positioning and turning mechanism of the present invention at the horizontal material taking position;

[0030] Figure 5 The automatic positioning and flipping mechanism of the present invention Figure 1 The middle part is an enlarged structural diagram;

[0031] Figure 6 This is a front view structural schematic diagram of the automatic positioning and flipping mechanism of the present invention at an inclined material receiving position;

[0032] Figure 7 This is a front view structural schematic diagram of the automatic positioning and turning mechanism of the present invention at the horizontal material taking position. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0034] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0035] like Figure 1-Figure 7 As shown, the present invention provides an automatic positioning and flipping mechanism, comprising: a fixed plate 1, a pendulum block 2 is rotatably provided on the fixed plate 1, a limit rod 3 is provided on one side of the pendulum block 2, a material receiving block 4 is rotatably provided on the front side of the pendulum block 2, the material receiving block 4 is movably connected to the fixed plate 1, and a positioning component is provided on the outer side of the material receiving block 4 for positioning and adjusting the position of the material 10 after flipping; the fixed plate 1 is also provided with a driving part 5 for driving the pendulum block 2 to rotate.

[0036] The working principle of the above technical solution is as follows: the connection point of the pendulum block 2 and the driving part 5 is below the rotation connection point of the pendulum block 2 and the material receiving block 4, and the movable connection point of the material receiving block 4 and the fixed plate 1 is above the rotation connection point of the pendulum block 2 and the material receiving block 4. When the flipping mechanism is in the initial state, the top surface of the material receiving block 4 for receiving the material 10 is in an inclined state. When the material 10 falls from above, one side of the bottom surface of the material 10 contacts the limiting rod 3, thereby flipping. The flipped material 10 falls onto the inclined material receiving block 4, and the positioning component is used to preliminarily limit the material 10 during the falling and flipping. When the material 10 falls on the material receiving block 4, the driving part 5 automatically drives the pendulum block 2 to rotate, and the rotation of the pendulum block 2 drives the material receiving block 4 connected to it to rotate. When the top surface of the material receiving block 4 rotates to a horizontal state, the driving part 5 stops working. During the rotation of the material receiving block 4, the positioning component simultaneously limits and adjusts the position of the material 10.

[0037] This flipping mechanism can be applied to a plate-stirring machine. A mounting base 12 is provided below the fixed plate 1 for installation on a plate-stirring machine or other machines that require a flipping mechanism. A shell 11 can be sleeved on the outside of the flipping mechanism, and the top surface of the shell 11 is provided with an opening for receiving the fallen material 10; when the material 10 falls from the filling position of the plate-stirring machine, it falls to the opening and contacts the limit rod 3 to complete the flipping, and then the driving part 5 drives the material receiving block 4 to move until its top surface is horizontal, and the flipped and positioned material 10 is clamped and transported to the next process of the plate-stirring machine through the turntable suction nozzle 13 of the plate-stirring machine. After the material 10 is clamped away, the driving part 5 drives the material receiving block 4 to restore to its initial state again, thereby repeating the above actions to continuously complete the flipping of the material 10.

[0038] The beneficial effects of the above technical solution are: the material 10 is turned over by contacting the limiting rod 3, which reduces the movement amplitude of the turning process, and is less likely to cause material throwing and damage to the material 10. The positioning component can limit the turning process of the material 10, and the material 10 can be positioned and adjusted during the movement of the receiving block 4 to the horizontal state; the driving part 5 drives the pendulum block 2 to drive the receiving block 4 to move, so that the turned material 10 is in a horizontal state, which is convenient for material removal. The structure of the turning mechanism is simple, occupies little space, and reduces production costs.

[0039] In one embodiment, the positioning assembly includes: a limit block 6, the limit block 6 is fixedly set on the fixed plate 1, and the top of the limit block 6 is set on one side of the material receiving block 4, which is used to cooperate with the material receiving block 4 to limit the material 10 after it falls and flips.

[0040] The working principle and beneficial effects of the above technical solution: the limit block 6 can limit the material 10 in the left and right directions. When the material 10 is flipped onto the inclined receiving block 4, one side of the material 10 contacts the limit block 6 for limitation. As the receiving block 4 moves toward the horizontal material picking position, the material 10 can contact and limit the limit block 6, thereby ensuring the accuracy of the position of the material 10 in the left and right directions.

[0041] In one embodiment, the pendulum block 2 is provided with a first mounting hole 210 for fixedly connecting with the output shaft of the driving unit 5 , and a second mounting hole 220 for fixing a connecting shaft, and the connecting shaft is rotatably connected with the connecting block 4 .

[0042] The working principle and beneficial effects of the above technical solution are as follows: the first mounting hole 210 is arranged below the second mounting hole 220, the driving part 5 is arranged on the side of the fixed plate 1 away from the pendulum block 2, the output shaft of the driving part 5 passes through the fixed plate 1 and is fixedly connected to the first mounting hole 210, the output shaft and the fixed plate 1 are rotatably connected, and a connecting shaft is provided in the second mounting hole 220, and the connecting shaft is used to realize the rotational connection between the material receiving block 4 and the pendulum block 2.

[0043] In one embodiment, one side of the pendulum block 2 is connected to the limiting rod 3 via an L-shaped plate 230, and a limiting plate 240 is provided on the other opposite side of the pendulum block 2. The fixed plate 1 is provided with a first limiting column 110 for limiting the limiting plate 240 and a second limiting column 120 for limiting the pendulum block 2.

[0044] The working principle and beneficial effects of the above technical solution: the axis of the limit rod 3 is arranged perpendicular to the fixed plate 1, the limit rod 3 moves with the pendulum block 2, the limit plate 240 is connected to the pendulum block 2 as a whole, and the movement of the pendulum block 2 is limited by the first limit column 110 and the second limit column 120, so that the material receiving block 4 has two extreme positions, namely the inclined material receiving position and the horizontal material taking position, thereby ensuring the accuracy of the movement position of the limit rod 3 and the material receiving block 4, and thus ensuring the stability of the flipping process.

[0045] In one embodiment, the receiving block 4 includes: a receiving plate 410 for receiving the flipped material 10, and one end of the receiving plate 410 close to the fixed plate 1 is provided with a sliding plate 420 rotatably connected to the connecting shaft and movably connected to the fixed plate 1.

[0046] The working principle and beneficial effects of the above technical solution: the material receiving plate 410 is used to carry the material 10 after flipping, the sliding plate 420 is arranged parallel to the fixed plate 1 and perpendicular to the material receiving plate 410, and the sliding plate 420 can be driven by the pendulum block 2 to drive the material receiving plate 410 to move. During the movement, the sliding plate 420 is connected to the fixed plate 1 by a sliding limit, which ensures the stability of the movement of the sliding plate 420, and then ensures the smoothness of the overall movement of the material receiving block 4, which can better carry the material 10.

[0047] In one embodiment, the side of the receiving plate 410 close to the limit block 6 is provided with a slot 411 through which the limit block 6 can pass, and a limit protrusion 412 protruding from the top surface of the receiving plate 410, and the side of the limit block 6 close to the receiving plate 410 is provided with a first inclined surface 610, and the first inclined surface 610 is provided with an air hole 611, and the air hole 611 is used to provide auxiliary flipping power when the material 10 is flipped, and the top surface of the receiving plate 410 is provided with a suction port 413 for fixing the flipped material 10.

[0048] The working principle and beneficial effects of the above technical solution are as follows: the notch 411 provided on the receiving plate 410 enables the material 10 to contact the first inclined surface 610 of the limiting block 6. At this time, the material 10 is not in contact with the limiting protrusion 412. As the receiving plate 410 rotates, until the material 10 is limited by the limiting protrusion 412, the material 10 is out of contact with the first inclined surface 610. However, at this time, the receiving plate 410 has not yet moved to the horizontal material taking position; the suction port 413 is connected to the suction device for providing a suction port 413 with a suction device. The negative pressure is used to form an adsorption effect on the material 10. Before the material 10 contacts the limiting protrusion 412, the adsorption force provided should be able to ensure that the maximum static friction force generated by the component of the gravity of the material 10 perpendicular to the top surface of the receiving plate 410, the adsorption force, and the positive pressure acting on the receiving plate 410 is smaller than the component of the gravity of the material 10 parallel to the top surface of the receiving plate 410. After the material 10 contacts the limiting protrusion 412, the adsorption force provided by the suction port 413 can ensure that the material 10 does not slide off the receiving plate 410.

[0049] When the material 10 contacts and flips over with the limiting rod 3, if the material 10 after flipping does not fit with the material receiving plate 410, but falls to one side of the limiting block 6, at this time, the blowing force can be provided by the air hole 611 provided on the first inclined surface 610 and connected to the air supply device, so that the material 10 is tilted to one side of the material receiving plate 410, and the flipping is completed, thereby ensuring the stability of the flipping of the material 10.

[0050] In one embodiment, the sliding plate 420 is provided with a third mounting hole 421 rotatably connected to the connecting shaft, and the sliding plate 420 is also provided with a slide groove 422. The fixed plate 1 is provided with a limiting shaft 130, and a rotating sleeve 140 is rotatably provided on the limiting shaft 130. An annular baffle 141 is provided at both ends of the outer circumference of the rotating sleeve 140, and the rotating sleeve 140 between the two annular baffles 141 is limitedly connected in the slide groove 422.

[0051] The working principle and beneficial effects of the above technical solution: the connecting shaft and the third mounting hole 421 can be rotatably connected through a bearing to realize the rotational connection between the sliding plate 420 and the pendulum block 2; the slide groove 422 is connected to the limit shaft 130 in a sliding and rolling manner, and the slide groove 422 is limitedly connected to the outside of the rotating sleeve 140 between the two annular baffles 141. When the sliding plate 420 rotates relative to the fixed plate 1, the rotating sleeve 140 can slide in the slide groove 422, and the rotating sleeve 140 can rotate relative to the slide groove 422, forming an active limit for the fixed plate 1 to connect the material block 4, while ensuring the flexibility of the movement of the connecting block 4.

[0052] In one embodiment, the positioning assembly further includes: a stopper 7 and a positioning block 8. The stopper 7 is provided on the top surface of the receiving block 4 close to the fixed plate 1. The front side of the limiting block 6 is provided with the positioning block 8 for adjusting the front and rear position of the material 10. The tops of the opposite sides of the positioning block 8 and the stopper 7 are respectively provided with a second inclined surface 810 and a third inclined surface 710.

[0053] The positioning block 8 is driven by a driving assembly to reciprocate linearly in the front-to-back direction. The distance between the positioning block 8 and the stop block 7 includes: a first distance for limiting the falling of the material 10, and a second distance for adjusting the position of the material 10 on the top surface of the receiving block 4 in the front-to-back direction. The first distance is greater than the second distance.

[0054] The working principle and beneficial effects of the above technical solution: The second inclined surface 810 and the third inclined surface 710 are set to ensure that the material 10 will not be stuck with the stop block 7 and the positioning block 8 after being flipped, so that the material 10 can be smoothly flipped onto the receiving plate 410. The first distance is greater than the length of the material 10 in the front and rear directions. When the material 10 is flipped onto the receiving plate 410, the driving component works to control the movement of the positioning block 8, and the positioning block 8 contacts the front side of the material 10, thereby pushing the material 10 to move to one side of the stop block 7. When the positioning block 8 moves to the second distance between it and the stop block 7, the driving component stops working. At this time, the material 10 is just limited between the positioning block 8 and the stop block 7, forming the positioning of the material 10 in the front and rear directions, thereby improving the accuracy of the position of the turntable suction nozzle 13 in clamping the material 10, so that the material 10 is positioned during the flipping process, thereby improving production efficiency.

[0055] In one embodiment, the device further comprises: a control unit for controlling the operation of the driving unit 5, the control unit comprising: a first position detection module for detecting contact between the limiting plate 240 and the first limiting column 110, a second position detection module for detecting contact between the pendulum block 2 and the second limiting column 120, and a material detection module for detecting whether there is material 10 on the receiving block 4;

[0056] If the first position detection module detects that the limiting plate 240 is in contact with the first limiting column 110, the material receiving block 4 is located at the inclined material receiving position. When the material detection module detects that the material 10 falls onto the material receiving block 4, the driving unit 5 is controlled to drive the material receiving block 4 to rotate to the horizontal material taking position.

[0057] If the second position detection module detects that the pendulum block 2 is in contact with the second limiting column 120, the material receiving block 4 is located at the horizontal material picking position. When the material detection module detects that the material 10 on the material receiving block 4 is taken away, the driving part 5 is controlled to drive the material receiving block 4 to rotate to the inclined material receiving position.

[0058] The working principle and beneficial effects of the above technical solution: the position and posture of the material receiving block 4 can be known through the first position detection module and the second position detection module, and whether there is material 10 on the material receiving block 4 can be detected through the material detection module to judge the situation of the material 10 on the material receiving block 4, and then control the operation of the driving part 5 to ensure the stability of the material 10 during flipping and the stability during material removal, prevent the material receiving block 4 from starting to move when the material 10 is not flipped into place, and prevent the material receiving block 4 from starting to move when the material 10 is in a horizontal state and has not been taken away, thereby ensuring the continuity and stability of the flipping mechanism.

[0059] In one embodiment, the device further comprises: a regulator for adjusting the adsorption force of the suction port 413 on the material 10, so that the positioning assembly can adjust the position of the material 10 during the movement of the receiving block 4 from the inclined receiving position to the horizontal receiving position;

[0060] The controller adjusts the suction force of the suction port 413 by:

[0061] Step 1: When the receiving block 4 moves from the inclined receiving position to the horizontal receiving position, the preset adsorption force required at each moment of the movement of the receiving block 4 is determined;

[0062] Step 2: Determine a first pressure in the suction port 413 and a second pressure at a connection point between the suction port 413 and the suction device based on the preset adsorption force, and obtain a pressure difference between the first pressure and the second pressure corresponding to the preset adsorption force;

[0063] Step 3: adjusting the pressure difference detected at the current moment to a pressure difference corresponding to the preset adsorption force by the controller;

[0064] The controller adjusts the pressure difference as follows:

[0065] Step A1: Establish the control model function of the controller:

[0066] in, is the control quantity of the output of the control model function, is the calculation factor corresponding to the input i-th pressure difference, is a mathematical constant, is the i-th pressure difference input, is the center of n pressure differences, To control the degree to which the input pressure difference is scaled when training the model function, is the bias value;

[0067] Step A2: Establishing a compensation value for compensating the output control value of the control model function :

[0068] in, For the current moment The duty cycle corresponding to the required preset pressure difference, For the previous moment The duty cycle corresponding to the pressure difference is The time taken by the material receiving block 4 to move from the inclined material receiving position to the horizontal material taking position;

[0069] Step A3: Obtain the actual control amount required for the current moment to adjust the adsorption force according to step A1 and step A2. :

[0070] Through the real control Adjust the pressure difference at the current moment.

[0071] The working principle and beneficial effects of the above technical solution are as follows: during the movement of the receiving block 4 from the inclined receiving position to the horizontal receiving position, the angle between the top surface of the receiving plate 410 and the horizontal plane gradually decreases;

[0072] The adjustment of the limit block 6 on the left and right directions of the material 10 before the material 10 contacts the limiting protrusion 412 mainly depends on the material 10 itself being subject to gravity and being able to move along the inclined receiving plate 410 to contact the limit block 6. At this time, the adsorption force provided by the suction device should be able to make the maximum static friction force generated by the component of the gravity of the material 10 perpendicular to the top surface of the receiving plate 410, the adsorption force and the positive pressure acting on the receiving plate 410 smaller than the component of the gravity of the material 10 parallel to the top surface of the receiving plate 410.

[0073] The positioning block 8 may start adjusting the position of the material 10 in the front-to-back direction after the material 10 contacts the limiting protrusion 412. The suction force provided by the suction device should be able to ensure that the maximum static friction force generated by the component of the gravity of the material 10 perpendicular to the top surface of the receiving plate 410, the suction force, and the positive pressure acting on the receiving plate 410 is less than the pushing force of the positioning block 8 on the material 10.

[0074] The time required for the entire process of the receiving block 4 moving from the inclined receiving position to the horizontal receiving position is divided into multiple moments. The division standard can be determined based on the angle change of the receiving block 4. For example, the time required for the receiving block 4 to rotate 1 degree can be set, and then the angle corresponding to each moment and the required adsorption force can be determined. In this embodiment, the adjustment of the adsorption force is converted into the adjustment of the pressure difference. Since the suction port 413 has an inner cavity of a certain volume, it can be set as a cylindrical inner cavity here, and the suction port 413 is connected to the suction device using an air pipe or an air vent. Usually, the diameter of the air pipe or the air vent is smaller than the inner diameter of the suction port 413. Since the cross-sectional areas of the two are different, There is a difference in the mass flow rate of gas flowing from the suction port 413 to the trachea or the vent. When the pressure in the suction port 413 reaches a dynamic equilibrium, the suction port 413 and the material 10 are stably adsorbed. When gas flows in the contact gap between the suction port 413 and the material 10, the first pressure and the second pressure will change, thereby changing the pressure difference. Therefore, the adsorption force of the material 10 by the suction port 413 can be adjusted by adjusting the pressure difference. The controller controls the change of the pressure difference by adjusting the duty cycle. The smaller the duty cycle, the greater the pressure difference at the suction port 413, and the smaller the adsorption force. The adsorption force required in the process of the material receiving block 4 moving to the horizontal material taking process gradually decreases, thereby achieving stable adjustment of the adsorption force.

[0075] During the process of the controller regulating the pressure difference, the control model in step A1 needs to be trained, and the control is performed by the trained control model. , is the penalty coefficient, is the relaxation factor of the i-th pressure difference. The sum of the control amount output in step A1 and the compensation amount in step A2 is the real control amount, that is, the control signal. The control amount in step A1 is fine-tuned through the compensation amount, so that the pressure difference after adjustment is more accurate, and thus the adjustment and control of the adsorption force is more precise, preventing the adsorption force from being too large, resulting in the positioning component being unable to push the material 10, making the position of the material 10 unable to be adjusted, and there is also a risk of damaging the material 10. At the same time, it also prevents the adsorption force from being too small, resulting in insufficient adsorption force for the material 10, causing the material 10 to move easily on the receiving block 4 and be easily affected by other vibrations and cause position displacement. Therefore, the above method is used to accurately control the adsorption force of the material 10, so that the material 10 can accept the positioning adjustment of the positioning component on the receiving block 4 while ensuring that its position does not change easily, thereby improving the accuracy of positioning.

[0076] 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", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0077] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0078] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automatic positioning and flipping mechanism, characterized in that: include: A fixed plate (1), wherein a pendulum block (2) is rotatably provided on the fixed plate (1), a limiting rod (3) is provided on one side of the pendulum block (2), a material receiving block (4) is rotatably provided on the front side of the pendulum block (2), the material receiving block (4) is movably connected to the fixed plate (1), and a positioning component for positioning and adjusting the position of the material (10) after flipping is provided on the outer side of the material receiving block (4); the fixed plate (1) is also provided with a driving part (5) for driving the pendulum block (2) to rotate; In the initial state, the top surface of the receiving block (4) for receiving the material (10) is in an inclined state; when the material (10) falls from above, one side of the bottom surface of the material (10) contacts the limiting rod (3), thereby causing the material (10) to flip over, and the flipped material (10) falls onto the inclined receiving block (4); The positioning assembly comprises: a limiting block (6), the limiting block (6) being fixedly arranged on the fixing plate (1), the top end of the limiting block (6) being arranged on one side of the material receiving block (4), and being used for cooperating with the material receiving block (4) to limit the material (10) after it falls and turns over; The pendulum block (2) is provided with a first mounting hole (210) for fixedly connecting to the output shaft of the driving unit (5), and a second mounting hole (220) for fixing a connecting shaft, wherein the connecting shaft is rotatably connected to the material receiving block (4); The receiving block (4) comprises: a receiving plate (410) for receiving the turned material (10); an end of the receiving plate (410) close to the fixed plate (1) is provided with a sliding plate (420) rotatably connected to the connecting shaft and movably connected to the fixed plate (1); The receiving plate (410) is provided with a slot (411) on one side close to the limiting block (6) for allowing the limiting block (6) to pass through, and a limiting protrusion (412) protruding from the top surface of the receiving plate (410); the limiting block (6) is provided with a first inclined surface (610) on one side close to the receiving plate (410); the first inclined surface (610) is provided with an air hole (611); the air hole (611) is used to provide auxiliary turning power when the material (10) is turned over; the top surface of the receiving plate (410) is provided with a suction port (413) for fixing the turned material (10); The positioning assembly further comprises: a stopper (7) and a positioning block (8), wherein the stopper (7) is provided on the top surface of the material receiving block (4) close to the fixed plate (1), and the positioning block (8) for adjusting the front and rear positions of the material (10) is provided on the front side of the limiting block (6), and the second inclined surface (810) and the third inclined surface (710) are provided on the top of the opposite sides of the positioning block (8) and the stopper (7), respectively; The positioning block (8) is driven by a driving assembly to reciprocate linearly in the front-to-back direction. The distance between the positioning block (8) and the stop block (7) includes: a first distance for limiting the falling of the material (10), and a second distance for adjusting the position of the material (10) on the top surface of the receiving block (4) in the front-to-back direction, wherein the first distance is greater than the second distance.

2. The automatic positioning and turning mechanism according to claim 1, characterized in that: One side of the pendulum block (2) is connected to the limiting rod (3) via an L-shaped plate (230), and the other opposite side of the pendulum block (2) is provided with a limiting plate (240). The fixed plate (1) is provided with a first limiting column (110) for limiting the limiting plate (240) and a second limiting column (120) for limiting the pendulum block (2).

3. The automatic positioning and turning mechanism according to claim 1, characterized in that: The sliding plate (420) is provided with a third mounting hole (421) rotatably connected to the connecting shaft. The sliding plate (420) is also provided with a slide groove (422). The fixed plate (1) is provided with a limiting shaft (130). A rotating sleeve (140) is rotatably provided on the limiting shaft (130). Annular baffles (141) are provided at both ends of the outer peripheral surface of the rotating sleeve (140). The rotating sleeve (140) between the two annular baffles (141) is limitedly connected in the slide groove (422).

4. The automatic positioning and turning mechanism according to claim 2, characterized in that: Also includes: a control unit for controlling the operation of the driving unit (5), the control unit comprising: a first position detection module for detecting contact between the limiting plate (240) and the first limiting column (110), a second position detection module for detecting contact between the pendulum block (2) and the second limiting column (120), and a material detection module for detecting whether there is material (10) on the material receiving block (4); If the first position detection module detects that the limiting plate (240) is in contact with the first limiting column (110), the material receiving block (4) is located at the inclined material receiving position, and when the material detection module detects that the material (10) falls onto the material receiving block (4), the driving unit (5) is controlled to drive the material receiving block (4) to rotate to the horizontal material taking position; If the second position detection module detects that the swing block (2) is in contact with the second limiting column (120), the material receiving block (4) is located at the horizontal material taking position. When the material detection module detects that the material (10) on the material receiving block (4) is taken away, the driving part (5) is controlled to drive the material receiving block (4) to rotate to the inclined material receiving position.

5. The automatic positioning and turning mechanism according to claim 1, characterized in that: Also includes: A regulator, the regulator being used to adjust the adsorption force of the suction port (413) on the material (10), so that the positioning component can adjust the position of the material (10) during the movement of the material receiving block (4) from the inclined material receiving position to the horizontal material taking position; Wherein, the regulator adjusts the adsorption force of the suction port (413) including: Step 1: during the movement of the material receiving block (4) from the inclined material receiving position to the horizontal material taking position, determining the preset adsorption force required at each moment of the movement of the material receiving block (4); Step 2: determining a first pressure in the suction port (413) and a second pressure at a point where the suction port (413) is connected to the suction device based on the preset adsorption force, and obtaining a pressure difference between the first pressure and the second pressure corresponding to the preset adsorption force; Step 3: adjusting the pressure difference detected at the current moment to a pressure difference corresponding to the preset adsorption force through the regulator.

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