Case turnover device and turnover method

Abstract

This invention discloses a shell flipping device, including a main frame, a trolley, a trolley lifting and positioning unit, a workpiece pick-and-place lifting unit, a position adjustment servo unit, and a double-sided pick-and-place flipping unit. The trolley lifting and positioning unit is installed at the bottom of the main frame. After the trolley transports the workpiece to be flipped into the space below the main frame, the trolley lifting and positioning unit performs coarse positioning on the trolley. The position adjustment servo unit is installed at the top of the main frame and is connected to the workpiece pick-and-place lifting unit, and is used to adjust the position of the workpiece pick-and-place lifting unit. The workpiece pick-and-place lifting unit is used to grab and precisely position the workpiece to be flipped on the trolley and transfer it to the double-sided pick-and-place flipping unit. The double-sided pick-and-place flipping unit is installed on the main frame and is used to flip the workpiece to be flipped 180°. This invention also discloses a shell flipping method. This invention can reduce the labor intensity of workers, improve work efficiency, ensure workpiece quality, and improve safety.

Description

Technical Field

[0001] This invention relates to the technical field of assembly tools, and more particularly to a housing flipping device and flipping method. Background Technology

[0002] Currently, when the lower casing of a battery pack is flipped, it is manually transferred from the assembly trolley to the flipping table using a assisted lifting device. After clamping, it is manually flipped 180°, and then the workpiece is transferred to the work trolley again using the assisted lifting device. This existing method has the following problems:

[0003] 1. Labor intensity: Due to the weight of the shell and lifting equipment being approximately 200kg, the workload is large and the operation is inconvenient. Workers complain of sore arms, waist and legs after working for a long time.

[0004] 2. Efficiency: The time for a single operation with manual labor and auxiliary equipment is 5 minutes and 45 seconds, which is long and inefficient. Automation can significantly improve the efficiency of the operation, reducing the time to 2 minutes and 30 seconds.

[0005] 3. Quality: Due to the large weight of the workpiece and the lifting equipment, it is difficult to control the movement of the workpiece and lifting equipment manually, which can easily lead to workpiece collisions, scratches and other quality defects.

[0006] 4. Safety: Due to the large size of the workpiece, if the view is obstructed during movement and rotation, there is a risk of collision, tripping, or other safety hazards.

[0007] Therefore, it is necessary to design a shell flipping device and flipping method that reduces the labor intensity of workers, improves work efficiency, ensures workpiece quality, and enhances safety. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a shell flipping device and flipping method that reduces the labor intensity of workers, improves work efficiency, ensures workpiece quality, and enhances safety.

[0009] The technical solution of the present invention provides a shell flipping device, including a main frame, a trolley, a trolley lifting and positioning unit, a workpiece picking and placing lifting unit, a position adjustment servo unit, and a double-sided picking and placing flipping unit;

[0010] The trolley lifting and positioning unit is installed at the bottom of the main frame. When the trolley transports the workpiece to be flipped into the space below the main frame, the trolley lifting and positioning unit performs coarse positioning on the trolley.

[0011] The position adjustment servo unit is installed on the top of the main frame. The position adjustment servo unit is connected to the workpiece pick-up and drop lifting unit and is used to adjust the position of the workpiece pick-up and drop lifting unit.

[0012] The workpiece picking and placing lifting unit is used to grab and precisely position the workpiece to be flipped on the trolley, and then transfer it to the double-sided picking and flipping unit.

[0013] The double-sided pick-and-place flip unit is mounted on the main frame and is used to flip the workpiece to be flipped 180°.

[0014] Furthermore, the trolley lifting and positioning unit includes a base, a push-pull cylinder, a push-pull connecting rod, a lifting block, a lifted shaft, a lifting frame, a lifting guide rail, and a V-shaped positioning block;

[0015] The push-pull cylinder is mounted on the base. One end of the push-pull connecting rod is connected to the push-pull cylinder, and the other end is connected to the lifting block. The lifting block is in contact with the lifted shaft. The lifted shaft slides along the lifting guide rail and is in contact with the bottom of the lifting frame.

[0016] When the push-pull cylinder drives the push-pull linkage, the push-pull linkage drives the lifting block to move toward the lifted shaft and pushes the lifted shaft to move upward. The lifted shaft pushes the lifting frame to move along the lifting guide rail. The lifting frame is used to contact the lifting bearing on the trolley and drive the lifting bearing to fall upward into the V-shaped positioning block.

[0017] Furthermore, the workpiece picking and placing lifting unit includes an opening and closing cylinder, an opening and closing track, a mounting base, a lifting assembly, grippers, and a positioning assembly;

[0018] The opening and closing track is installed on the mounting base and connected to the position adjustment servo unit. Two sets of lifting components are respectively installed on the two sets of mounting bases. Two grippers are respectively installed on the two sets of lifting components. The positioning component is installed on one of the grippers. The opening and closing cylinder is used to drive the mounting base to slide along the opening and closing track. The mounting base is used to drive the lifting components and the grippers to open and close. The two grippers are used to grasp the workpiece to be flipped. The positioning component is used to accurately position the workpiece to be flipped.

[0019] Furthermore, the lifting assembly includes a lifting bracket, a lifting motor, a lifting screw, and a lifting slide rail. The lifting bracket is connected to the mounting base, the lifting slide rail is mounted on the lifting bracket and connected to the gripper, and the lifting screw...

[0020] One end is connected to the lifting motor, and the other end is connected to the gripper.

[0021] Furthermore, the positioning component includes a positioning pin and a positioning cylinder. The positioning cylinder is mounted on the gripper and is used to drive the positioning pin to extend and retract. After the position adjustment servo unit drives the positioning pin to align with the positioning hole on the workpiece to be flipped, the positioning cylinder drives the positioning pin to insert into the positioning hole.

[0022] Furthermore, the position adjustment servo unit includes a fixed base, an X-axis adjustment assembly, a Y-axis adjustment assembly, and a C-axis adjustment assembly. The fixed base is fixedly connected to the main frame. The X-axis adjustment assembly, the Y-axis adjustment assembly, and the C-axis adjustment assembly are mounted on the fixed base. The C-axis adjustment assembly is connected to the workpiece pick-and-place lifting unit. The X-axis adjustment assembly is used to adjust the front-to-back direction of the workpiece pick-and-place lifting unit. The Y-axis adjustment assembly is used to adjust the left-to-right direction of the workpiece pick-and-place lifting unit. The C-axis adjustment assembly is used to adjust the angle of the workpiece pick-and-place lifting unit in the XY plane.

[0023] Furthermore, it also includes a vision system for guiding the position adjustment servo unit to adjust its position.

[0024] Furthermore, the double-sided pick-up and flip unit includes a fixed hanger, a flip motor, a flip synchronous reset cylinder, a first flip frame, a second flip frame, a first front clamping cylinder and a first back clamping cylinder on the first flip frame, and a second front clamping cylinder, a second back clamping cylinder and lateral clamping cylinders symmetrically arranged on both sides on the second flip frame.

[0025] Before flipping, the first front clamping cylinder and the second front clamping cylinder close together, the first reverse clamping cylinder and the second reverse clamping cylinder open, and the first lateral clamping cylinder and the lateral clamping cylinder retract.

[0026] After the double-sided pick-up and flip unit receives the workpiece to be flipped from the workpiece pick-up and lift unit, the first reverse clamping cylinder and the second reverse clamping cylinder close together, and the side clamping cylinder simultaneously clamps the side of the workpiece to be flipped.

[0027] After the flipping motor drives the first flipping frame and the second flipping frame to flip 180°, the first front clamping cylinder and the second front clamping cylinder open, and the first reverse clamping cylinder, the second reverse clamping cylinder and the side clamping cylinder close to clamp and place the workpiece to be flipped onto the workpiece pick-and-place lifting unit.

[0028] The present invention also provides a housing flipping method based on the housing flipping device of any of the above claims, comprising the following steps:

[0029] The trolley pulls the workpiece to be flipped into the space below the main frame;

[0030] The trolley lifting and positioning unit lifts and coarsely positions the trolley.

[0031] The position adjustment servo unit adjusts the position of the workpiece pick-up and place lifting unit, so that the workpiece pick-up and place lifting unit can grab and accurately position the workpiece to be flipped.

[0032] The workpiece pick-up and placement lifting unit lifts the workpiece to be flipped to the double-sided pick-up and placement flipping unit, and the double-sided pick-up and placement flipping unit catches the workpiece to be flipped.

[0033] The double-sided pick-and-place flipping unit drives the workpiece to be flipped to rotate 180°.

[0034] The double-sided pick-up and flip unit hands the flipped workpiece to be flipped over to the workpiece pick-up and lift unit, and the workpiece pick-up and lift unit catches the workpiece to be flipped under the adjustment of the position adjustment servo unit.

[0035] The workpiece loading and unloading lifting unit descends and places the workpiece to be flipped back onto the trolley;

[0036] The trolley lifting and positioning unit lowers the trolley;

[0037] The trolley transports the flipped workpiece to the assembly table.

[0038] Furthermore, it also includes the visual system;

[0039] Before flipping, the vision system guides the position adjustment servo unit to adjust the position of the workpiece pick-and-place lifting unit;

[0040] After flipping, the vision system guides the position adjustment servo unit to readjust the position of the workpiece pick-and-place lifting unit.

[0041] The above technical solution has the following beneficial effects:

[0042] The invention reduces the labor intensity of workers, improves work efficiency, ensures workpiece quality, and enhances safety through a fully automated shell flipping device. Attached Figure Description

[0043] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0044] Figure 1 This is a schematic diagram of a shell flipping device in one embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a trolley in one embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of a trolley lifting and positioning unit in one embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the trolley being coarsely positioned by the trolley lifting and positioning unit in one embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of a workpiece picking and placing lifting unit in one embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the connection between the workpiece picking and placing lifting unit and the position adjustment servo unit in one embodiment of the present invention;

[0050] Figure 7 This is a top view of a position adjustment servo unit in one embodiment of the present invention;

[0051] Figure 8 This is a top view of the position adjustment servo unit in one embodiment of the present invention, omitting the fixed base;

[0052] Figure 9 This is a bottom view of the position adjustment servo unit in one embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the C-axis adjustment assembly in one embodiment of the present invention;

[0054] Figure 11 This is a schematic diagram of the double-sided pick-up and put-down flipping unit before flipping in one embodiment of the present invention;

[0055] Figure 12 This is a schematic diagram of the workpiece before it is flipped.

[0056] Figure 13 This is a schematic diagram of the workpiece after it has been flipped.

[0057] Reference table for attached figures:

[0058] Main frame 1;

[0059] Trolley 2: Lifting bearing 21, wheels 22, trolley body 23;

[0060] The trolley lifting and positioning unit 3 consists of: a base 31, a push-pull cylinder 32, a push-pull connecting rod 33, a lifting block 34, a lifted shaft 35, a lifting frame 36, a lifting guide rail 37, and a V-shaped positioning block 38.

[0061] Workpiece picking and placing lifting unit 4: opening and closing cylinder 41, opening and closing rail 42, mounting base 43, lifting component 44, gripper 45, positioning component 46, lifting bracket 441, lifting motor 442, lifting screw 443, lifting slide rail 444, positioning pin 461, positioning cylinder 462;

[0062] Position adjustment servo unit 5: fixed base 51, X-axis adjustment component 52, Y-axis adjustment component 53, C-axis adjustment component 54, X-axis movable base 521, Y-axis movable base 531, Y-axis guide rail 532, C-axis movable base 541, C-axis guide rail 542;

[0063] Double-sided pick-up and flip unit 6: fixed hanger 61, flip motor 62, flip synchronous reset cylinder 63, first flip frame 64, second flip frame 65, first front clamping cylinder 641, first back clamping cylinder 642, second front clamping cylinder 651, second back clamping cylinder 652, side clamping cylinder 653.

[0064] Workpiece 100 to be flipped. Detailed Implementation

[0065] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0066] It is readily understood that, based on the technical solution of this invention, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of the invention.

[0067] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0068] Example 1:

[0069] In some embodiments of the present invention, such as Figure 1 As shown, the shell flipping device includes a main frame 1, a trolley 2, a trolley lifting and positioning unit 3, a workpiece picking and placing lifting unit 4, a position adjustment servo unit 5, and a double-sided picking and placing flipping unit 6.

[0070] The trolley lifting and positioning unit 3 is installed at the bottom of the main frame 1. When the trolley 2 transports the workpiece 100 to be flipped into the space below the main frame 1, the trolley lifting and positioning unit 3 performs coarse positioning on the trolley 2.

[0071] The position adjustment servo unit 5 is installed on the top of the main frame 1. The position adjustment servo unit 5 is connected to the workpiece pick-up and drop lifting unit 4 and is used to adjust the position of the workpiece pick-up and drop lifting unit 4.

[0072] The workpiece picking and placing lifting unit 4 is used to grab and precisely position the workpiece 100 to be flipped on the trolley 2, and then transfer it to the double-sided picking and flipping unit 6.

[0073] The double-sided pick-and-place flip unit 6 is mounted on the main frame 1 and is used to flip the workpiece 100 to be flipped 180°.

[0074] Specifically, the main frame 1 is a rectangular frame structure, and the trolley lifting and positioning unit 3 is installed at the bottom of the main frame 1. The two sides of the bottom of the main frame 1 are provided with openings to facilitate the entry and exit of the trolley 2 into the main frame 1. The trolley 2 is used to transport the workpiece 100 to be flipped. When the trolley 2 enters the interior of the main frame 1, it comes into contact with the trolley lifting and positioning unit 3.

[0075] The position adjustment servo unit 5 is installed on the top of the main frame 1, and the workpiece pick-and-place lifting unit 4 is installed below the position adjustment servo unit 5. After the trolley 2 is lifted and coarsely positioned by the trolley lifting and positioning unit 3, the workpiece pick-and-place lifting unit 4 can grab the workpiece 100 to be flipped on the trolley 2. During the process of the workpiece pick-and-place lifting unit 4 grabbing the workpiece 100 to be flipped, the position adjustment servo unit 5 can adjust the position of the workpiece pick-and-place lifting unit 4 so that the workpiece pick-and-place lifting unit 4 is precisely positioned with the workpiece 100 to be flipped.

[0076] The workpiece pick-and-place lifting unit 4 lifts the workpiece 100 to be flipped upwards to the position of the double-sided pick-and-place flipping unit 6, which is suspended on the top of the main frame 1. After clamping the workpiece 100, the double-sided pick-and-place flipping unit 6 flips the workpiece 100 180°.

[0077] like Figure 12 As shown, in this embodiment, the workpiece 100 to be flipped is the lower housing of the battery pack. Before flipping, the workpiece 100 is in a bottom-up position, which facilitates the pre-assembly of components such as the bottom cooling water pipe of the workpiece 100. Figure 13 As shown, after the bottom component is installed, it is flipped 180° so that the front side of the workpiece 100 to be flipped is facing up, which facilitates the installation of the front component.

[0078] After the workpiece 100 to be flipped is flipped, the workpiece pick-up and placement lifting unit 4 grabs the workpiece 100 to be flipped again, the double-sided pick-up and flipping unit 6 releases the workpiece 100 to be flipped, and the workpiece 100 to be flipped falls back onto the trolley 2 under the action of the workpiece pick-up and placement lifting unit 4. The trolley lifting and positioning unit 3 lowers the trolley 2, and the trolley 2 transports the flipped workpiece 100 to the assembly station.

[0079] The shell flipping device in this embodiment reduces the labor intensity of workers, improves work efficiency, ensures workpiece quality, and enhances safety through a fully automated shell flipping mechanism.

[0080] Furthermore, such as Figure 2 As shown, the trolley 2 includes lifting bearings 21, wheels 22 and a body 23. The wheels 22 are mounted on the bottom surface of the body 23, and the lifting bearings 21 are mounted on two pairs of side surfaces of the body 23, with two lifting bearings 21 on each side surface.

[0081] Furthermore, such as Figure 3 As shown, the trolley lifting and positioning unit 3 includes a base 31, a push-pull cylinder 32, a push-pull connecting rod 33, a lifting block 34, a lifted shaft 35, a lifting frame 36, a lifting guide rail 37, and a V-shaped positioning block 38.

[0082] The push-pull cylinder 32 is mounted on the base 31. One end of the push-pull connecting rod 33 is connected to the push-pull cylinder 32, and the other end is connected to the lifting block 34. The lifting block 34 is in contact with the lifted shaft 35. The lifted shaft 35 slides along the lifting guide rail 37 and is in contact with the bottom of the lifting frame 36.

[0083] When the push-pull cylinder 32 drives the push-pull linkage 33, the push-pull linkage 33 drives the lifting block 34 to move toward the lifted shaft 35 and pushes the lifted shaft 35 to move upward. The lifted shaft 35 pushes the lifting frame 36 to move along the lifting guide rail 37. The lifting frame 36 is used to contact the lifting bearing 21 on the trolley 2 and drive the lifting bearing to fall upward into the V-shaped positioning block 38.

[0084] Specifically, the trolley lifting and positioning unit 3 includes two bases 31, which are fixedly connected to two crossbars at the bottom of the main frame 1. Each base 31 is equipped with a push-pull cylinder 32, a push-pull connecting rod 33, a lifting block 34, a lifted shaft 35, a lifting frame 36, two lifting guide rails 37, and two V-shaped positioning blocks 38.

[0085] When the push-pull cylinder 32 drives the push-pull linkage 33 to move, the push-pull linkage 33 causes the lifting block 34 to move toward the lifted shaft 35. Since the lifting block 34 has a wedge-shaped surface that contacts the lifted shaft 35, when the lifting block 34 moves toward the lifted shaft 35, it pushes the lifted shaft 35 upwards. The lifted shaft 35 is mounted on the lifting frame 36, and both ends of the lifting frame 36 are connected to lifting guide rails 37. The lifted shaft 35 pushes the lifting frame 36 upwards, causing it to move upwards.

[0086] like Figure 4 As shown, since the lifting bearing 21 of the trolley 2 is in contact with the lifting frame 36, the lifting frame 36 drives the lifting bearing 21 to move upward, and at the same time drives the trolley 2 to separate upward from the ground. Finally, the lifting frame 36 brings the lifting bearing 21 into the V-shaped positioning block 38, realizing the coarse positioning of the trolley 2.

[0087] When it is necessary to lower the trolley 2 back to the ground, the lifting frame 36 first drives the lifting bearing 21 upward to disengage from the V-shaped positioning block 38, and then the lifting frame 36 descends to lower the trolley 2 back to the ground.

[0088] Furthermore, such as Figure 5 As shown, the workpiece picking and placing lifting unit 4 includes an opening and closing cylinder 41, an opening and closing track 42, a mounting base 43, a lifting component 44, a gripper 45, and a positioning component 46.

[0089] The opening and closing track 42 is installed on the mounting base 43 and is connected to the position adjustment servo unit 5. Two sets of lifting components 44 are respectively installed on the two sets of mounting bases 43. Two grippers 45 are respectively installed on the two sets of lifting components 44. The positioning component 46 is installed on one of the grippers 45. The opening and closing cylinder 41 is used to drive the mounting base 43 to slide along the opening and closing track 42. The mounting base 43 is used to drive the lifting components 44 and grippers 45 to open and close. The two grippers 45 are used to grab the workpiece 100 to be flipped. The positioning component 46 is used to accurately position the workpiece 100 to be flipped.

[0090] Specifically, such as Figure 6 As shown, the opening / closing cylinder 41 and the opening / closing rail 42 are mounted on the C-axis movable base 541 of the position adjustment servo unit 5. The opening / closing cylinder 41 is connected to the mounting base 43 and is used to push the mounting base 43. The opening / closing rail 42 is installed between the mounting base 43 and the C-axis movable base 541.

[0091] In this embodiment, as Figure 5 As shown, there are two of each of the following components: opening and closing cylinder 41, opening and closing rail 42, mounting base 43, lifting assembly 44, and gripper 45.

[0092] When the two opening and closing cylinders 41 are actuated, they drive the two mounting bases 43 to slide along the opening and closing track 42. The mounting bases 43 drive the lifting assembly 44 and the gripper 45 to slide, realizing the opening and closing control between the two grippers 45, thereby gripping the workpiece 100 to be flipped. The lifting assembly 44 is used to drive the gripper 45 to rise, thereby placing the workpiece 100 to be flipped into the double-sided pick-and-place flipping unit 6. The positioning assembly 46 is used to accurately position itself with the workpiece 100 to be flipped, thereby ensuring that the double-sided pick-and-place flipping unit 6 can clamp the workpiece 100 to be flipped.

[0093] Better, such as Figure 5 As shown, the lifting assembly 44 includes a lifting bracket 441, a lifting motor 442, a lifting screw 443, and a lifting slide rail 444. The lifting bracket 441 is connected to the mounting base 43. The lifting slide rail 444 is mounted on the lifting bracket 441 and connected to the gripper 45. One end of the lifting screw 443 is connected to the lifting motor 442, and the other end is connected to the gripper 45.

[0094] The lifting bracket 441 is connected between the mounting base 43 and the gripper 45. The lifting motor 442 and the lifting screw 443 are both mounted on the lifting bracket 441, and the lifting slide rail 444 is connected between the lifting bracket 441 and the gripper 45. When the lifting motor 442 is driven, it drives the lifting screw 443 to rotate, and the lifting screw 443 drives the gripper 45 to slide up and down along the lifting slide rail 444.

[0095] Better, such as Figure 5 As shown, the positioning component 46 includes a positioning pin 461 and a positioning cylinder 462. The positioning cylinder 462 is mounted on one of the grippers 45. The positioning cylinder 462 is used to drive the extension and retraction of the positioning pin 461. After the position adjustment servo unit 5 drives the positioning pin 461 to align with the positioning hole (not shown) on the workpiece 100 to be flipped, the positioning cylinder 462 drives the positioning pin 461 to be inserted into the positioning hole.

[0096] Specifically, before the gripper 45 grasps the workpiece 100 to be flipped, the position adjustment servo unit 5 drives the entire workpiece pick-and-place lifting unit 4 to move to the position where the positioning pin 461 is aligned with the positioning hole in the vertical direction. Then, the gripper 45 of the position adjustment servo unit 5 grasps the workpiece 100 to be flipped, and the lifting component 44 drives the gripper 45 to rise. At the same time, the positioning cylinder 462 drives the positioning pin 461 to insert into the positioning hole, thus achieving precise positioning of the workpiece 100 to be flipped. Subsequently, the lifting component 44 continues to drive the gripper 45 to rise, placing the workpiece 100 to be flipped into the double-sided pick-and-place flipping unit 6.

[0097] Furthermore, such as Figure 7-10 As shown, the position adjustment servo unit 5 includes a fixed base 51, an X-axis adjustment component 52, a Y-axis adjustment component 53, and a C-axis adjustment component 54. The fixed base 51 is fixedly connected to the main frame 1. The X-axis adjustment component 52, the Y-axis adjustment component 53, and the C-axis adjustment component 54 are mounted on the fixed base 51. The C-axis adjustment component 54 is connected to the workpiece pick-and-place lifting unit 4. The X-axis adjustment component 52 is used to adjust the front-to-back direction of the workpiece pick-and-place lifting unit 4. The Y-axis adjustment component 53 is used to adjust the left-to-right direction of the workpiece pick-and-place lifting unit 4. The C-axis adjustment component 54 is used to adjust the angle of the workpiece pick-and-place lifting unit 4 in the XY plane.

[0098] Specifically, the fixed base 51 is fixedly connected to the top of the main frame 1, and the Y-axis adjustment assembly 53, X-axis adjustment assembly 52, and C-axis adjustment assembly 54 are installed sequentially from top to bottom. The Y-axis adjustment assembly 53 includes a Y-axis movable base 531, the X-axis adjustment assembly 52 includes an X-axis movable base 521, and the C-axis adjustment assembly 54 includes a C-axis movable base 541. Each of the Y-axis adjustment assembly 53, X-axis adjustment assembly 52, and C-axis adjustment assembly 54 includes its own guide rail and drive motor, enabling angle adjustment in the forward / backward, left / right directions and in the XY plane.

[0099] The X-axis guide rail (not shown) of the X-axis adjustment assembly 52 is a straight rail along the X-axis direction, and the X-axis guide rail is connected between the X-axis movable base 521 and the Y-axis movable base 531; as shown Figure 9 As shown, the Y-axis guide rail 532 of the Y-axis adjustment assembly 53 is a straight rail along the Y-axis direction, and the Y-axis guide rail 532 is connected between the Y-axis movable base 531 and the fixed base 51. Figure 10 As shown, the C-axis guide rail 542 of the C-axis adjustment assembly 54 is curved, and the C-axis guide rail 542 is connected between the C-axis movable base 541 and the X-axis movable base 521.

[0100] Furthermore, it also includes a vision system (not shown), which guides the position adjustment servo unit 5 to adjust its position. The vision system can guide the position servo unit 5 to move the workpiece pick-and-place lifting unit 4 according to the current position of the workpiece 100 to be flipped, and adjust it to a precise position so that the workpiece pick-and-place lifting unit 4 can grasp the workpiece 100 to be flipped.

[0101] Furthermore, such as Figure 11 As shown, the double-sided pick-up and flip unit 6 includes a fixed hanger 61, a flip motor 62, a flip synchronous reset cylinder 63, a first flip frame 64, a second flip frame 65, a first front clamping cylinder 641 and a first back clamping cylinder 642 on the first flip frame 64, and a second front clamping cylinder 651, a second back clamping cylinder 652 and lateral clamping cylinders 653 symmetrically arranged on both sides on the second flip frame 65.

[0102] Before flipping, the first front clamping cylinder 641 and the second front clamping cylinder 651 close, the first reverse clamping cylinder 642 and the second reverse clamping cylinder 652 open, and the side clamping cylinder 653 is in a retracted state.

[0103] After the double-sided pick-up and flip unit 6 receives the workpiece 100 to be flipped from the workpiece pick-up and lift unit 4, the first reverse clamping cylinder 642 and the second reverse clamping cylinder 652 close together, and the lateral clamping cylinders 653 on both sides simultaneously clamp the workpiece 100 to be flipped.

[0104] After the flipping motor 62 drives the first flipping frame 64 and the second flipping frame 65 to flip 180°, the first front clamping cylinder 641 and the second front clamping cylinder 651 open, and the first reverse clamping cylinder 642, the second reverse clamping cylinder 652 and the side clamping cylinder 653 close and clamp, placing the workpiece 100 to be flipped onto the workpiece picking and placing lifting unit 4.

[0105] Specifically, a fixed hanger 61 is fixed to the top of the main frame, and two fixed hangers 61 are located on both sides of the fixed base 51. The fixed hangers 61 extend downwards in the vertical direction, and the bottom ends of the two fixed hangers 61 are connected to the first tilting frame 64 and the second tilting frame 65, respectively. Each tilting frame is connected to a tilting motor 62, which is used to control the rotation of the tilting frame 65. A tilting synchronous reset cylinder 63 is also connected to the tilting frame, which is used to drive the tilting frame to reset.

[0106] like Figure 11 As shown, the first flipping frame 64 is provided with two first front clamping cylinders 641 and two first back clamping cylinders 642. The first front clamping cylinders 641 are located above the first back clamping cylinders 642. The second flipping frame 65 is provided with two second front clamping cylinders 651, two second back clamping cylinders 652 and two side clamping cylinders 653. The second front clamping cylinders 651 are located above the second back clamping cylinders 652.

[0107] Before flipping, the first front clamping cylinder 641 and the second front clamping cylinder 651 close together. Here, "close together" means that the swing ends of the two first front clamping cylinders 641 on the first flipping frame 64 swing upwards and extend into the first flipping frame 64, shortening the distance between the swing ends of the two first front clamping cylinders 641. Similarly, the swing ends of the two second front clamping cylinders 651 swing upwards (see...). Figure 11 (in the direction of the arrow in the image) The swing end extends into the second flipping frame 65, and the distance between the swing ends of the two second front clamping cylinders 651 becomes shorter. The first front clamping cylinder 641 and the second front clamping cylinder 651 are used to restrict the upper surface of the flipped workpiece 100.

[0108] The first reverse clamping cylinder 642 and the second reverse clamping cylinder 652 are opened. "Opening" here means that the swing ends of the two first reverse clamping cylinders 642 on the first flipping frame 64 swing downwards to avoid interference with the rising workpiece 100 being flipped, and the distance between the swing ends of the two first reverse clamping cylinders 642 increases. Similarly, the swing ends of the two second reverse clamping cylinders 652 also swing downwards (see...). Figure 11 (As indicated by the arrow in the image), the distance between the swing ends of the two second reverse clamping cylinders 652 increases. The first reverse clamping cylinder 642 and the second reverse clamping cylinder 652 open, facilitating the rising of the workpiece 100 into the space between the first flipping frame 64 and the second flipping frame 65.

[0109] The lateral clamping cylinders 653 on both sides are in the retracted state, such as Figure 11 As shown, the two lateral clamping cylinders 653 move in a direction away from each other to avoid interference with the flipped workpiece 100.

[0110] When the workpiece 100 to be flipped enters between the two flipping frames, the upper surface of the workpiece 100 contacts the swinging ends of the first front clamping cylinder 641 and the second front clamping cylinder 651; the workpiece 100 then enters between the first reverse clamping cylinder 642, the second reverse clamping cylinder 652, and the two lateral clamping cylinders 653. Subsequently, the swinging ends of the first reverse clamping cylinder 642 and the second reverse clamping cylinder 652 swing upward to contact the lower surface of the workpiece 100 to be flipped, and the front clamping cylinder and the reverse clamping cylinder clamp the upper and lower surfaces of the workpiece 100 to be flipped from the top and bottom directions, respectively. The two lateral clamping cylinders 653 move towards each other to clamp the sides of the workpiece 100 to be flipped.

[0111] Then, the positioning pin 461 retracts, and the lifting assembly 44 drives the gripper 45 to descend, separating it from the workpiece 100 to be flipped.

[0112] During the flipping process, the flipping motor 62 drives the first flipping frame 64 and the second flipping frame 65 to flip 180°, thus flipping the workpiece 100 to be flipped from... Figure 12 Flip to Figure 13 The state.

[0113] After the flipping is completed, the first front clamping cylinder 641 and the second front clamping cylinder 651 are located below the first reverse clamping cylinder 642 and the second reverse clamping cylinder 652. The first front clamping cylinder 641 and the second front clamping cylinder 651 are opened, allowing space for the workpiece 100 to move downwards. The first reverse clamping cylinder 642, the second reverse clamping cylinder 652, and the lateral clamping cylinder 653 remain closed, clamping the workpiece 100 onto the workpiece pick-and-place lifting unit 4. Finally, the first reverse clamping cylinder 642, the second reverse clamping cylinder 652, and the lateral clamping cylinder 653 open and retract, and the workpiece pick-and-place lifting unit 4 descends, placing the workpiece 100 onto the trolley 2.

[0114] Finally, the flipping synchronous reset cylinder 63 drives the first flipping frame 64 and the second flipping frame 65 to rotate 180° in opposite directions and then reset.

[0115] Preferably, two lateral clamping cylinders can also be provided on the first flipping frame 64 to improve safety and reliability. In other embodiments of the present invention, by setting the flipping motor 62 and the flipping synchronous reset cylinder 63 to rotate in the same direction, the workpiece 100 to be flipped can continue to rotate in the same direction of rotation after a single 180° flip without the need for flipping reset.

[0116] In this embodiment, there are a total of 10 cylinders, with 5 cylinders installed on each tilting frame. One side of one tilting frame has 3 cylinders installed, and the other side has 2 cylinders installed.

[0117] In this embodiment, the double-sided pick-and-place flip unit 6 cannot guarantee that the workpiece 100 to be flipped rotates around the center line of the workpiece. Although the workpiece 100 to be flipped is symmetrical from left to right, the front-to-back and left-to-right angles change after flipping compared to before flipping, making it impossible to grasp directly. Therefore, secondary positioning and grasping are required. The vision system guides the position servo unit 5 to drive the workpiece pick-and-place lifting unit 4 to move. After the workpiece pick-and-place lifting unit 4 grasps the workpiece 100 to be flipped, the cylinder of the double-sided pick-and-place flip unit 6 separates from the workpiece 100 to be flipped.

[0118] Optionally, the housing flipping device in this invention is not limited to flipping the lower housing of a battery pack, but can also be used for flipping other housing parts.

[0119] The housing flipping device in this embodiment has the following advantages:

[0120] (1) It realizes automated operation, saves manpower and improves work efficiency;

[0121] (2) High quality assurance, eliminating potential risks of poor quality from manual labor;

[0122] (3) Eliminate safety hazards such as bumps and trips of workers;

[0123] (4) This automated operation is highly versatile, has a small layout, and requires low investment.

[0124] Example 2:

[0125] The shell flipping method based on the shell flipping device in Embodiment 1 and its variations includes the following steps:

[0126] The trolley moves the workpiece 100 to be flipped into the space below the main frame 1;

[0127] The trolley lifting and positioning unit 3 lifts and coarsely positions the trolley 2;

[0128] The position adjustment servo unit 5 adjusts the position of the workpiece pick-up and place lifting unit 4, so that the workpiece pick-up and place lifting unit 4 can grab and accurately position the workpiece 100 to be flipped.

[0129] The workpiece pick-up and placement lifting unit 4 lifts the workpiece 100 to be flipped to the double-sided pick-up and flipping unit 6, and the double-sided pick-up and flipping unit 6 catches the workpiece 100 to be flipped.

[0130] The double-sided pick-and-place flipping unit 6 drives the workpiece to be flipped 100 to rotate 180°.

[0131] The double-sided pick-up and flipping unit 6 hands the flipped workpiece 100 to be flipped over to the workpiece pick-up and lifting unit 4. Under the adjustment of the position adjustment servo unit 5, the workpiece pick-up and lifting unit 4 catches the workpiece 100 to be flipped.

[0132] The workpiece loading and unloading lifting unit 4 descends and places the workpiece 100 to be flipped back onto the trolley 2;

[0133] The lifting and positioning unit 3 lowers the trolley 2;

[0134] The trolley transports the rotated workpiece 100 to the assembly table.

[0135] Furthermore, it also includes the visual system;

[0136] Before flipping, the vision system guides the position adjustment servo unit 5 to adjust the position of the workpiece pick-and-place lifting unit 4;

[0137] After flipping, the vision system guides the position adjustment servo unit 5 to adjust the position of the workpiece pick-up and drop lifting unit 4 again.

[0138] In this embodiment, instead of using a high-precision trolley and equipment structure, a vision system positioning method is used, which reduces the high-precision machining requirements for the trolley and tilting mechanism and significantly reduces costs.

[0139] The above description is merely the principle and preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principle of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A housing flipping device, characterized by, It includes a main frame (1), a trolley (2), a trolley lifting and positioning unit (3), a workpiece picking and placing lifting unit (4), a position adjustment servo unit (5), and a double-sided picking and placing flipping unit (6). The trolley lifting and positioning unit (3) is installed at the bottom of the main frame (1). When the trolley (2) transports the workpiece (100) to be flipped into the area below the main frame (1), the trolley lifting and positioning unit (3) performs coarse positioning on the trolley (2). The position adjustment servo unit (5) is installed on the top of the main frame (1). The position adjustment servo unit (5) is connected to the workpiece pick-up and drop lifting unit (4) and is used to adjust the position of the workpiece pick-up and drop lifting unit (4). The workpiece picking and placing lifting unit (4) is used to grab and precisely position the workpiece (100) to be flipped on the trolley and transfer it to the double-sided picking and flipping unit (6). The double-sided pick-and-place flip unit (6) is installed on the main frame (1) and is used to flip the workpiece (100) to be flipped 180°; the trolley lifting and positioning unit (3) includes a base (31), a push-pull cylinder (32), a push-pull connecting rod (33), a lifting block (34), a lifted shaft (35), a lifting frame (36), a lifting guide rail (37), and a V-shaped positioning block (38). The push-pull cylinder (32) is mounted on the base (31). One end of the push-pull connecting rod (33) is connected to the push-pull cylinder (32), and the other end is connected to the lifting block (34). The lifting block (34) is in contact with the lifted shaft (35). The lifted shaft (35) slides along the lifting guide rail (37). The lifted shaft (35) is in contact with the bottom of the lifting frame (36). When the push-pull cylinder (32) drives the push-pull linkage (33), the push-pull linkage (33) drives the lifting block (34) to move toward the lifted shaft (35) and pushes the lifted shaft (35) upward. The lifted shaft (35) pushes the lifting frame (36) to move along the lifting guide rail (37). The lifting frame (36) is used to contact the lifting bearing on the trolley and drive the lifting bearing to fall upward into the V-shaped positioning block (38).

2. The case turnover device according to claim 1, characterized by The workpiece picking and placing lifting unit (4) includes an opening and closing cylinder (41), an opening and closing rail (42), a mounting base (43), a lifting component (44), a gripper (45), and a positioning component (46). The opening and closing track (42) is installed on the mounting base (43). The opening and closing track (42) is connected to the position adjustment servo unit (5). Two sets of lifting components (44) are respectively installed on the two sets of mounting bases (43). Two grippers (45) are respectively installed on the two sets of lifting components (44). The positioning component (46) is installed on one of the grippers (45). The opening and closing cylinder (41) is used to drive the mounting base (43) to slide along the opening and closing track (42). The mounting base (43) is used to drive the lifting components (44) and the grippers (45) to open and close. The two grippers (45) are used to grab the workpiece (100) to be flipped. The positioning component (46) is used to accurately position the workpiece (100) to be flipped.

3. The housing flipping device according to claim 2, characterized in that, The lifting assembly (44) includes a lifting bracket (441), a lifting motor (442), a lifting screw (443), and a lifting slide rail (444). The lifting bracket (441) is connected to the mounting base (43). The lifting slide rail (444) is mounted on the lifting bracket (441) and connected to the gripper (45). One end of the lifting screw (443) is connected to the lifting motor (442), and the other end is connected to the gripper (45).

4. The housing flipping device according to claim 2, characterized in that, The positioning component (46) includes a positioning pin (461) and a positioning cylinder (462). The positioning cylinder (462) is mounted on the gripper (45). The positioning cylinder (462) is used to drive the extension and retraction of the positioning pin (461). After the position adjustment servo unit (5) drives the positioning pin (461) to align with the positioning hole on the workpiece (100) to be flipped, the positioning cylinder (462) drives the positioning pin (461) to be inserted into the positioning hole.

5. The housing flipping device according to claim 1, characterized in that, The position adjustment servo unit (5) includes a fixed base (51), an X-axis adjustment component (52), a Y-axis adjustment component (53), and a C-axis adjustment component (54). The fixed base (51) is fixedly connected to the main frame (1). The X-axis adjustment component (52), the Y-axis adjustment component (53), and the C-axis adjustment component (54) are mounted on the fixed base (51). The C-axis adjustment component (54) is connected to the workpiece pick-and-place lifting unit (4). The X-axis adjustment component (52) is used to adjust the front-to-back direction of the workpiece pick-and-place lifting unit (4). The Y-axis adjustment component (53) is used to adjust the left-to-right direction of the workpiece pick-and-place lifting unit (4). The C-axis adjustment component (54) is used to adjust the angle of the workpiece pick-and-place lifting unit (4) in the XY plane.

6. The housing flipping device according to claim 5, characterized in that, It also includes a vision system for guiding the position adjustment servo unit (5) to adjust its position.

7. The housing flipping device according to claim 1, characterized in that, The double-sided pick-up and flip unit (6) includes a fixed hanger (61), a flip motor (62), a flip synchronous reset cylinder (63), a first flip frame (64), and a second flip frame (65). The first flip frame (64) is provided with a first front clamping cylinder (641) and a first back clamping cylinder (642). The second flip frame (65) is provided with a second front clamping cylinder (651), a second back clamping cylinder (652), and two lateral clamping cylinders (653) symmetrically arranged on both sides. Before flipping, the first front clamping cylinder (641) and the second front clamping cylinder (651) close together, the first reverse clamping cylinder (642) and the second reverse clamping cylinder (652) open, and the lateral clamping cylinder (653) retracts. After the double-sided pick-up and flip unit (6) receives the workpiece to be flipped (100) lifted by the workpiece pick-up and lift unit (4), the first reverse clamping cylinder (642) and the second reverse clamping cylinder (652) close together, and the two side clamping cylinders (653) simultaneously clamp the side of the workpiece to be flipped (100). After the flipping motor (62) drives the first flipping frame (64) and the second flipping frame (65) to flip 180°, the first front clamping cylinder (641) and the second front clamping cylinder (651) open, and the first reverse clamping cylinder (642), the second reverse clamping cylinder (652) and the side clamping cylinder (653) close and clamp the workpiece (100) to be flipped onto the workpiece picking and placing lifting unit (4).

8. A method for flipping a housing based on the housing flipping device according to any one of claims 1-7, characterized in that, Includes the following steps: The trolley (2) drives the workpiece (100) to be flipped into the space below the main frame (1); The trolley lifting and positioning unit (3) lifts and coarsely positions the trolley (2); The position adjustment servo unit (5) adjusts the position of the workpiece pick-up and place lifting unit (4) so ​​that the workpiece pick-up and place lifting unit (4) grabs and precisely positions the workpiece (100) to be flipped. The workpiece pick-up and drop lifting unit (4) lifts the workpiece to be flipped (100) to the double-sided pick-up and drop flipping unit (6), and the double-sided pick-up and drop flipping unit (6) catches the workpiece to be flipped (100). The double-sided pick-and-place flip unit (6) drives the workpiece to be flipped (100) to flip 180°; The double-sided pick-up and flip unit (6) hands the flipped workpiece (100) to be flipped to the workpiece pick-up and lift unit (4), and the workpiece pick-up and lift unit (4) catches the workpiece (100) under the adjustment of the position adjustment servo unit (5). The workpiece pick-and-place lifting unit (4) descends and places the workpiece (100) to be flipped back onto the trolley (2); The trolley lifting and positioning unit (3) lowers the trolley (2); The trolley (2) transports the flipped workpiece (100) to the assembly table.

9. The shell flipping method according to claim 8, characterized in that, It also includes the visual system; Before flipping, the vision system guides the position adjustment servo unit (5) to adjust the position of the workpiece pick-and-place lifting unit (4); After flipping, the vision system guides the position adjustment servo unit (5) to adjust the position of the workpiece pick-up and drop lifting unit (4) again.

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