General-purpose full-automatic turnover device on irradiation processing transmission line and control method thereof

Abstract

The application belongs to the technical field of irradiation equipment, and particularly relates to a general full-automatic turnover device on an irradiation processing transmission line and a control method thereof. The turnover device comprises a mechanical arm, a clamping mechanism and a turnover matching conveying device. The mechanical arm is located at the side of the turnover matching conveying device. The turnover matching conveying device is a roller conveyor. The mechanical arm is provided with the clamping mechanism at the tail end. The clamping mechanism comprises a fixed plate, sliding rails, a lead screw, a driving motor and clamping jaws. The fixed plate is fixedly installed at the tail end of the mechanical arm. Two groups of sliding rails are parallelly installed on the fixed plate. The lead screw is rotatably connected to the fixed plate at both ends and parallel to the sliding rails. The threads of the two ends of the lead screw are oppositely arranged. The driving motor is installed at one end of the lead screw to drive the rotation of the lead screw. The general full-automatic turnover device on the irradiation processing transmission line can realize efficient and stable turnover of goods, reduce labor cost, avoid the inconvenience caused by manual turnover, and is suitable for further popularization and application.

Description

Technical Field

[0001] This invention belongs to the field of irradiation equipment technology, specifically a universal fully automatic flipping device and its control method for irradiation processing transmission lines. Background Technology

[0002] An irradiation accelerator is an electrical device that accelerates charged electrons to high energies using an electromagnetic field. Due to the limited penetrating power of electrons, a single irradiation session is often insufficient to fully process the goods, requiring one or more flipping irradiation processes. In traditional irradiation processing production lines, goods flipping is mostly done manually. In mass production, multiple employees are needed on the production line to flip the goods, or low-end flipping devices are used to complete production under certain conditions, resulting in low efficiency and limited applicability.

[0003] In existing technologies, to adapt to more efficient production and processing while considering the labor intensity of employees, multiple groups of personnel need to be arranged for shift rotation. This increases labor costs and, consequently, the overall production and processing costs due to the increased staffing. At the same time, employees are prone to fatigue due to long working hours, leading to decreased concentration and resulting in over- or under-turning of goods. During large-volume cargo transport, the time spent turning goods is long, increasing employee labor intensity, affecting employee health, and reducing turning efficiency and accuracy, thus impacting overall production irradiation efficiency. Similarly, manual turning processes can easily cause secondary infections of goods or personnel, affecting the quality of cargo irradiation and employee health. Summary of the Invention

[0004] To address the above problems, this invention proposes a universal fully automatic flipping device and its control method for irradiation processing transmission lines.

[0005] This invention is achieved through the following technical solution:

[0006] A universal fully automatic turning device for irradiation processing conveyor lines includes a robotic arm, a clamping mechanism, and a turning and cooperating conveying device. The robotic arm is located on the side of the turning and cooperating conveying device, which is a roller conveyor. The clamping mechanism is installed at the end of the robotic arm.

[0007] The clamping mechanism includes a fixed plate, slide rails, a lead screw, a drive motor, and grippers. The fixed plate is fixedly installed at the end of the robotic arm. Two sets of slide rails are installed parallel to each other on the fixed plate. The two ends of the lead screw are rotatably connected to the fixed plate and are parallel to the slide rails. The threads at both ends of the lead screw are reversed. A drive motor for driving the rotation of the lead screw is installed at one end of the lead screw. The two grippers are slidably connected to the slide rails via sliders. The two grippers are symmetrically arranged and are threaded to both ends of the lead screw respectively.

[0008] As one possible implementation, the gripper further includes a back plate, main ribs, auxiliary ribs and transverse ribs. The back plate is slidably connected to the slide rails on both sides by a slider and is threadedly connected to the lead screw. Multiple sets of main ribs are arranged parallel to each other on the side wall of the back plate, and multiple sets of auxiliary ribs are arranged between adjacent main ribs. A transverse rib is fixedly connected to the end of the main rib and the auxiliary rib. The transverse rib is provided with openings spaced apart to avoid the rollers on the flipping and cooperating conveying device.

[0009] As one possible implementation, the main ribs and auxiliary ribs of the gripper's clamping surface are flush, and the transverse ribs protrude from the gripper's clamping surface.

[0010] In a preferred embodiment, a baffle is fixedly installed on the side wall of each of the two grippers, and the two baffles are located on the side walls opposite to the two grippers, with the baffles protruding from the gripping surface of the grippers.

[0011] In a preferred embodiment, when the upper roller of the flipping and cooperating conveyor contacts the top of the opening of the lower gripper, the main ribs, auxiliary ribs, and baffles on the lower gripper are all lower than the cargo conveying surface of the flipping and cooperating conveyor.

[0012] As one possible implementation, the side wall of the flipping and conveying device is further provided with grooves for avoiding the main ribs and auxiliary ribs.

[0013] In a preferred embodiment, the flipping and conveying device is equipped with a first position sensor, a second position sensor and a third position sensor, respectively. The first position sensor is located on the feeding side of the cargo clamping position, the third position sensor is located on the discharging side of the cargo clamping position, and the second position sensor is located between the first position sensor and the third position sensor.

[0014] As one possible implementation, the gripper is further provided with a vacuum suction cup, which is mounted on the main rib via a mounting bracket. The suction ends of the vacuum suction cups on the two grippers face each other, and the vacuum suction cups are connected to an external negative pressure system.

[0015] The present invention further provides a control method for a universal fully automatic flipping device on an irradiation processing transport line, comprising:

[0016] 1) In the initial state, the robotic arm places the gripping mechanism into the cargo gripping position of the flipping and cooperating conveyor, so that the gripping surface of the lower gripper and the baffle are both lower than the cargo conveying surface of the flipping and cooperating conveyor.

[0017] 2) The flipping and cooperating conveyor transports the goods toward the goods clamping position. When the second position sensor detects that the goods have arrived, the conveying speed of the flipping and cooperating conveyor is reduced after the goods have been transported at the original speed for a first preset time. At the same time, the robotic arm raises the clamping mechanism to a preset height so that the clamping surface of the lower gripper is lower than the goods conveying surface of the flipping and cooperating conveyor and the baffle is higher than the goods conveying surface of the flipping and cooperating conveyor 3.

[0018] 3) After the goods are transmitted for the second preset time until they come into contact with the baffle, the drive motor drives the two grippers to move towards each other to clamp the goods, and at the same time the robotic arm is raised to the preset height.

[0019] 4) The robotic arm drives the gripping mechanism to rotate 180° clockwise or counterclockwise until it is upside down, and then puts it down and drives the two grippers to move in the opposite direction through the drive motor to release the goods, placing the goods on the flipping and cooperating conveyor and making the baffle on the lower gripper lower than the goods conveying surface of the flipping and cooperating conveyor.

[0020] 5) The flipping and conveying device transports the goods toward the discharge side. After the third position sensor detects that the goods have left, the goods flipping process is completed.

[0021] 6) Repeat steps 2) to 5).

[0022] As a possible implementation, further, during the cargo flipping process in step 4), when any one of the first position sensor, the second position sensor, or the third position sensor detects that the object has been triggered, the flipping action immediately stops at the current position and a fault alarm is issued.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The universal fully automatic flipping device for irradiation processing conveyor lines provided by this invention can achieve efficient and stable flipping of goods, reduce labor costs, avoid the inconvenience caused by manual flipping, and is suitable for further promotion and application. Attached Figure Description

[0025] Appendix Figure 1 This is a schematic diagram of the present invention;

[0026] Appendix Figure 2 This is a schematic diagram showing the connection between the robotic arm and the gripping mechanism.

[0027] Appendix Figure 3 This is a schematic diagram of the clamping mechanism.

[0028] Appendix Figure 4 Left view of the clamping mechanism;

[0029] Appendix Figure 5 This is a diagram showing the fit between the clamping mechanism and the flipping and conveying device;

[0030] Appendix Figure 6 This is an axial view of the clamping mechanism and the flipping and conveying device in their working state.

[0031] Appendix Figure 7 This is a schematic diagram of a tray.

[0032] The numbers in the diagram represent:

[0033] Robotic arm-1; clamping mechanism-2; flipping and conveying device-3; tray-4; fixed plate-21; slide rail-22; lead screw-23; drive motor-24; gripper-25; baffle-26; vacuum suction cup-27; mounting bracket-28; negative pressure detection device-29; drag chain-210; fixed chassis-211; back plate-251; main rib-252; auxiliary rib-253; transverse rib-254; opening-2541; first position sensor-31; second position sensor-32; third position sensor-33; groove-34. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] See attached document Figure 1 As shown, this embodiment provides a universal fully automatic flipping device for irradiation processing transmission lines, including a robotic arm 1, a clamping mechanism 2, and a flipping and cooperating conveying device 3. In this embodiment, the robotic arm 1 is a 6-axis robotic arm. The robotic arm 1 is located on the side of the flipping and cooperating conveying device 3, which is a roller conveyor. Furthermore, the flipping and cooperating conveying device 3 is composed of multiple independently motor-controlled flipping and cooperating conveying devices 3, which can independently control the transmission speed of each segment. Guide wheels are respectively provided at both ends of the top of the flipping and cooperating conveying device 3 to facilitate the guidance of goods during the transmission process. The clamping mechanism 2 is installed at the end of the robotic arm 1.

[0036] During operation, the goods conveyed by the flipping and cooperating conveyor 3 are clamped by the clamping mechanism 2. The robotic arm 1 lifts the goods to a certain height and rotates them 180° clockwise or counterclockwise until they are upside down. Then the robotic arm 1 lowers and releases the clamping mechanism 2. Finally, the flipping and cooperating conveyor 3 transports the flipped goods away.

[0037] See attached document Figure 2-4 As shown, the clamping mechanism 2 includes a fixed plate 21, slide rails 22, a lead screw 23, a drive motor 24, and grippers 25. The fixed plate 21 is fixedly installed at the end of the robotic arm 1. Specifically, a fixed base 211 is provided in the middle of the fixed plate 21, and the fixed base 211 is fixedly installed at the end of the robotic arm 1 by bolts. Two sets of slide rails 22 are installed parallel to each other on the fixed plate 21. The two ends of the lead screw 23 are rotatably connected to the fixed plate 21 through bearing seats and are parallel to the slide rails 22. The threads at both ends of the lead screw 23 are reversed. A drive motor 24 for driving its rotation is installed at one end of the lead screw 23. The two grippers 25 are slidably connected to the slide rails 22 through sliders. The two grippers 25 are symmetrically arranged and are threaded to both ends of the lead screw 23 respectively. When the drive motor 24 runs and drives the lead screw 23 to rotate, the two grippers 25 will move towards or away from each other along the slide rails 22 to achieve the clamping and releasing of goods. In this embodiment, a drag chain 210 is provided on the clamping mechanism 2 for the arrangement of pipelines and lines.

[0038] See attached document Figure 2-3 As shown, the gripper 25 includes a back plate 251, main ribs 252, auxiliary ribs 253, and transverse ribs 254. The back plate 251 is slidably connected to the slide rails 22 on both sides via sliders, and the back plate 251 is threadedly connected to the lead screw 23. Multiple sets of main ribs 252 are arranged parallel to each other on the side wall of the back plate 251, and the main ribs serve as the main load-bearing structure for the extended part of the gripper. Multiple sets of auxiliary ribs 253 are arranged between adjacent main ribs 252 to support the small cargo box being gripped, preventing it from falling out of the gaps between the main ribs. The main ribs 252 and auxiliary ribs 253 are spaced apart to avoid the rollers on the flipping and cooperating conveyor 3, and both the main ribs 252 and auxiliary ribs 253 adopt a hollow structure design to reduce the weight of the gripping mechanism itself. A transverse rib 254 is fixedly connected to the end of the main ribs 252 and auxiliary ribs 253. The transverse rib 254 has openings 2541 at intervals to avoid the rollers on the flipping and cooperating conveyor 3, resembling bridge holes.

[0039] See attached document Figure 5-6 As shown, when the lower gripper is placed in the cargo clamping position, the rollers on the flipping and cooperating conveyor 3 are inserted into each opening 2541, and the lower gripper can sink to a certain height, so that the main rib 252 and the auxiliary rib 253 can be completely lowered to the point that they do not obstruct the cargo from passing through the flipping and cooperating conveyor 3.

[0040] Meanwhile, the side wall of the flipping and conveying device 3 is provided with a groove 34 for avoiding the main rib 252 and the auxiliary rib 253 (as shown in the attached figure). Figure 6 As shown), when the gripper is placed in the cargo clamping position, the main rib 252 and the auxiliary rib 253 are inserted into the groove 34 on the side wall of the flipping and cooperating conveyor 3 to avoid interference.

[0041] See attached document Figure 5-6 As shown, a baffle 26 is fixedly installed on the side wall of each of the two grippers 25. The two baffles 26 are located on the opposite side walls of the two grippers 25, and the baffles 26 protrude from the gripping surface of the grippers 25 (as shown in the attached figure). Figure 3 and 5 (As shown). By adjusting the height of the robotic arm 1, the baffle 26 can be made higher than the cargo conveying surface of the flipping and cooperating conveyor 3, and the gripping surface of the gripper 25 can be lower than the cargo conveying surface of the flipping and cooperating conveyor 3. In this way, the baffle 26 can block and limit the conveyed cargo to facilitate the gripping of the cargo, and at the same time, it can also align the cargo in the transmission direction.

[0042] Furthermore, when the upper roller of the flipping and cooperating conveyor 3 contacts the top of the opening 2541 of the lower gripper 25, the main rib 252, auxiliary rib 253 and baffle 26 on the lower gripper 25 are all lower than the cargo conveying surface formed by the top of each roller in the flipping and cooperating conveyor 3; that is, to ensure that when the lower gripper is at its lowest position, the main rib 252 and auxiliary rib 253 will not protrude from the cargo conveying surface of the flipping and cooperating conveyor 3, so as to avoid the main rib 252 and auxiliary rib 253 blocking the movement of the cargo on the flipping and cooperating conveyor 3.

[0043] See attached document Figure 3 As shown, the main ribs 252 and auxiliary ribs 253 of the gripper 25 are flush with each other to facilitate the gripping of goods; and the transverse ribs 254 protrude from the gripping surface of the gripper 25, providing a certain degree of restraint on the goods. As a further improvement, the inner side of the gripper is slightly higher than the gripping plane of the gripper, which is used to push the goods together laterally, position the direction of the goods' movement, correct the posture of the goods, and increase strength.

[0044] See attached document Figure 6 As shown, the flipping and cooperating conveyor 3 is equipped with a first position sensor 31, a second position sensor 32, and a third position sensor 33 (where the position sensor can be a laser sensor). The first position sensor 31 is located on the feeding side of the goods clamping position and is used to detect whether the goods have entered the goods clamping area. The third position sensor 33 is located on the discharging side of the goods clamping position and is used to detect whether the goods have left the goods clamping area. The second position sensor 32 is located between the first position sensor 31 and the third position sensor 33. When the second position sensor 32 detects the goods, it controls the flipping and cooperating conveyor 3 to decelerate.

[0045] As a further improvement, a cargo height detection device is installed on the feed side of the cargo clamping position in the flipping and cooperating conveyor 3 to measure the height of the cargo entering the flipping and cooperating conveyor 3, so as to guide the clamping height of the clamping mechanism. The clamping height can be the actual height measured by the height measuring device, or the height pre-entered into the system.

[0046] See attached document Figure 3 As shown, a vacuum suction cup 27 is also provided on the gripper 25. The vacuum suction cup 27 is mounted on the main rib 252 via a mounting bracket 28. The suction ends of the vacuum suction cups 27 on the two grippers 25 face each other, and the vacuum suction cups 27 are connected to an external negative pressure system. Furthermore, the suction end of the vacuum suction cup 27 protrudes from the gripping surface of the gripper but is not higher than the baffle 26. The negative pressure system can be composed of an air compressor and a vacuum generator, or it can be composed of a negative pressure fan.

[0047] Since some goods are not in a regular box shape, they need to be transported using a pallet 4 (made of stainless steel). The pallet is placed on the flipping and conveying device 3, and then the goods are placed inside the pallet. During operation, the vacuum suction cup 27 can hold the pallet in place.

[0048] As a further improvement, a negative pressure detection device 29 is also installed at the non-clamping position of the gripper 25. The negative pressure detection device 29 is connected to the vacuum suction cup 27 and is used to determine whether the negative pressure inside the vacuum suction cup 27 can reach the level that can adsorb the pallet 4 used to carry goods.

[0049] The workflow of the general-purpose fully automatic flipping device on the irradiation processing conveyor line in this embodiment is as follows:

[0050] Before starting work, attach a tray 4 to the upper gripper 25 and hang the tray upside down on it.

[0051] In the initial state, the clamping surface on the lower gripper 25, the baffle 26, and the suction end of the vacuum suction cup 27 are all lower than the cargo conveying surface of the flipping and cooperating conveying device 3 to avoid interference during pallet conveying.

[0052] The height of the goods is measured by a height measuring device or pre-entered. The first position sensor 31 of the flip-and-conveyor device 3 detects that the pallet 4 carrying the goods begins to enter the goods clamping area of ​​the flip-and-conveyor device 3. As the pallet 4 continues to move forward, the second position sensor 32 of the flip-and-conveyor device 3 detects that the pallet 4 has arrived. The flip-and-conveyor device 3 then reduces its transmission speed to prevent the pallet 4 from colliding violently with the baffle 26. Simultaneously, the robotic arm 1 drives the clamping mechanism 2 to lift it a short distance, causing the grippers 25, which are submerged in the gaps of the roller conveyor of the flip-and-conveyor device 3, to rise until only the baffle 26 is exposed, thus blocking and positioning the pallet 4 in the clamping area. The clamping surface of the grippers 25 and the suction end of the vacuum suction cup 27 are both lower than the conveying surface of the flip-and-conveyor device 3. As the pallet 4 continues to be conveyed, it collides with and aligns with the baffle 26. The drive motor 24 drives the upper and lower grippers 25 to move towards each other. The robot arm 1 clamps the goods between two opposing pallets 4. The vacuum suction cup 27 on the lower gripper 25 adheres to the lower pallet 4. At the same time, the robot arm 1 is raised to a certain height (so that the flipping does not touch the flipping and coordinating conveyor 3), and rotates 180° clockwise or counterclockwise until the top and bottom are reversed, so that the positions of the upper and lower grippers are interchanged. Then the robot arm 1 lowers and releases the grippers. At this time, the vacuum suction cup 27 on the lower gripper is air-intaken and releases the lower pallet, while the upper gripper continues to adhere to the pallet, so that the pallet hangs upside down on it. The pallet 4 is placed on the flipping and coordinating conveyor 3, and the baffle 26 on the lower gripper 25 is lower than the goods conveying surface of the flipping and coordinating conveyor 3. Then the pallet 4 continues to be conveyed forward by the flipping and coordinating conveyor 3. After the third position sensor 33 detects that the pallet 4 has completely left, this is considered a complete process of goods flipping.

[0053] Furthermore, the flipping device in this embodiment is not used with a tray, and its working process is the same as that of the flipping device in embodiment 2.

[0054] Example 2

[0055] The universal fully automatic flipping device on the irradiation processing transmission line in this embodiment is basically the same as that in Embodiment 1. The only difference is that the flipping device in this embodiment does not include the vacuum suction cup 27, the mounting bracket 28, and the negative pressure detection device 29.

[0056] The workflow of the general-purpose fully automatic flipping device on the irradiation processing conveyor line in this embodiment is as follows:

[0057] In the initial state, the clamping surface of the lower gripper 25 and the baffle 26 are both lower than the cargo conveying surface of the flipping and cooperating conveyor 3 to avoid interference during cargo conveying.

[0058] The height of the goods is measured by a height measuring device, or the height is pre-entered. The first position sensor 31 of the flipping and cooperating conveyor 3 detects that the goods are beginning to enter the goods clamping area of ​​the flipping and cooperating conveyor 3. As the goods continue to be conveyed forward, the second position sensor 32 of the flipping and cooperating conveyor 3 detects that the goods have arrived. The flipping and cooperating conveyor 3 then reduces its transmission speed to prevent the goods from violently colliding with the baffle 26. Simultaneously, it controls the robotic arm 1 to lift the clamping mechanism 2 a short distance, causing the grippers 25, which are submerged in the gap between the rollers of the flipping and cooperating conveyor 3, to rise until only the baffle 26 is exposed. This serves to block and position the goods in the clamping area. The clamping surface of the grippers 25 is lower than the conveying surface of the flipping and cooperating conveyor 3. As the goods continue to be transported, they collide with and align with the baffle 26. The upper and lower grippers 25 move towards each other to hold the goods. At the same time, the robotic arm 1 is raised to a certain height and rotated 180° clockwise or counterclockwise to invert the positions of the upper and lower grippers. Then the robotic arm 1 is lowered and the grippers are released, placing the goods on the flipping and cooperating conveyor 3. The baffle 26 on the lower gripper 25 is lower than the goods transport surface of the flipping and cooperating conveyor 3. The goods continue to be transported forward by the flipping and cooperating conveyor 3. After the third position sensor 33 detects that the goods have completely left, this is considered a complete process of goods flipping.

[0059] This embodiment further provides a control method for the above-mentioned universal fully automatic flipping device on the irradiation processing transport line, including:

[0060] 1) In the initial state, the robotic arm 1 places the clamping mechanism 2 into the cargo clamping position of the flipping and cooperating conveying device 3, so that the clamping surface of the lower gripper 25 and the baffle 26 are both lower than the cargo conveying surface of the flipping and cooperating conveying device 3.

[0061] 2) The flipping and cooperating conveyor 3 conveys the goods toward the goods clamping position. When the second position sensor 32 detects that the goods have arrived, the conveying speed of the flipping and cooperating conveyor 3 is reduced to V2 after the first preset time t1 (t1 is 0 to 5s in this embodiment) is transmitted at the original speed V1 to prevent the goods from colliding violently with the baffle 26. At the same time, the robotic arm 1 raises the clamping mechanism 2 to a preset height so that the clamping surface of the lower gripper 25 is lower than the goods conveying surface of the flipping and cooperating conveyor 3, and the baffle 26 is higher than the goods conveying surface of the flipping and cooperating conveyor 3.

[0062] 3) Continue transmitting for a second preset time t2 (t2 is 0 to 5s in this embodiment) until the goods come into contact with the baffle 26. Then, drive motor 24 drives two grippers 25 to move towards each other to clamp the goods. At the same time, robotic arm 1 is raised to a preset height (so that the goods cannot be flipped and the flipping and conveying device 3 is not touched).

[0063] Wherein, V1*t1+V2*t2≥L, and L is the distance from the second position sensor 32 to the baffle 26.

[0064] 4) The robotic arm 1 drives the clamping mechanism 2 to rotate 180° clockwise or counterclockwise until it is upside down, and then puts it down and drives the two grippers 25 to move in the opposite direction through the drive motor 24 to release the goods, placing the goods on the flipping and cooperating conveying device 3 and making the baffle 26 on the lower gripper 25 lower than the goods conveying surface of the flipping and cooperating conveying device 3.

[0065] 5) The flipping and conveying device 3 transports the goods toward the discharge side. After the third position sensor 33 detects that the goods have left, a goods flipping process is completed.

[0066] 6) Repeat steps 2) to 5).

[0067] In step 4), during the cargo flipping process, when any one of the first position sensor 31, the second position sensor 32, or the third position sensor 33 detects that an object has been triggered, the flipping action immediately stops at the current position and a fault alarm is issued to avoid collisions between the cargo and equipment during the flipping process.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A universal fully automatic flipping device for irradiation processing conveyor lines, characterized in that, The system includes a robotic arm (1), a clamping mechanism (2), a flipping and cooperating conveying device (3), and a control system; the flipping and cooperating conveying device (3) is a roller conveyor, and its side wall is provided with a groove (34) for avoiding the main rib (252) and auxiliary rib (253) on the gripper (25); the robotic arm (1) is located on the side of the flipping and cooperating conveying device (3), and the clamping mechanism (2) is installed at its end; The clamping mechanism (2) includes a fixed plate (21), two sets of parallel slide rails (22), a lead screw (23), a drive motor (24), and two opposing grippers (25); wherein the fixed plate (21) is fixedly connected to the end of the robotic arm (1), the two sets of slide rails (22) are installed parallel to the fixed plate (21), the two ends of the lead screw (23) are rotatably connected to the fixed plate (21) and arranged parallel to the slide rails (22), the two ends of the lead screw (23) are provided with threads in opposite directions and one end is connected to the drive motor (24); the two grippers (25) are slidably connected to the two sets of slide rails (22) by sliders respectively, and are threaded to the threaded sections at both ends of the lead screw (23) respectively, so that when the drive motor (24) drives the lead screw (23) to rotate, the two grippers (25) move synchronously towards or away from each other along the slide rails (22); each gripper (25) includes a back plate (251) and multiple sets of parallel main ribs (25) provided on the side wall of the back plate (251). 2) and multiple sets of auxiliary bars (253) located between adjacent main bars (252), and transverse bars (254) connecting the ends of each main bar (252) and auxiliary bar (253); the back plate (251) is slidably connected to the slide rail (22) and threadedly connected to the lead screw (23) through the slider; a transverse bar (254) is fixedly connected to the end of each main bar (252) and auxiliary bar (253), and the transverse bar (254) is clamped relative to the back plate (251). The transverse rib (254) protrudes outward and has multiple openings (2541) spaced along its length to avoid the rollers of the flipping and cooperating conveying device (3); the clamping surface of the gripper (25) is formed by the ends of the main rib (252) and the auxiliary rib (253) and is in the same plane; a baffle (26) is fixedly installed on the opposite side wall of the two grippers (25), and the baffle (26) protrudes relative to the clamping surface of the gripper (25); The control system includes a first position sensor, a second position sensor, and a third position sensor mounted on the flip-and-conveyor device (3), and a controller electrically connected to the robotic arm (1), the drive motor (24), and the transmission unit of the flip-and-conveyor device (3); wherein the first position sensor is located on the feeding side of the cargo clamping station, the third position sensor is located on the discharging side of the cargo clamping station, and the second position sensor is located between the first and third position sensors; the controller is programmed to: when the second position sensor detects that the cargo has arrived at the cargo clamping station, control the flip-and-conveyor device (3) to reduce the conveying speed and control the robotic arm (1) to slightly raise the clamping mechanism (2) so that the clamping surface of the lower gripper (25) is still lower than the material being clamped. The baffle (26) of the flipping and cooperating conveyor (3) is higher than the cargo conveying surface, so that when the cargo continues to move forward and abuts against the baffle (26), the position of the cargo is limited; then the drive motor (24) is controlled to drive the two grippers (25) to close together to clamp the cargo, and the robotic arm (1) is controlled to rotate the gripping mechanism (2) 180° to flip the cargo to the upside down position; then the robotic arm (1) is controlled to lower the gripping mechanism (2) and the drive motor (24) is controlled to rotate in the opposite direction to make the two grippers (25) move back to release the cargo and put the cargo back on the flipping and cooperating conveyor (3). Throughout the flipping process, the gripping surface of the lower grippers (25) and the baffle (26) are always lower than the cargo conveying surface of the flipping and cooperating conveyor (3).

2. The universal fully automatic flipping device for irradiation processing conveyor lines as described in claim 1, characterized in that... The gripper (25) is also provided with a vacuum suction cup (27). The vacuum suction cup (27) is installed on the main rib (252) through the mounting bracket (28). The suction ends of the vacuum suction cups (27) on the two grippers (25) are opposite to each other. The vacuum suction cup (27) is connected to an external negative pressure system.

3. A control method for a universal fully automatic flipping device on an irradiation processing conveyor line as described in claim 2, characterized in that, include: 1) In the initial state, the robotic arm (1) places the clamping mechanism (2) into the cargo clamping position of the flipping and cooperating conveying device (3), so that the clamping surface of the lower jaw (25) and the baffle (26) are both lower than the cargo conveying surface of the flipping and cooperating conveying device (3); 2) The flipping and cooperating conveyor (3) conveys the goods toward the goods clamping position. When the second position sensor (32) detects that the goods have arrived, the conveying speed of the flipping and cooperating conveyor (3) is reduced after the first preset time of transmission at the original speed. At the same time, the robotic arm (1) raises the clamping mechanism (2) to a preset height so that the clamping surface of the lower gripper (25) is lower than the goods conveying surface of the flipping and cooperating conveyor (3) and the baffle (26) is higher than the goods conveying surface of the flipping and cooperating conveyor (3). 3) After the goods continue to be transmitted for the second preset time until they come into contact with the baffle (26), the drive motor (24) drives the two grippers (25) to move towards each other to clamp the goods, while the robotic arm (1) is raised to the preset height. 4) The robotic arm (1) drives the clamping mechanism (2) to rotate 180° clockwise or counterclockwise until it is upside down, and then puts it down and drives the two grippers (25) to move in the opposite direction through the drive motor (24) to release the goods, place the goods on the flipping and cooperating conveyor (3) and make the baffle (26) on the lower gripper (25) lower than the goods conveying surface of the flipping and cooperating conveyor (3); 5) The flipping and conveying device (3) transports the goods toward the discharge side. After the third position sensor (33) detects that the goods have left, a goods flipping process is completed. 6) Repeat steps 2) to 5).

4. The control method for the universal fully automatic flipping device on the irradiation processing conveyor line as described in claim 3, characterized in that, In step 4), during the cargo flipping process, when any one of the first position sensor (31), the second position sensor (32), or the third position sensor (33) detects that the object has been triggered, the flipping action immediately stops at the current position and a fault alarm is issued.

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