A flipping transport mechanism for sheet materials and a material loading line

Abstract

The present application discloses a flipping and transporting mechanism for sheet materials, comprising: a material conveying line for conveying materials along a first direction; a material picking mechanism, which is arranged above the material conveying line, the material picking mechanism having a flipping mechanism, one end of which is provided with a material picking nozzle, the material picking nozzle being used to adsorb the first side of the sheet material, and the flipping mechanism being able to flip the sheet material on the conveying line adsorbed by the material picking nozzle; an arcuate slide, which is used to make the sheet material slide down the inner surface of the arcuate slide by its own weight; after the material picking nozzle adsorbs the first side of the sheet material, the flipping mechanism rotates in a direction away from the arcuate slide until the second side opposite to the first side of the sheet material gradually approaches the inner surface of the arcuate slide. The present invention uses the cooperation of the flipping mechanism and the arcuate slide to flip the sheet material, and has a simple structure, a fast flipping speed and a high accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of automatic material loading, and in particular to a flipping and transporting mechanism for sheet materials and a material loading line. Background Art

[0002] In the process of loading thin materials, since the materials are in sheet form, suction cups are usually used for picking up and discharging materials. In the process of picking up and discharging materials using suction cups, if the incoming materials do not distinguish between the front and back sides, the materials need to be adjusted to the front and back directions before loading. When the suction cup sucks one side of the material, in order to turn the sucked side downward, it is often necessary to fix the material through a group of clamping mechanisms or another group of suction cups. In order to improve the loading efficiency, the number of incoming materials is usually large, and there is no space for flipping and evasion on the conveyor line. At this time, it is more difficult to realize the rapid flipping and rapid loading of materials. At the same time, many sheet materials are fragile, and the flipping of clamping and discharging can easily cause material wear or breakage. Therefore, it is urgent to provide a mechanism that can realize the flipping, conveying and rapid loading of sheet materials. Summary of the invention

[0003] The purpose of the present application is to provide a sheet material turning and transporting mechanism and a material loading line, so as to solve the problem of low efficiency in the current sheet material loading process.

[0004] The technical solution of the present invention is: on the one hand, the present application provides a flipping and transporting mechanism for sheet materials, characterized in that it includes:

[0005] A material conveying line, used for conveying materials along a first direction;

[0006] A material taking mechanism is arranged above the material conveying line, the material taking mechanism has a flipping mechanism, one end of the flipping mechanism is equipped with a material taking nozzle, the material taking nozzle is used to suck the first side of the sheet material, and the flipping mechanism can flip the sheet material on the material conveying line sucked by the material taking nozzle;

[0007] An arc-shaped slide is arranged in the next process of the material taking mechanism, wherein one end of the arc-shaped slide close to the flipping mechanism is configured as an outer surface, and one end of the arc-shaped slide away from the flipping mechanism is configured as an inner surface, and the first surface of the sheet material slides from a high place to a low place on the inner surface by the gravity of the sheet material;

[0008] After the material taking nozzle sucks the first side of the sheet material, the flipping mechanism flips the sheet material until the first side is close to the inner surface of the arcuate slideway, and after the material taking nozzle releases the sheet material, the first side slides against the inner surface of the arcuate slideway.

[0009] Preferably, the arc-shaped slideway includes a plurality of arc-shaped slide bars, and the material taking suction nozzle passes between two adjacent arc-shaped slide bars and brings the first surface of the sheet material close to the inner surface of the arc-shaped slideway.

[0010] Preferably, a nozzle discharge station is provided between two adjacent arc-shaped slide bars, and the nozzle discharge station is configured for the material picking nozzle to pass through, and the material picking nozzle sequentially performs a first discharge stroke, a second discharge stroke and a third discharge stroke at the nozzle discharge station. In the first discharge stroke, the flipping mechanism rotates to drive the material picking nozzle to rotate from a direction away from the arc-shaped slide toward a direction close to the arc-shaped slide until the sheet material is flipped to the first surface which is close to but not in contact with the inner surface of the arc-shaped slide.

[0011] Preferably, in the second discharge stroke, the first surface of the sheet material contacts the inner surface of at least one of the arc-shaped sliding rods located on both sides of the suction nozzle discharge station.

[0012] Preferably, in the third material discharge stroke, the rotational force applied by the flipping mechanism causes the first surface of the sheet material to separate from the material taking nozzle.

[0013] Preferably, at least two suction nozzle discharge stations are provided, and the rotation of the flipping mechanism drives the material picking suction nozzle to flip to the suction nozzle discharge station which is closest to the material picking suction nozzle in a straight line distance.

[0014] Preferably, the flipping mechanism comprises a flipping cylinder, and a material picking nozzle is mounted on the movable end of the flipping cylinder via a nozzle mounting block, and the material picking nozzle is a vacuum suction cup or a magnetic suction element.

[0015] Preferably, the flip cylinder is mounted on a Z-axis moving mechanism, the Z-axis moving mechanism is mounted on a Y-axis moving mechanism, and the Y-axis moving mechanism is mounted on an X-axis moving mechanism.

[0016] The present application also provides a material loading line, characterized in that it includes a material conveying line for conveying sheet materials along a first direction, and a tooling conveying line for conveying a carrier along a second direction intersecting the first direction, and a material picking mechanism and an arc-shaped slide are arranged above the material conveying line, the material picking mechanism includes a flipping mechanism, and the flipping mechanism is located between the material picking mechanism and the arc-shaped slide, a material picking nozzle is arranged at one end of the flipping mechanism, and the material picking nozzle sucks the sheet materials, and after the flipping mechanism rotates, the sheet materials rotate to the inner surface of the arc-shaped slide, and a material loading mechanism is arranged at the end of the arc-shaped slide away from the material picking mechanism, and the material loading mechanism sucks the materials and then loads them into a carrier that can move along the second direction.

[0017] Preferably, the arc slide includes a plurality of arc slide bars, and a nozzle discharge station is arranged between two adjacent arc slide bars. The rotation of the flipping mechanism drives the material picking nozzle to rotate from a direction away from the arc slide to a direction close to the arc slide until the material picking nozzle enters the nozzle discharge station, and the material picking nozzle sequentially performs a first discharge stroke, a second discharge stroke and a third discharge stroke at the nozzle discharge station.

[0018] Compared with the prior art, the advantages of this application are:

[0019] (1) The present invention uses a suction nozzle to take materials and cooperates with a flipping mechanism and an arc-shaped slideway to flip the sheet material originally sucked by the vacuum suction nozzle to place it on the conveyor line with the suction surface facing downward. This provides a new solution for the flipping, transportation and screening of fragile and easily damaged sheet materials. Compared with flipping by clamping the material, the loss rate of the material flipping is reduced.

[0020] (2) The end of the arc-shaped slide of the present invention close to the flipping mechanism is the outer surface, and the end away from the flipping mechanism is the inner surface. The flipping mechanism flips in the direction away from the arc-shaped slide, bypassing the outer surface and flipping to the inner surface. Not only can the sheet material be flipped to the inner surface of the arc-shaped slide, but also the problem of collision between the material and the arc-shaped slide caused by flipping in the direction close to the arc-shaped slide is solved.

[0021] (3) The arc slide has multiple arc slide bars with smooth surfaces, which help materials slide down along the surfaces of the arc slide bars by their own gravity. At the same time, there is a suction nozzle discharge station between two adjacent arc slide bars. After the suction nozzle rotates to the suction nozzle discharge station, the material can be more accurately brought close to the inner surface of the arc slide bar, thereby improving the success rate of material flipping.

[0022] (4) After the material picking nozzle sucks the material to the nozzle discharge station, the material picking nozzle has three flipping strokes at the nozzle discharge station. According to different material requirements, the material can be released close to the inner surface of the arc slide, released in contact with the inner surface of the arc slide, and separated from the material through the rotational force in the third stroke. It is suitable for more scenarios. At the same time, the material picking nozzle can select a vacuum nozzle or a magnetic suction element. In the process of separation, the back of the material is more in line with the arc slide, and the success rate of flipping the material is higher.

[0023] (5) The material loading line provided by the present invention has a compact structure and layout. Through the coordination of material picking and material loading, the execution efficiency is higher and the yield rate of material picking and loading is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application is further described below in conjunction with the accompanying drawings and embodiments:

[0025] Figure 1It is a schematic diagram of the overall structure of a flipping and transporting mechanism for sheet materials and a material sorting line;

[0026] Figure 2 It is a structural schematic diagram of a flipping and transporting mechanism for sheet materials;

[0027] Figure 3 It is a structural schematic diagram of a flipping and transporting mechanism for sheet materials;

[0028] Figure 4 It is a schematic diagram of a turning mechanism and an arc-shaped slide structure of a turning and transporting mechanism for sheet materials;

[0029] Figure 5 It is a schematic diagram of the structure of an arc-shaped slideway of a flipping and transporting mechanism for sheet materials;

[0030] Figure 6 The figure is a schematic diagram of the overall structure of a flipping and transporting mechanism for sheet materials and a material sorting line.

[0031] in:

[0032] 1. Turning and transporting mechanism for sheet materials;

[0033] 10. feeding mechanism, 11. material conveying line, 12. material taking mechanism, 13. arc slideway, 14. CCD detection mechanism, 13A. inner surface, 13B outer surface;

[0034] 121, X-axis moving mechanism, 122, Y-axis moving mechanism, 123, Z-axis moving mechanism, 124, flipping mechanism, 125, vacuum nozzle, 131, arc-shaped slide bar, 132, nozzle unloading station;

[0035] 2. Loading mechanism;

[0036] 21 tooling conveyor line, 22, carrier, 23, assembly nozzle; DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] "Embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiment of the present application, it should be understood that the terms "first", "second" and "third" etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" etc. may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second" and "third" etc. are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiment of the present application described here can be implemented in an order other than illustrated or described here. In addition, the terms "including" and "for" and any of their variations are intended to cover non-exclusive inclusions.

[0039] like Figure 1 As shown, this embodiment provides a flipping and transporting mechanism for sheet materials and a material sorting line, including a plurality of flipping and transporting mechanisms 1 for sheet materials and a plurality of loading mechanisms 2 for loading sheet materials, wherein the plurality of flipping and transporting mechanisms 1 for sheet materials are used to transport sheet materials along a first direction to the loading mechanisms 2, and the loading mechanisms 2 are used to transport tools along a second direction intersecting the first direction, and load the sheet materials into the tools.

[0040] like Figure 2 As shown, the present embodiment provides a flipping and transporting mechanism for sheet materials, and each flipping and transporting mechanism 1 for sheet materials includes a feeding mechanism 10 and a material conveying line 11. The feeding mechanism 10 is a vibrating plate feeding, and the material is vibrated and fed to the material conveying line 11 from the vibrating plate. In the present embodiment, the material is a sheet material. After the sheet material is vibrated and fed to the material conveying line 11, it is transported to the next workstation along a first direction by the material conveying line 11. A picking mechanism 12 is arranged above the material conveying line 11, and the picking mechanism 12 includes an X-axis moving mechanism 121, a Y-axis moving mechanism 122, a Z-axis moving mechanism 123 and a flipping mechanism 124. The picking mechanism 12 can move in the X-axis direction, the Y-axis direction, and the Z-axis direction, and after picking up the material, the material can be flipped by the flipping mechanism 124.

[0041] In this embodiment, since the material is thin, fragile and easy to break, it is usually difficult to clamp it with the clamping mechanism, and the material conveying line 11 is a belt line loading. When the sheet material is discharged from the feeding mechanism 10, the front and back sides are staggered and randomly distributed on the material conveying line 11. In the next process, it is necessary to ensure that the front side of the material is facing up. Therefore, in order to achieve the flipping of the material, a flipping mechanism 124 is provided in this embodiment, which can flip the sheet material. Specifically, a flipping mechanism 124 is installed on the Z-axis moving mechanism 123, and a vacuum suction nozzle 125 is installed on the flipping mechanism 124. A CCD detection mechanism 14 is also provided on the flipping and transporting mechanism 1 of the sheet material. The CCD detection mechanism 14 takes a picture of the sheet material on the material conveying line 11 and identifies the front and back sides of the sheet material. When the material is identified as the back side, the material is taken. The mechanism 12 moves and sucks the sheet material through the vacuum suction nozzle 125. After the vacuum suction nozzle 125 sucks the sheet material, it is flipped by the flipping mechanism 124 to flip the material to a certain angle. In this embodiment, the vacuum suction nozzle 125 sucks the sheet material with the back side facing up. If the front side facing away from the vacuum suction nozzle is facing up, the back side sucked by the vacuum suction nozzle 125 needs to be placed on the material conveying line. However, if the suction nozzle is facing downward, the material cannot be accurately placed on the material conveying line 11 after the vacuum is broken. Therefore, in a preferred embodiment of this embodiment, an arc slide 13 is provided on the next station of the flipping mechanism 124. After the vacuum suction nozzle 125 sucks the material, the flipping mechanism 124 rotates to place the sheet material on the arc slide 13, and the sheet material slides down with the help of the material's own gravity, and the sheet material can fall on the material conveying line 11.

[0042] like Figure 3-4As shown, in a preferred embodiment of the present application, when the vacuum suction nozzle 125 sucks the back side of the sheet material, it is then rotated by the flipping mechanism 124. In this embodiment, the flipping mechanism 124 is a rotating cylinder. After the vacuum suction nozzle 125 sucks the sheet material, the flipping mechanism 124 drives the vacuum suction nozzle 125 to rotate in the direction of the vacuum suction nozzle 125 away from the arc slide 13 until the sheet material is located near the inner surface 13A of the arc slide 13. In this embodiment, the arc slide 13 is located on the left side of the vacuum suction nozzle 125, so the flipping direction of the vacuum suction nozzle 125 is counterclockwise rotation. After the vacuum is broken, the sheet material falls on the inner surface 13A of the arc slide 13 and slides down. In one embodiment of the present application, after the flipping mechanism 124 rotates the material 235° counterclockwise, the sheet material is arranged in the inner surface 13A of the curved slide 13. At this time, the back side of the sheet material is closer to the inner surface 13A of the curved slide 13, and the sheet material has a certain inclination angle in the vertical direction, so that the back side is easier to contact the curved slide 13. When the vacuum nozzle 125 breaks the vacuum, the back side of the sheet material contacts the inner surface 13A of the curved slide 13, and uses the gravity of the sheet material itself to slide along the curvature of the curved slide 13, and finally falls onto the material conveying line 11. The trajectory of the sheet material sliding on the inner surface 13A of the arc-shaped slide 13 is that the front and back surfaces gradually approach the same horizontal direction. When sliding to the lower end of the inner surface of the arc-shaped slide 13, the back surface of the sheet material and the material conveying line 11 are close to the same horizontal direction. Therefore, when falling onto the material conveying line 11, the back surface of the sheet material contacts the material conveying line 11, thereby realizing the flipping of the sheet material.

[0043] In a preferred embodiment of the present example, the arc slide 13 includes a plurality of arc slide bars 131 placed in parallel, and a nozzle discharge station 132 is provided between two adjacent arc slide bars 131. When the vacuum nozzle 125 sucks the sheet material and flips it to move to the arc slide 13, the vacuum nozzle 125 is arranged in the nozzle discharge station 132 between two adjacent arc slide bars 131. Thus, the back side of the sheet material is closer to the arc slide bar 131, thereby ensuring that the sheet material can be accurately placed on the inner surface 13A of the arc slide 13, and further ensuring that the back side is close to the arc slide 13 in direction, thereby improving the success rate of flipping the sheet material.

[0044] In a preferred embodiment of the present application, the nozzle discharge station 132 is configured for the vacuum nozzle 125 to pass through, and the vacuum nozzle 125 sequentially performs a first discharge stroke, a second discharge stroke and a third discharge stroke at the nozzle discharge station 132. In the first discharge stroke, the flipping mechanism 124 rotates to drive the vacuum nozzle 125 to rotate from a direction away from the arc slide 13 to a direction close to the arc slide 13, until the sheet material flips over the outer surface 13B of the arc slide 13 and reaches the back side close to but not contacting the inner surface 13A of the arc slide 13. At this time, after the vacuum nozzle 125 breaks the vacuum, the back side of the sheet material falls onto the inner surface 13A of the arc slide 13. For thinner, more brittle and more fragile materials, this embodiment can avoid the rotational force acting on the material and causing damage to the material.

[0045] In another embodiment of the present application, after completing the first discharge stroke, the vacuum suction nozzle 125 can continue to perform the second discharge stroke, and the vacuum suction nozzle 125 is driven by the rotation of the flipping mechanism 124 to continue to rotate, driving the vacuum suction nozzle 125 to perform the second discharge stroke. At this time, the back side of the sheet material contacts the inner surface 13A of at least one of the arc-shaped slide bars 131 located on both sides of the suction nozzle discharge station 132, and then the vacuum suction nozzle 125 breaks the vacuum, and the back side of the sheet material slides from high to low along the inner surface 13A of the arc-shaped slide 13 after having contacted the arc-shaped slide 13, and finally falls onto the material conveying line 11. After the sheet material contacts the arc-shaped slide 13, it slides again. When the sheet material has a certain strength and is not easy to break, the success rate of flipping is higher.

[0046] In another embodiment of the present application, after completing the second discharge stroke, the vacuum suction nozzle 125 can continue to perform the third discharge stroke, and the vacuum suction nozzle 125 is driven by the rotation of the flipping mechanism 124 to continue to rotate, driving the vacuum suction nozzle 125 to perform the third discharge stroke. At this time, the rotational force applied by the flipping mechanism 124 in the third discharge stroke causes the back side of the sheet material to separate from the vacuum suction nozzle 125. In the third discharge stroke, when the strength of the sheet material is sufficient, there is no need to break the vacuum through the vacuum suction nozzle 125. The flipping mechanism 124 only needs to continue to rotate for a third stroke to mechanically separate the sheet material from the arc slide 13, thereby reducing the vacuum breaking rhythm, further improving the flipping efficiency, and the flipping success rate is relatively high. At the same time, for magnetically absorbable sheet materials, the vacuum suction nozzle 125 can be replaced with a magnetic absorption element, such as a magnet, an electromagnet, etc., which has high adaptability.

[0047] like Figure 5As shown, the present application also discloses a material loading line, including a material conveying line 11 for conveying materials along a first direction, and a tool conveying line 21 for conveying carriers along a second direction intersecting the first direction. A material picking mechanism 12 and an arc-shaped slide 13 are arranged above the material conveying line 11. The material picking mechanism 12 includes a flipping mechanism 124, and the flipping mechanism 124 is located between the material picking mechanism 12 and the arc-shaped slide 13. A vacuum suction nozzle 125 is arranged at one end of the flipping mechanism 124, and the vacuum suction nozzle 125 sucks the sheet material. After the flipping mechanism 124 rotates, The sheet material is rotated to the inner surface 13A of the arc slide 13. A loading mechanism 2 is provided at one end of the arc slide 13 away from the material picking mechanism 12. The loading mechanism 2 absorbs the material and then loads it into a carrier 22 that can move along the second direction. The loading mechanism 2 includes a three-axis moving module that can move along the X-axis direction, the Y-axis direction and the Z-axis direction. An assembly suction nozzle 23 is installed on the moving mechanism in the Z-axis direction. The assembly suction nozzle 23 absorbs the sheet material on the material conveying line 11 and moves it to the top of the carrier 22, and descends along the Z-axis direction to load the material into the carrier 22.

[0048] The structure of the flipping and transporting mechanism for sheet materials is the same as that provided in the present application. The arc slide 13 includes a plurality of arc slide bars 131, and a nozzle discharge station 132 is arranged between two adjacent arc slide bars 131. The flipping mechanism 124 rotates to drive the vacuum nozzle 125 to rotate from a direction away from the arc slide 13 to a direction close to the arc slide 13 until the vacuum nozzle 125 enters the nozzle discharge station 132, and the vacuum nozzle 125 sequentially performs a first discharge stroke, a second discharge stroke and a third discharge stroke at the nozzle discharge station 132. After the sheet material is moved by the vacuum suction nozzle 125 through the first discharge stroke, the second discharge stroke and the third discharge stroke, its back side contacts the inner surface of the arc slide 13, and after the sheet material leaves the vacuum suction nozzle 125, it slides from the inner surface of the arc slide 13 to the material conveying line 11 by its own gravity, thereby realizing the flipping of the sheet material. Thereafter, the material conveying line 11 conveys the sheet material to the bottom of the loading mechanism 2, and the loading mechanism 2 absorbs the material and loads it into the carrier 22, completing the loading of the sheet material.

[0049] The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable people familiar with this technology to understand the content of the present application and implement it accordingly, and they cannot be used to limit the scope of protection of the present application. For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present application is limited by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present application.

Claims

1. A sheet material turning and transporting mechanism, characterized in that: include, A material conveying line, used for conveying materials along a first direction; A material taking mechanism is arranged above the material conveying line, the material taking mechanism has a flipping mechanism, one end of the flipping mechanism is equipped with a material taking nozzle, the material taking nozzle is used to suck the first side of the sheet material, and the flipping mechanism can flip the sheet material on the material conveying line after the material taking nozzle sucks it; An arc-shaped slide is arranged in the next process of the material taking mechanism, wherein one end of the arc-shaped slide close to the flipping mechanism is configured as an outer surface, and one end of the arc-shaped slide away from the flipping mechanism is configured as an inner surface, and the first surface of the sheet material slides from a high place to a low place on the inner surface by the gravity of the sheet material; After the material taking nozzle sucks the first side of the sheet material, the flipping mechanism flips the sheet material until the first side is close to the inner surface of the arcuate slideway, and after the material taking nozzle releases the sheet material, the first side slides against the inner surface of the arcuate slideway.

2. A sheet material turning and transporting mechanism according to claim 1, characterized in that: The arc-shaped slideway includes at least two arc-shaped slide bars, and the material taking suction nozzle passes between two adjacent arc-shaped slide bars and then brings the first surface of the sheet material close to the inner surface of the arc-shaped slideway.

3. A sheet material turning and transporting mechanism according to claim 2, characterized in that: A nozzle discharge station is provided between two adjacent arc-shaped slide bars, and the nozzle discharge station is configured for the material picking nozzle to pass through, and the material picking nozzle sequentially performs a first discharge stroke, a second discharge stroke and a third discharge stroke at the nozzle discharge station. In the first discharge stroke, the flipping mechanism rotates to drive the material picking nozzle to rotate from a direction away from the arc-shaped slide to a direction close to the arc-shaped slide until the sheet material is flipped to the first surface close to but not contacting the inner surface of the arc-shaped slide.

4. A sheet material turning and transporting mechanism according to claim 3, characterized in that: In the second material discharge stroke, the first surface of the sheet material contacts the inner surface of at least one of the arc-shaped sliding rods located on both sides of the suction nozzle discharge station.

5. A sheet material turning and transporting mechanism according to claim 4, characterized in that: In the third material discharge stroke, the rotational force applied by the turning mechanism causes the first surface of the sheet material to separate from the material taking suction nozzle.

6. A sheet material turning and transporting mechanism according to claim 5, characterized in that: At least two suction nozzle unloading stations are provided, and the flipping mechanism rotates to drive the material picking suction nozzle to flip to the suction nozzle unloading station which is closest to the material picking suction nozzle in a straight line distance.

7. A sheet material turning and transporting mechanism according to claim 2, characterized in that: The flipping mechanism comprises a flipping cylinder, and a material taking suction nozzle is installed on the movable end of the flipping cylinder through a suction nozzle mounting block, and the material taking suction nozzle is a vacuum suction cup or a magnetic suction element.

8. A sheet material turning and transporting mechanism according to claim 7, characterized in that: The flip cylinder is installed on the Z-axis moving mechanism, the Z-axis moving mechanism is installed on the Y-axis moving mechanism, and the Y-axis moving mechanism is installed on the X-axis moving mechanism.

9. A material loading line, characterized in that: It includes a material conveying line for conveying sheet materials in a first direction, and a tool conveying line for conveying a carrier in a second direction intersecting the first direction. A material picking mechanism and an arc-shaped slide are arranged above the material conveying line. The material picking mechanism includes a flipping mechanism, and the flipping mechanism is located between the material picking mechanism and the arc-shaped slide. A material picking nozzle is arranged at one end of the flipping mechanism, and the material picking nozzle sucks sheet materials. After the flipping mechanism rotates, the sheet materials rotate to the inner surface of the arc-shaped slide. A material loading mechanism is arranged on a side of the arc-shaped slide away from the material picking mechanism, and the material loading mechanism sucks the material and then loads it into a carrier that can move in the second direction. After the material taking suction nozzle sucks the first side of the sheet material, the flipping mechanism flips the sheet material until the first side is close to the inner surface of the arc-shaped slideway, and after the material taking suction nozzle releases the sheet material, the first side slides against the inner surface of the arc-shaped slideway, so that it slides down and completes the flipping.

10. A material loading line according to claim 9, characterized in that: The arc slide includes at least two arc slide bars, and a suction nozzle unloading station is arranged between two adjacent arc slide bars. The rotation of the flipping mechanism drives the material picking suction nozzle to rotate from the direction away from the arc slide to the direction close to the arc slide until the material picking suction nozzle enters the suction nozzle unloading station. The material picking suction nozzle sequentially performs the first unloading stroke, the second unloading stroke and the third unloading stroke at the suction nozzle unloading station.

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