Material grabbing and quick-changing mechanism and turnover mechanism

Abstract

The invention discloses a material grabbing and quick-changing mechanism and a turnover mechanism. The material grabbing and quick-changing mechanism comprises a rack, a supporting seat, a material grabbing and quick-changing mechanism body and a turnover module. The material grabbing and quick-changing mechanism comprises a material taking robot, a first grabbing module and a second grabbing module, the driving end of the material taking robot is connected with a quick-changing connecting piece, and the material taking robot is connected to the first grabbing module or the second grabbing module through the quick-changing connecting piece; the overturning module comprises a first overturning assembly and a second overturning assembly, and the first overturning assembly and the second overturning assembly are matched to complete overturning of products. The material taking robot is arranged on one side of the rack, the overturning module and the supporting base are arranged on the rack, and the supporting base set is used for containing the first grabbing module and the second grabbing module. The grabbing and quick-changing mechanism and the overturning module are matched with each other and assist the robot in efficiently completing the process of feeding, overturning and discharging of the power products, manual work is not needed during model changing and line changing, the automation degree is high, and stability and reliability are achieved.

Description

Technical Field

[0001] The present invention relates to the field of automation, and in particular to a material grabbing quick-change mechanism and a turning mechanism. Background Art

[0002] Robotic arms are mostly used for loading and unloading materials, and the clamps of the robotic arms need to match the size of the workpiece, the specifications of the robotic arms, and the speed of the conveyor belt.

[0003] In the field of automatic production lines, new energy power products need to undergo horizontal movement and flip themselves over when they are transferred from upstream workstations to downstream workstations, so that they can be transferred to downstream workstations for further processing. Existing robotic arms all use a single robot fixture, and manual replacement of the chuck and robot fixture is still required when changing models and lines. The degree of automation of such production equipment is not ideal, which wastes production time and also poses potential safety risks during manual operation. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a material grabbing quick-change mechanism and a flipping mechanism. By setting up a grabbing quick-change mechanism and a flipping module, the robot can be assisted to efficiently complete the process of loading-flipping-unloading of power products. No manual labor is required when changing models and lines. The degree of automation is high and it is stable and reliable.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] First, the present invention provides a material grabbing quick-change mechanism, including a material grabbing robot, a first grabbing module and a second grabbing module. The driving end of the material grabbing robot is connected to a quick-change connector, and the material grabbing robot is connected to the first grabbing module or the second grabbing module through the quick-change connector.

[0007] Furthermore, the quick-change connector includes a mounting seat, a quick-change main plate and a detection element, the upper end of the mounting seat is connected to the driving end of the material-retrieving robot, the lower end of the mounting seat is connected to the quick-change main plate, and the detection element is arranged on one side of the mounting seat;

[0008] The first grabbing module and the second grabbing module are both provided with a quick-change sub-disc that cooperates with the quick-change main disk. The quick-change main disk and the quick-change sub-disc are connected in cooperation, so that the first grabbing module or the second grabbing module is connected to the material-retrieving robot.

[0009] Furthermore, the quick-change main disk is provided with a first pair of plug-in terminals, a first plug-in guide element and a first plug-in disk at one end away from the mounting seat, and a first pair of pin digital-analog ports is also provided on the side of the quick-change main disk. The first grabbing module and the second grabbing module are both provided with a quick-change sub-disk that cooperates with the quick-change main disk, and the quick-change sub-disk is provided with a second pair of plug-in ports that cooperates with the first pair of plug-in terminals, a second plug-in guide element that cooperates with the first plug-in guide element, a second pin digital-analog port that cooperates with the first pair of pin digital-analog ports, and a second slot that cooperates with the first plug-in disk.

[0010] Furthermore, the first plug-in guide element is a guide pin, the guide pin is provided with a plug-in chamfer, the second plug-in guide element is a guide sleeve, and a universal ball is provided around the outer side of the first plug-in disc.

[0011] Furthermore, the first gripping module and the second gripping module each include a base plate, an active clamping element, a passive clamping element and a guide shaft, and a clamping position is formed between the active clamping element and the passive clamping element;

[0012] The active clamping element and the driven clamping element each include a driving cylinder and a gripper mounted on the base plate, the gripper including a connecting portion and a gripping portion, the connecting portion being provided with a first hinge and a second hinge, the gripper being connected to the driving cylinder via the first hinge, and the gripper being connected to the base plate via the second hinge;

[0013] The quick-change sub-plate is arranged on a side of the substrate facing away from the clamping position;

[0014] The first gripping module further includes a positioning pin and a positioning column mounted on the base plate, wherein the positioning pin limits the clamping distance of the driven clamping element along the clamping position, and the positioning column positions the gripped product. The second gripping module further includes a limiting column mounted on the base plate to limit the gripped product.

[0015] The positioning pin assembly includes a mounting plate, a pin seat, a pin block and a positioning cylinder. The mounting plate is mounted on the base plate, the pin seat and the positioning cylinder are mounted on the mounting plate, and the pin block passes through the pin seat and is connected to the driving end of the positioning cylinder.

[0016] Furthermore, the first grabbing module, the second grabbing module and the quick-change connector are all provided with position sensors.

[0017] Secondly, the present invention provides a flipping mechanism, including a frame, a support base group, a flipping module, and a material grabbing quick-change mechanism. The material grabbing robot is arranged on one side of the frame, the flipping module and the support base are arranged on the frame, and the support base group is used to place the first grabbing module and the second grabbing module.

[0018] Furthermore, the flip module includes a first flip component and a second flip component, and the first flip component and the second flip component cooperate to complete the flipping of the product;

[0019] The support base group includes two groups of support bases, and the two groups of support bases are respectively used to place the first grabbing module and the second grabbing module. The two groups of support bases each include a vertical cylinder installed on the frame and a quick-change base connected to the output end of the vertical cylinder. The quick-change base is provided with a number of positioning terminals. The first grabbing module and the second grabbing module are both provided with positioning ports corresponding to the positioning terminals. The positioning terminals are inserted into the positioning ports to connect the first grabbing module and the second grabbing module to the quick-change base.

[0020] Furthermore, the first flip assembly and the second flip assembly each include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly;

[0021] The transverse transmission assembly includes a transverse guide rail transversely arranged on the frame, a transverse transmission seat slidably arranged on the transverse guide rail, and a first cylinder installed on the frame and used to drive the transverse transmission seat, wherein the first cylinder drives the transverse transmission seat to move along the transverse guide rail;

[0022] The longitudinal transmission assembly includes a longitudinal guide rail mounted on the transverse transmission seat, the longitudinal transmission seat slidably mounted on the longitudinal guide rail, a rack mounted on one side of the longitudinal transmission seat, and a second cylinder mounted on the transverse transmission seat and used to drive the longitudinal transmission seat, wherein the second cylinder drives the longitudinal transmission seat to move along the longitudinal guide rail;

[0023] The rotary clamping assembly includes a linear bearing installed on the transverse transmission seat, a gear connected to one end of the linear bearing, and a clamping block connected to the other end of the linear bearing. The gear is engaged with the rack, and the longitudinal transmission seat moves along the longitudinal guide rail to drive the gear to rotate.

[0024] Furthermore, the support base and the flip module are both provided with position sensors.

[0025] The beneficial effects of the present invention are:

[0026] The flipping mechanism of the present invention is provided with a grabbing quick-change mechanism and a flipping module, which can assist the robot to efficiently complete the process of loading, flipping and unloading the power supply product. The material-picking robot is connected to the first grabbing module, grabs the power supply product from the upstream workstation and places it on the flipping module. The flipping module flips the power supply product. The material-picking robot replaces the connected first grabbing module with the second grabbing module, and then grabs the flipped power supply product and sends it to the downstream workstation. No manual labor is required when changing models and lines, and the degree of automation is high, stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic structural diagram of a flip mechanism provided by an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a quick-change connector provided by an embodiment of the present invention;

[0029] Figure 3 A schematic structural diagram of a first grabbing module provided by an embodiment of the present invention;

[0030] Figure 4 A schematic structural diagram of a second grabbing module provided by an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the structure of a quick-change master disk provided by an embodiment of the present invention;

[0032] Figure 6 A schematic structural diagram of a quick-change secondary tray provided in an embodiment of the present invention;

[0033] Figure 7 A schematic structural diagram of a positioning pin provided by an embodiment of the present invention;

[0034] Figure 8 A schematic structural diagram of a first / second flip assembly provided by an embodiment of the present invention;

[0035] Figure 9 A schematic structural diagram of a support base provided by an embodiment of the present invention;

[0036] Reference numerals:

[0037] 10- rack;

[0038] 20-support base; 21-vertical cylinder; 22-quick-change base; 23-positioning terminal;

[0039] 30-Material grabbing quick change mechanism;

[0040] 31- Material retrieving robot;

[0041] 32-Quick-change connector; 321-Mounting seat; 322-Quick-change main plate; 323-First pair of plug-in terminals; 324-First plug-in guide element; 325-First plug-in plate; 326-Universal ball bearing; 327-First pair of pin digital-analog ports; 328-Detection element;

[0042] 33 - first gripping module; 331 - base plate; 332 - active clamping element; 333 - passive clamping element; 334 - guide shaft; 335 - positioning pin; 336 - positioning column; 337 - mounting plate; 338 - pin seat; 339 - pin block; 340 - positioning cylinder;

[0043] 34-second grabbing module; 345-limiting column;

[0044] 35 - quick-change sub-disc; 351 - second plug-in port; 352 - second plug-in guide element; 353 - second pin digital-analog port; 354 ​​- second slot;

[0045] 40- flip module; 41- first flip assembly; 42- second flip assembly;

[0046] 431- transverse guide rail; 432- transverse transmission seat; 433- first cylinder;

[0047] 441-longitudinal guide rail; 442-longitudinal transmission seat; 443-second cylinder; 444-rack;

[0048] 451- linear bearing; 452- gear; 453- clamp. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "vertical," "upper," "lower," and "horizontal," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] like Figures 1 to 9 As shown, an embodiment of the present invention provides a flipping mechanism, including a frame 10, a support base assembly, a material grabbing quick-change mechanism 30, and a flipping module 40. The material grabbing quick-change mechanism 30 includes a material picking robot 31, a first grabbing module 33, and a second grabbing module 34. The driving end of the material picking robot 31 is connected to a quick-change connector 32, and the material picking robot 31 is connected to the first grabbing module 33 or the second grabbing module 34 via the quick-change connector 32; the flipping module 40 includes a first flipping assembly 41 and a second flipping assembly 42, and the first flipping assembly 41 and the second flipping assembly 42 cooperate to complete the flipping of the product; the material picking robot 31 is arranged on one side of the frame 10, and the flipping module 40 and the support base 20 are arranged on the frame 10. The support base assembly is used to place the first grabbing module 33 and the second grabbing module 34. Specifically, the material picking robot 31 is a six-axis robot.

[0053] In the present invention, the material picking robot 31 is connected to the first grabbing module 33, grabs the power supply product from the upstream workstation and places it on the flipping module 40. The flipping module 40 flips the power supply product. The material picking robot 31 replaces the connected first grabbing module 33 with the second grabbing module 34, and then grabs the flipped power supply product and sends it to the downstream workstation.

[0054] In this embodiment, Figure 1 and Figure 9 As shown, the support base group includes two groups of support bases 20, and the two groups of support bases 20 are respectively used to place the first grabbing module 33 and the second grabbing module 34. The two groups of support bases 20 both include a vertical cylinder 21 installed on the frame 10 and a quick-change base 22 connected to the output end of the vertical cylinder 21. A number of positioning terminals 23 are provided on the quick-change base 22. The first grabbing module 33 and the second grabbing module 34 are both provided with positioning ports corresponding to the positioning terminals 23. The positioning terminals 23 are inserted into the positioning ports to connect the first grabbing module 33 and the second grabbing module 34 to the quick-change base 22.

[0055] In this embodiment, Figures 1 to 7As shown, the quick-change connector 32 includes a mounting base 321, a quick-change main disk 322, and a detection element 328. One end of the mounting base 321 is connected to the drive end of the retrieving robot 31, and the other end of the mounting base 321 is connected to the quick-change main disk 322. The first grasping module 33 and the second grasping module 34 are both equipped with a quick-change sub-disk 35 that cooperates with the quick-change main disk 322. The quick-change main disk 322 and the quick-change sub-disk 35 cooperate and connect to the first grasping module 33 or the second grasping module 34, allowing them to quickly switch and connect to the retrieving robot 31. The detection element 328 integrates a data processor and a signal generator to detect the power products grasped by the first grasping module 33 and the second grasping module 34.

[0056] In this embodiment, Figure 2 、 Figure 5 and Figure 6 As shown, the quick-change main disk 322, at one end away from the mounting seat 321, is provided with a first pair of plug terminals 323, a first plug guide element 324, and a first plug tray 325. A first pair of digital-analog pin ports 327 are also provided on the side of the quick-change main disk 322. Both the first and second grabber modules 33 and 34 are equipped with a quick-change sub-disk 35 that mates with the quick-change main disk 322. The sub-disk 35 is provided with a second pair of plug ports 351 that mate with the first pair of plug terminals 323, a second plug guide element 352 that mates with the first plug guide element 324, a second pin digital-analog port 353 that mates with the first pair of digital-analog pin ports 327, and a second slot 354 that mates with the first plug tray 325. Specifically, the first plug guide element 324 is a guide pin with a plug-in chamfer, the second plug guide element 352 is a guide shaft 334 sleeve, and a universal ball bearing 326 is provided around the outer periphery of the first plug tray 325.

[0057] In this embodiment, the quick-change main disk 322 and the quick-change auxiliary disk 35 are matched with multiple groups of plug-in structures, which have good connection effect, convenient connection and good stability, and can be separated and matched quickly and stably.

[0058] In this embodiment, Figure 3 and Figure 4 As shown, the first gripping module 33 and the second gripping module 34 both include a base plate 331, an active clamping element 332, a passive clamping element 333 and a guide shaft 334, and a clamping position is formed between the active clamping element 332 and the passive clamping element 333; the active clamping element 332 and the passive clamping element 333 both include a driving cylinder and a gripper installed on the base plate 331, and the gripper includes a connecting portion and a supporting portion, and the connecting portion is provided with a first hinge and a second hinge, and the gripper is connected to the driving cylinder through the first hinge, and the gripper is connected to the base plate 331 through the second hinge; the quick-change sub-disk 35 is arranged on the side of the base plate 331 facing away from the clamping position.

[0059] The first grabbing module 33 also includes a positioning pin 335 and a positioning column 336 installed on the base plate 331. The positioning pin 335 includes a mounting plate 337, a pin seat 338, a pin block 339 and a positioning cylinder 340. The mounting plate 337 is installed on the base plate 331. The pin seat 338 and the positioning cylinder 340 are installed on the mounting plate 337. The pin block 339 passes through the pin seat 338 and is connected to the driving end of the positioning cylinder 340. The positioning pin 335 limits the clamping distance of the driven clamping element 333 along the clamping position. The positioning column 336 positions the grasped product. The second grabbing module 34 also includes a limiting column 345 installed on the base plate 331 to limit the grasped product.

[0060] In the present invention, the quick-change main plate 322 and the quick-change auxiliary plate 35 quickly and stably separate and engage, allowing the retrieving robot 31 to quickly and stably switch between retrieving fixtures and grasp different products. Specifically, the quick-change main plate 322 and the quick-change auxiliary plate 35 quickly and stably separate and engage, enabling the retrieving robot 31 to switch between the first grasping module 33 and the second grasping module 34, respectively, to grasp the power supply product before and after flipping.

[0061] In this embodiment, as 1 and Figure 8 As shown, the flip module 40 includes a first flip assembly 41 and a second flip assembly 42, and the first flip assembly 41 and the second flip assembly 42 both include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly 45.

[0062] The transverse transmission assembly includes a transverse guide rail 431 disposed transversely on the frame 10, a transverse transmission base 432 slidably disposed on the transverse guide rail 431, and a first cylinder 433 mounted on the frame 10 and configured to drive the transverse transmission base 432. The first cylinder 433 drives the transverse transmission base 432 to move along the transverse guide rail 431.

[0063] The longitudinal transmission assembly includes a longitudinal guide rail 441 mounted on the transverse transmission base 432, a longitudinal transmission base 442 slidably mounted on the longitudinal guide rail 441, a rack 444 mounted on one side of the longitudinal transmission base 442, and a second cylinder 443 mounted on the transverse transmission base 432 and used to drive the longitudinal transmission base 442. The second cylinder 443 drives the longitudinal transmission base 442 to move along the longitudinal guide rail 441.

[0064] The rotary clamping assembly 45 includes a linear bearing 451 mounted on the transverse transmission seat 432, a gear 452 connected to one end of the linear bearing 451, and a clamping block 453 connected to the other end of the linear bearing 451. The gear 452 is gear-engaged with the rack 444. The longitudinal transmission seat 442 moves along the longitudinal guide rail 441 and drives the gear 452 to drive the linear bearing to rotate.

[0065] In this embodiment, the support base 20, the flip module 40, the first grabbing module 33, the second grabbing module 34 and the quick-change connector 32 are all provided with position sensors and are communicatively connected to the central control system, thereby realizing the automated operation of the present invention.

[0066] The operating principle of the present invention is:

[0067] The first grabbing module 33 and the second grabbing module 34 are placed on the support base 20. The picking robot 31 moves to the support base 20 where the first grabbing module 33 is placed, and mates the quick-change main plate 322 with the quick-change sub-plate 35 of the first grabbing module 33 on the support base 20. Then, the picking robot 31 drives the first grabbing module 33 to grab the power supply product from the upstream station and place it on the flip module 40.

[0068] The transverse transmission assemblies of the first flip assembly 41 and the second flip assembly 42 synchronously drive the clamping blocks 453 to tighten the two ends of the power supply product. After the power supply product is tightened and fixed, the longitudinal transmission assemblies of the first flip assembly 41 and the second flip assembly 42 are synchronously started, and the longitudinal transmission seat 442 moves along the longitudinal guide rail 441, thereby driving the gear 452 to rotate the linear bearing, thereby flipping the power supply product.

[0069] While the power supply product is flipped, the material picking robot 31 drives the first grabbing module 33 to move to a support seat 20, and separates the quick-change main disk 322 from the quick-change sub-disc 35 of the first grabbing module 33 on the support seat 20. The first grabbing module 33 stays on the support seat 20. Then the material picking robot 31 moves to the support seat 20 where the second grabbing module 34 is placed, and matches the quick-change main disk 322 with the quick-change sub-disc 35 of the second grabbing module 34 on the support seat 20 to complete the switching of the material picking fixture. The material picking robot 31 drives the second grabbing module 34 to move to the flipping module 40, grabs the flipped power supply product from the flipping module 40 and sends it to the downstream workstation.

[0070] The above description merely represents the preferred technical solution of the present invention. While the description is relatively specific and detailed, it should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, and the present invention is intended to encompass such modifications and variations.

Claims

1. A material grabbing quick-change mechanism, characterized in that: It includes a material picking robot, a first grabbing module and a second grabbing module. The driving end of the material picking robot is connected with a quick-change connector, and the material picking robot is connected to the first grabbing module or the second grabbing module through the quick-change connector.

2. The material grabbing quick-change mechanism according to claim 1 is characterized in that: The quick-change connector includes a mounting seat, a quick-change main plate and a detection element, the upper end of the mounting seat is connected to the driving end of the material-retrieving robot, the lower end of the mounting seat is connected to the quick-change main plate, and the detection element is arranged on one side of the mounting seat; The first grabbing module and the second grabbing module are both provided with a quick-change sub-disk that cooperates with the quick-change main disk. The quick-change main disk and the quick-change sub-disk are cooperatively connected, so that the first grabbing module or the second grabbing module is connected to the material picking robot.

3. The material grabbing quick-change mechanism according to claim 2 is characterized in that: The quick-change main disk is provided with a first pair of plug-in terminals, a first plug-in guide element and a first plug-in disk at one end away from the mounting seat. A first pair of pin digital-analog ports is also provided on the side of the quick-change main disk. The first grabbing module and the second grabbing module are both provided with a quick-change sub-disk that cooperates with the quick-change main disk. The quick-change sub-disk is provided with a second pair of plug-in ports that cooperate with the first pair of plug-in terminals, a second plug-in guide element that cooperates with the first plug-in guide element, a second pin digital-analog port that cooperates with the first pair of pin digital-analog ports, and a second slot that cooperates with the first plug-in disk.

4. The material grabbing quick-change mechanism according to claim 3 is characterized in that: The first plug-in guide element is a guide pin, and the guide pin is provided with a plug-in chamfer. The second plug-in guide element is a guide sleeve, and a universal ball is arranged around the outer side of the first plug-in disk.

5. The material grabbing quick-change mechanism according to claim 2 is characterized in that: The first grabbing module and the second grabbing module both include a base plate, an active clamping element, a passive clamping element and a guide shaft, and a clamping position is formed between the active clamping element and the passive clamping element; The active clamping element and the driven clamping element both include a driving cylinder and a gripper mounted on the base plate, the gripper includes a connecting portion and a holding portion, the connecting portion is provided with a first hinge and a second hinge, the gripper is connected to the driving cylinder via the first hinge, and the gripper is connected to the base plate via the second hinge; The quick-change sub-plate is arranged on a side of the substrate facing away from the clamping position; The first grabbing module further includes a positioning pin and a positioning column installed on the base plate, the positioning pin limits the clamping distance of the driven clamping element along the clamping position, and the positioning column positions the grabbed product, and the second grabbing module further includes a limiting column installed on the base plate to limit the grabbed product; The positioning pin member comprises a mounting plate, a pin seat, a pin block and a positioning cylinder. The mounting plate is mounted on the base plate, the pin seat and the positioning cylinder are mounted on the mounting plate, and the pin block passes through the pin seat and is connected to the driving end of the positioning cylinder.

6. The material grabbing quick-change mechanism according to claim 1 is characterized in that: The first grabbing module, the second grabbing module and the quick-change connector are all provided with position sensors.

7. A turning mechanism, characterized in that: It includes a frame, a support seat group, a flip module, and the material grabbing quick-change mechanism according to any one of claims 1 to 6, the material grabbing robot is arranged on one side of the frame, the flip module and the support seat are arranged on the frame, and the support seat group is used to place the first grabbing module and the second grabbing module.

8. The turning mechanism according to claim 7, characterized in that: The flip module includes a first flip component and a second flip component, and the first flip component and the second flip component cooperate to complete the flipping of the product; The support seat group includes two groups of support seats, and the two groups of support seats are respectively used to place the first grabbing module and the second grabbing module, and the two groups of support seats include a vertical cylinder installed on the frame and a quick-change base connected to the output end of the vertical cylinder, and the quick-change base is provided with a plurality of positioning terminals, and the first grabbing module and the second grabbing module are both provided with positioning ports corresponding to the positioning terminals, and the positioning terminals are inserted into the positioning ports to connect the first grabbing module and the second grabbing module to the quick-change base.

9. The turning mechanism according to claim 8, characterized in that: The first flip assembly and the second flip assembly each include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly; The transverse transmission assembly includes a transverse guide rail transversely arranged on the frame, a transverse transmission seat slidably arranged on the transverse guide rail, and a first cylinder installed on the frame and used to drive the transverse transmission seat, wherein the first cylinder drives the transverse transmission seat to move along the transverse guide rail; The longitudinal transmission assembly includes a longitudinal guide rail mounted on the transverse transmission seat, the longitudinal transmission seat slidably mounted on the longitudinal guide rail, a rack mounted on one side of the longitudinal transmission seat, and a second cylinder mounted on the transverse transmission seat and used to drive the longitudinal transmission seat, wherein the second cylinder drives the longitudinal transmission seat to move along the longitudinal guide rail; The rotary clamping assembly includes a linear bearing installed on the transverse transmission seat, a gear connected to one end of the linear bearing, and a clamping block connected to the other end of the linear bearing. The gear is gear-engaged with the rack, and the longitudinal transmission seat moves along the longitudinal guide rail to drive the gear to drive the linear bearing to rotate.

10. The turning mechanism according to claim 7, characterized in that: The support seat and the flip module are both provided with position sensors.

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