Turnover device, equipment and equipment control method

Abstract

The invention discloses a turnover device, turnover equipment and an equipment control method.The turnover device comprises a base, a first support, a second support, a first clamp, a second clamp, at least one sliding driver and at least one rotary driver, and the first support and the second support are arranged on the base face of the base; the first clamp and the second clamp are rotatably arranged on the first support and the second support respectively, the first clamp and / or the second clamp are / is connected with the rotary driver, and the first clamp and the second clamp are jointly used for clamping and rotating a workpiece; the first clamp and / or the second clamp are / is connected with the sliding driver and arranged on the base in a sliding mode so as to adjust the distance between the first clamp and the second clamp. By means of the scheme, workpieces of different sizes can be overturned under the condition that the overturning clamp is not replaced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a flipping device, equipment and equipment control method. Background Art

[0002] Under the current existing technology, when the workpiece needs to be turned over during the automated production process, a turning device is usually used. In the turning device, usually a turning fixture is only compatible with turning and clamping products of one size, which means that when the size or material type of the product that the turning device needs to turn and clamp changes, the turning fixture must be replaced accordingly, thereby reducing production efficiency. Summary of the invention

[0003] The embodiments of the present invention provide a flipping device, equipment and equipment control method, aiming to solve the problem in the prior art that the flipping device must replace the corresponding flipping fixture when flipping and clamping products of different sizes or materials, thereby affecting production efficiency.

[0004] In the first aspect, the present invention provides a flipping device comprising: a base, a first bracket, a second bracket, a first clamp, a second clamp, at least one sliding drive and at least one rotating drive, wherein the first bracket and the second bracket are arranged on the base surface of the base, the first clamp and the second clamp are rotatably arranged on the first bracket and the second bracket respectively, the first clamp and / or the second clamp are connected to the rotating drive, and the first clamp and the second clamp are used together to clamp and rotate the workpiece; wherein the first clamp and / or the second clamp are connected to the sliding drive and are slidably arranged on the base to adjust the distance between the first clamp and the second clamp.

[0005] In a second aspect, the present invention provides a flipping device, comprising the flipping apparatus as described above.

[0006] In a third aspect, the present invention provides a method for controlling a flipping device, which is applied to the flipping device as described above, and comprises: moving the flipping device to the top of a first workstation, and starting the flipping device when a workpiece to be flipped is detected at the first workstation; clamping the workpiece to be flipped by a fixture of the flipping device, and flipping the workpiece to be flipped; transferring the flipped workpiece to a second workstation by the flipping device; and separating the fixture from the workpiece.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] In the technical solution of the present invention, a pair of clamps and brackets that can slide relative to each other under the drive of a sliding drive are arranged on the base surface of the base, and the clamps can rotate relative to the bracket under the drive of a rotating drive. The sliding drive drives the clamps to move and adjust the distance between the clamps to adapt to tools of different sizes, so that the flipping device can flip workpieces of different sizes without replacing the flipping clamps, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0010] Figure 1 It is a schematic diagram of the structure of the turning device according to an embodiment of the present invention;

[0011] Figure 2 This is a front view of the flipping device according to an embodiment of the present invention;

[0012] Figure 3 It is a structural schematic diagram of the turning device of the embodiment of the present invention in the state of clamping a workpiece;

[0013] Figure 4 It is a front view of the turning device of the embodiment of the present invention in the state of clamping a workpiece;

[0014] Figure 5 A top view of the turning device of the embodiment of the present invention in a workpiece clamping state;

[0015] Figure 6 It is a structural schematic diagram of a fixed clamping jaw group of a turning device according to an embodiment of the present invention;

[0016] Figure 7 It is a front view of the fixed clamping jaw assembly of the turning device according to an embodiment of the present invention;

[0017] Figure 8 It is a structural schematic diagram of a movable clamping jaw group of a turning device according to an embodiment of the present invention;

[0018] Fig. 9 It is a front view of the fixed clamping jaw assembly of the turning device according to an embodiment of the present invention;

[0019] Fig.10 This is a step diagram of a method for controlling a flip device according to an embodiment of the present invention;

[0020] Fig.11 A diagram of sub-steps of a method for controlling a flip device according to an embodiment of the present invention;

[0021] Description of figure markings:

[0022] 1. Base; 11. Frame; 12. Guide rod type rodless cylinder; 13. Guide rail; 14. Workpiece detection sensor; 15. Solenoid valve; 16. Pressure regulating valve; 17. Reset sensor; 18. Mounting plate;

[0023] 2. Fixed fixture group; 21. First bracket; 22. Reinforcement plate; 23. Linear ball bushing; 24. First fixture; 241. First rotating shaft; 242. First rotating disk; 243. Snap ring; 245. Spring; 246. Thrust ball bearing; 247. First pad; 25. Clamping in place sensor; 26. Clamping over limit sensor;

[0024] 3. Moving fixture group; 31. Second bracket; 32. Rotating cylinder; 34. Second fixture; 341. Second rotating shaft; 342. Second rotating disk; 347. Second pad; 35. Rotation limiting structure;

[0025] 4. Workpiece. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In order to solve the problem that the corresponding turning fixture must be replaced when turning and clamping products of different sizes or materials in the turning device of the prior art, thereby affecting the production efficiency, the present invention proposes a turning device, equipment and equipment control method. Figures 1 to 9, wherein the flipping device comprises: a base 1, a first bracket 21, a second bracket 31, a first clamp 24, a second clamp 34, at least one sliding drive and at least one rotating drive, the first bracket 21 and the second bracket 31 are arranged on the base surface of the base 1, the first clamp 24 and the second clamp 34 are rotatably arranged on the first bracket 21 and the second bracket 31 respectively, the first clamp 24 and / or the second clamp 34 are connected to the rotating drive, and the first clamp 24 and the second clamp 34 are used together to clamp and rotate the workpiece 4; wherein the first clamp 24 and / or the second clamp 34 are connected to the sliding drive and are slidably arranged on the base 1 to adjust the distance between the first clamp 24 and the second clamp 34. In this embodiment, the base 1 serves as a supporting structure of the entire device and provides a stable foundation for the entire flipping device. In actual use, in order to reduce the curb weight of the flipping device and reduce the manufacturing cost, the base 1 is usually arranged on the frame 11, and the structural stability of the base 1 is maintained by the frame 11 structure. The first bracket 21 and the second bracket 31 are arranged on the base surface of the base 1. The first bracket 21 and the second bracket 31 serve as the supporting structure of the clamp, ensuring that the first clamp 24 and the second clamp 34 are not interfered by the base 1 and other parts thereon when rotating in the case of clamping the workpiece 4. The first clamp 24 and the second clamp 34 are respectively installed on the first bracket 21 and the second bracket 31, and the two can clamp the workpiece 4 together and realize the rotation action through the rotating driver. The sliding driver is used to adjust the distance between the first clamp 24 and the second clamp 34, so as to adapt to workpieces 4 of different sizes. The sliding driver can be connected to any one or all of the first bracket 21 and the second bracket 31 and driven to move. When connected to one of the first bracket 21 or the second bracket 31, the flipping device will be able to be more stable when clamping the workpiece 4, and when the sliding driver is connected to both the first bracket 21 and the second bracket 31, a faster clamping speed can be obtained, thereby improving the work efficiency. The specific setting method will be configured according to the actual needs of the flipping device. The sliding drive can use a linear motor, a stepper motor or a cylinder, etc., and cooperate with the slide rail and the slider to complete the linear sliding motion drive. The rotary drive allows the fixture to rotate, thereby realizing the flipping operation of the workpiece 4. The rotary drive can use a stepper motor, a servo motor, a DC motor, a gear motor and a pneumatic motor, etc. The type of sliding drive and rotary drive needs to be selected according to the quality and size of the fixture and the workpiece 4.

[0029] Compared with the prior art, the embodiment of the present invention provides a pair of clamps and brackets that can slide relatively under the drive of a sliding drive on the base surface of the base 1, and the clamps can rotate relative to the bracket under the drive of a rotating drive. The sliding drive drives the clamps to move and adjust the distance between the clamps to adapt to tools of different sizes, so that the flipping device can flip workpieces 4 of different sizes without replacing the flipping clamps, thereby improving production efficiency.

[0030] In one embodiment, referring to Figure 1 , Figure 2 , Figure 6 and Figure 7 The first clamp 24 includes a first rotating shaft 241 and a first rotating disk 242, and the second clamp 34 includes a second rotating shaft 341 and a second rotating disk 342. The first rotating shaft 241 and the second rotating shaft 341 are respectively arranged in the first bracket 21 and the second bracket 31, and the first rotating disk 242 and the second rotating disk 342 are respectively arranged at the ends of the first rotating shaft 241 and the second rotating shaft 341, and the second rotating shaft 341 is connected to the rotation driver. In this embodiment, the first clamp 24 and the first bracket 21 belong to the fixed clamp group 2, and the second clamp 34 and the second bracket 31 belong to the movable clamp group 3. When the workpiece 4 is clamped and turned over by the fixed clamp group 2 and the movable clamp group 3, in order to enable the turning device to adapt to workpieces 4 of more sizes and shapes, the component directly in contact with the workpiece 4 is set to be disc-shaped. The first fixture 24 includes a first rotating shaft 241 and a first turntable 242. The first rotating shaft 241 is used as a central axis of support and rotation and is provided in the first bracket 21, allowing the first fixture 24 to rotate around this axis. The first turntable 242 is installed at the end of the first rotating shaft 241 to provide a contact surface for clamping the workpiece 4. The contact surface of the turntable can be a plane to adapt to different workpieces 4. In special cases, it can also have a specific shape according to the surface texture and structure of the workpiece 4, for example, according to the concave and convex textures on the surface of the clamped workpiece 4, a mold that can be interlocked is made to make the clamping more stable. The second fixture 34 is similar to the first fixture 24, wherein the second rotating shaft 341 is similar to the first rotating shaft 241 and is provided in the second bracket 31, allowing the second fixture 34 to rotate around this axis. The second turntable 342 is connected to the end of the second rotating shaft 341, and can clamp the workpiece 4 and realize the flipping of the workpiece 4 by rotation. The rotary driver is a rotary cylinder 32, which is connected to the second rotating shaft 341. The rotary cylinder 32 provides power to enable the second clamp 34 to rotate. The power output of the rotary cylinder 32 is connected to the rotating shaft through the shaft, and finally drives the turntable to rotate to flip the clamped workpiece 4.

[0031] In one embodiment, referring to Figure 1 , Figure 2 , Figure 6 and Figure 7The first clamp 24 includes an elastic member, which is arranged between the first bracket 21 and the first rotating disk 242. The first rotating shaft 241 is slidably arranged on the first bracket 21 along the axial direction. The elastic member is arranged between the first bracket 21 and the first rotating disk 242. The purpose of arranging the elastic member is to provide an elastic support. The elastic member can be a spring 245, a rubber pad, an air bag, etc. The existence of the elastic member enables the first rotating disk 242 to adapt to the size changes or irregularities of different workpieces 4 when clamping the workpiece 4. When the workpiece 4 is clamped, the elastic member contracts to provide a certain elastic force, thereby reducing the damage or deformation of the workpiece 4 during the clamping process. The first rotating shaft 241 moves along the axial direction in the bracket, and the rotating shaft can be displaced to a certain extent in its length direction. When the first rotating disk 242 is in the state of clamping the workpiece 4, the elastic member contracts, and the rotating shaft and the first rotating disk 242 are displaced toward the outside of the outer rotating shaft device as a whole, so that the first rotating disk 242 can be adaptively adjusted according to the actual situation of the workpiece 4 during the clamping process, thereby ensuring the stability of the clamping. In this embodiment, the combination of the elastic member and the slidable first rotating shaft 241 enables the clamp to adapt to different workpieces 4 more flexibly, especially when processing irregularly shaped or vulnerable parts.

[0032] In one embodiment, referring to Figure 1 , Figure 2 , Figure 6 and Figure 7The flipping device of the present invention further includes a clamping in place sensor 25 and a clamping overrun sensor 26, which are arranged on the first bracket 21, and the heads of the clamping in place sensor 25 and the clamping overrun sensor 26 are both pointed to the first turntable 242. In order to be able to obtain whether the workpiece 4 clamped by the first turntable 242 and the second turntable 342 is clamped, so that the state of whether the workpiece 4 is clamped can be digitally represented, thereby facilitating the intervention and control of the electric control equipment, the clamping in place sensor 25 is arranged on the first bracket 21. In order to be able to obtain whether the workpiece 4 clamped by the first turntable 242 and the second turntable 342 is over-clamped, so that the state of whether the workpiece 4 is over-clamped can be digitally represented, thereby facilitating the intervention and control of the electric control equipment, the clamping overrun sensor 26 is arranged on the first bracket 21. The heads of the clamping in place sensor 25 and the clamping overrun sensor 26 are both pointed to the first turntable 242, and the so-called head refers to the probe position of the sensor, so that the heads of the two sensors are pointed to the first turntable 242 to monitor the clamping state in real time. In actual use, the first turntable 242 is usually set as a metal part for strength considerations. When the clamping in place sensor 25 and the clamping overrun sensor 26 are magnetic proximity sensors, and the first turntable 242 is made of magnetic metal or a back accessory with magnetic metal material, when a magnetic metal object approaches the clamping in place sensor 25 and the clamping overrun sensor 26, the sensor will be activated and output a signal. In this embodiment, the clamping in place sensor 25 is used to detect whether the first turntable 242 has correctly clamped the workpiece 4 to ensure that the fixture is in a safe clamping state before the flipping operation, and the clamping overrun sensor 26 is used to monitor the clamping force to prevent the fixture from applying excessive pressure to the workpiece 4, thereby avoiding damage to the workpiece 4 or damage to the fixture itself.

[0033] Further, refer to Figure 1 , Figure 2 , Figure 6 and Figure 7The flipping device of the present invention further includes a distance adjustment component, which is used to adjust the distance between the head of the clamping sensor 25 and the clamping overrun sensor 26 and the first bracket 21. Since the clamping force required when clamping workpieces 4 of different masses or surface materials is different, the distance by which the spring 245 is compressed is also different. Therefore, in order to allow the clamping sensor 25 and the clamping overrun sensor 26 to accurately sense the clamping state and overrun situation when changing the clamping workpiece 4, it is necessary to be able to adjust the distance between the head of the clamping sensor 25 and the clamping overrun sensor 26 and the first turntable 242. Since the length of the first rotating shaft 241 is fixed, the distance between the first turntable 242 and the first bracket 21 is always at a maximum value due to the elastic force of the spring 245 when not clamped. Therefore, it is only necessary to adjust the distance between the clamping sensor 25 and the clamping overrun sensor 26 and the first bracket 21. For this purpose, a distance adjustment component is provided, and the distance adjustment component adjusts the distance between the head of the clamping sensor 25 and the clamping overrun sensor 26 and the first bracket 21. In actual use, if the clamping sensor 25 and the clamping overrun sensor 26 are cylindrical in shape, threads are generally set on the outside of the clamping sensor 25 and the clamping overrun sensor 26, and screw holes are opened on the first bracket 21, and two thin nuts are screwed on the two ends of the sensor threaded section. By adjusting the positions of the two thin nuts on the threaded section, the distance between the sensor head and the first bracket 21 is changed, thereby adjusting the clamping sensor 25 and the clamping overrun sensor 26. At this time, the adjustment structure of the above scheme is a distance adjustment component. The distance adjustment component can also be a sliding bracket set on the first bracket 21, which allows the sensor to move along the bracket within a certain range, thereby adjusting the distance. Furthermore, if the mass of the workpiece 4 that needs to be clamped and turned over is not much different, the clamping in place sensor 25 and the clamping overrun sensor 26 can be connected to the end of the first rotating shaft 241 that is not connected to the first rotating disk 242, and a follow-up adaptive spring 245 group can be set, and the clamping in place sensor 25 and the clamping overrun sensor 26 can be fine-tuned within a certain range with the axial sliding of the first rotating shaft 241 in conjunction with the sliding bracket, and the distance of the fine-tuning changes with the floating mass of the workpiece 4, thereby achieving a certain mechanical adaptation. In this embodiment, the distance between the clamping in place sensor 25 and the clamping overrun sensor 26 and the first bracket 21 is adjustable through the distance adjustment component, that is, when the size and mass of different workpieces change, they can be adjusted to adapt to new working conditions, which increases the versatility of the equipment and makes it easy to adjust the position of the sensors during equipment maintenance or calibration to ensure that they are always in the best working state.

[0034] In one embodiment, referring to Figures 1 to 5 , Figure 8 and Fig. 9 The flipping device of the present invention also includes a guide rail 13, which is arranged on the base surface and extends along the length direction of the base 1. The first bracket 21 is fixed to the base surface of the base 1, and the second bracket 31 is slidably arranged on the guide rail 13. The second bracket 31 is connected to the sliding driver. In actual use, it is found that if there is a certain shake of the clamp during clamping, it will cause unstable clamping. A guide rod type rodless cylinder 12 is arranged in the base 1. The guide rod type rodless cylinder 12 has its own guide rail 13, and the guide rail 13 extends along the length direction of the base 1, so that the second bracket 31 is slidably arranged on the guide rail 13, and a fixed first bracket 21 is used, so that when grasping, the second bracket 31 can drive the second clamp 34 to move more stably toward the first clamp 24 for clamping, reducing the shaking of the clamp. The second bracket 31 is connected to the slider of the guide rod type rodless cylinder 12, and the second bracket 31 is driven by pneumatics to move linearly along the linear guide rail 13 of the guide rod type rodless cylinder 12. The combination of the linear guide rail 13 and the slider can provide a smooth sliding experience, reduce the shaking of the clamp when clamping the workpiece 4, and make it more stable to use.

[0035] Further, refer to Figure 1 and Figure 3 The base 1 is also provided with a reset sensor 17, which is arranged on one side close to the second bracket 31 along the length direction of the base 1. Through the reset sensor 17, it can be obtained whether the second bracket 31 drives the second clamp 34 to reset, that is, slides along the guide rail 13 back to the farthest position from the first bracket 21, so as to facilitate the intervention of the electric control equipment.

[0036] In one embodiment, referring to Figure 1 , Figure 3 , Figure 5 , Figure 8 and Fig. 9 The base 1 is also provided with a guide rod type rodless cylinder 12, a pressure regulating valve 16 and a solenoid valve 15, and the pressure regulating valve 16 is connected to the solenoid valve 15 and the guide rod type rodless cylinder 12 gas circuit. The solenoid valve 15 is used as a switch to control the gas input to the guide rod type rodless cylinder 12 gas circuit connection, and controls the linear motion of the second bracket 31, thereby adjusting the working state of the clamp. The pressure regulating valve 16 is used to control the amount of gas connected to the guide rod type rodless cylinder 12 gas circuit, thereby adjusting the pressure of the first clamp 24 and the second clamp 34 to clamp the workpiece 4, so that the gas pressure can be manually adjusted according to the bearing capacity of the product, so that the clamping force of the clamped workpiece 4 can be more accurately adjusted, thereby preventing the workpiece 4 from being crushed.

[0037] In one embodiment, referring to Figure 1 , Figure 2 , Figure 6 and Figure 7A thrust ball bearing 246 is also provided between the first rotating disk 242 and the first rotating shaft 241. The spring 245 is sleeved on the first rotating shaft 241, with one side connected to the circumference of the thrust ball and the other side connected to the first bracket 21. If the thrust ball bearing 246 is not provided, the spring 245 will directly contact the first rotating disk 242. When the first rotating disk 242 performs the action of flipping the workpiece 4, the spring 245 will be deformed under the action of torsion, which will cause fatigue failure of the spring 245 for a long time. For this reason, the thrust ball bearing 246 is provided, so that when the first rotating disk 242 rotates, the spring 245 will not be structurally twisted, thereby ensuring the service life of the spring 245 and reducing the failure rate of the flipping device.

[0038] In one embodiment, referring to Figure 8 and Fig. 9 The second fixture 34 also includes a rotation limiting structure 35, which is connected to the second turntable 342 and rotates with the second turntable 342. The rotation limiting structure 35 is used to limit the rotation range of the second turntable 342. The rotation limiting structure 35 is used to prevent excessive rotation due to inertia when the workpiece 4 is turned over. Figure 8 and Fig. 9 In the schematic diagram shown, two contact sensors are attached to the rotating cylinder 32 to feedback the contact signal. The rotation limit structure 35 will touch one of the contact sensors when the second turntable 342 reaches the limit of its rotation range. The contact sensor will send a signal back to the control system, and the control system will cut off the air supply to the rotating cylinder 32, thereby stopping the rotation and preventing excessive rotation. Furthermore, an elastic buffer is also provided on the surface where the rotation limit structure 35 touches the contact sensor to reduce the impact of the collision, reduce the wear of the parts, and increase the service life.

[0039] In one embodiment, referring to Figures 1 to 4 , Figure 6 and Figure 7 The first bracket 21 is also provided with a reinforcing plate 22, which is connected to the base 1. When the first turntable 242 and the second turntable 342 clamp the workpiece 4, the first bracket 21 will shake when impacted, which may cause unstable clamping even when there is a spring 245 for buffering. In order to further enhance the structural rigidity of the fixed clamp assembly 2, a reinforcing plate 22 is provided on the side of the first bracket 21 facing the second bracket 31, and the reinforcing plate 22 connects the first bracket 21 and the second bracket 31.

[0040] In one embodiment, referring to Figure 6A snap ring 243 is provided on the side of the first rotating shaft 241 away from the first rotating disk 242, and the side of the snap ring 243 close to the first bracket 21 is a plane. The snap ring 243 is used to limit the position of the first rotating shaft 241 and the first rotating disk 242. The side of the snap ring 243 close to the first bracket 21 is a plane. When the first rotating disk 242 is not subjected to force, under the action of the spring 245, the side of the snap ring 243 close to the first bracket 21 contacts the first bracket 21, so that the first rotating disk 242 connected to the first rotating shaft 241 with the snap ring 243 is weakened in the radial direction of the first rotating shaft 241 when the flip device is unloaded. The radial vibration of the first rotating disk 242 on the first rotating shaft 241 will cause the ball in the linear ball bushing 23 to wear. Reducing the radial vibration of the first rotating disk 242 on the first rotating shaft 241 can increase the service life of the linear ball bushing 23 and reduce the failure rate.

[0041] In one embodiment, referring to Figures 6 to 9 A first pad 247 and a second pad 347 are respectively provided on the facing surfaces of the first rotating disk 242 and the second rotating disk 342. The first pad 247 and the second pad 347 are made of elastic material and are used to buffer the impact when the first rotating disk 242 and the second rotating disk 342 clamp the workpiece 4, thereby reducing the surface wear of the workpiece 4. The surfaces of the first pad 247 and the second pad 347 are provided with rough textures to increase the friction after clamping the workpiece 4 and enhance the load capacity of the turning device.

[0042] In one embodiment, referring to Figure 5 A mounting plate 18 is also provided on one side of the base 1 away from the first bracket 21 , and the flipping device can be connected to an external structure, such as a robotic arm, through the mounting plate 18 .

[0043] The present invention also provides a flipping device, including the flipping device in any of the above embodiments. Further, the flipping device in the embodiment of the present invention also includes an action control module and an alarm module, the action control module is electrically connected to the flipping device and the alarm module, and the action control module is used to control the operation of the flipping device. The action control module is connected to the sensor, the sliding drive, and the rotating drive for communication, and is responsible for real-time control of the start, stop and motion trajectory of the flipping device to achieve automatic control. With the assistance of the corresponding designed program, the accuracy and efficiency of the flipping action can also be ensured by setting predetermined operating parameters and conditions. In actual use, the action control module is equipped with a display screen and an operation button, so that the operator can easily set and monitor the operating status of the flipping device. The alarm module continuously monitors the operating status of the equipment, including the working status of the flipping device, the operating status of the sliding drive and other key parameters. When an abnormal situation, such as overload, fault or abnormal position, is detected, an audible and visual alarm is immediately issued to remind the operator to take measures. The electrical connection between the action control module and the flipping device ensures that the flipping device can achieve highly automated operation, reduce manual intervention, and improve production efficiency. Through real-time monitoring and feedback from the alarm module, the safety of the flipping equipment is improved. When an abnormality occurs, the alarm module can quickly provide feedback and, combined with the emergency plan of the motion control module, automatically shut down or adjust the working status to avoid losses or personal injuries caused by failures.

[0044] The present invention also provides a flip device control method, which is applied to the above flip device. Fig.10 and Fig.11 , the flip device control method includes:

[0045] S501, moving the flipping device to above the first station, and starting the flipping device when detecting that there is a workpiece 4 to be flipped at the first station;

[0046] The control system starts the flipping device and moves it to the top of the first station. This station is usually the area where the workpiece 4 to be flipped is placed. During the movement, the movement state of the flipping device is monitored to ensure that it moves safely according to the set trajectory.

[0047] S502, gripping the workpiece 4 to be flipped by a fixture of the flipping device, and flipping the workpiece 4 to be flipped;

[0048] The workpiece detection sensor 14 is used to check whether there is a workpiece 4 to be turned over on the first station. If the workpiece 4 to be turned over is detected, the next step is continued; if not, the turning device is kept at the current position and waits for another detection.

[0049] In one embodiment, referring to Fig.11 The steps of clamping the workpiece 4 to be flipped by the fixture of the flipping device and flipping the workpiece 4 to be flipped include:

[0050] S5021, controlling the sliding driver to slide so that the first clamp 24 and the second clamp 34 clamp the workpiece 4 to be turned over;

[0051] The control system issues a command to start the sliding drive, so that the first clamp 24 and the second clamp 34 approach the workpiece 4 to be turned over. The movement of the clamp is precisely controlled to ensure that the clamp does not damage the workpiece 4 when it contacts it.

[0052] S5022, receiving a signal from the clamping position sensor 25, and judging whether the workpiece 4 is clamped in place according to the signal from the clamping position sensor 25;

[0053] After the clamp contacts the workpiece 4, the clamping position sensor 25 of the clamp starts to work, and monitors in real time whether the clamp has firmly clamped the workpiece 4. During this process, the control system continuously receives signals from the clamping position sensor 25 to determine the clamping state of the clamp.

[0054] S5023a, if the signal of the clamping in place sensor 25 is that the clamping is in place, the rotary driver is controlled to perform the flipping of the workpiece 4;

[0055] When the control system determines that the workpiece 4 is firmly clamped, it then issues a command to control the rotary drive to perform the flipping operation. The control system starts the rotary drive to flip the workpiece 4 at a preset angle. During the flipping process, the system monitors the state of the workpiece 4 through sensors to ensure smooth flipping.

[0056] S5024b, if the signal received from the clamping in place sensor 25 is that the number of times of not clamping in place reaches a preset number, the operation is stopped and an alarm is issued.

[0057] The control system will continuously monitor the number of times the clamp is not in place. If the number of times the clamp is not in place reaches the preset number, the control system will immediately stop the current operation and send out an alarm signal to prompt the operator to check and handle it. At this time, the system may enter the protection mode to prevent potential risks caused by further operation.

[0058] S503, moving the turned workpiece 4 to the second station through the turning device;

[0059] After the turning is completed, the turning device transfers the fixture together with the workpiece 4 to the second station. The turning and the transfer can be performed simultaneously to shorten the total running time of the turning and the transfer action.

[0060] S504 , separating the fixture from the workpiece 4 .

[0061] After reaching the second station, the control system instructs the clamp to gradually relax and finally separate from the workpiece 4. After the clamp is separated from the workpiece 4, the system performs a status detection to confirm that the workpiece 4 has been safely placed in the second station.

[0062] Furthermore, after the flip transfer is completed, the control system will also record the relevant data of the operation, including flipping duration, clamping status, workpiece type, etc., for subsequent analysis and optimization. If an abnormality occurs during the operation, the system will generate a fault report for maintenance personnel to check.

[0063] The flipping device control method provided in the embodiment of the present invention ensures the efficiency and safety of the flipping operation through automated and intelligent steps, so that the flipping device can be adapted to various industrial application scenarios, improves production efficiency, and reduces labor costs.

[0064] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A turning device, characterized in that: include: A base, a first bracket, a second bracket, a first clamp, a second clamp, at least one sliding driver and at least one rotating driver, wherein the first bracket and the second bracket are arranged on a base surface of the base, the first clamp and the second clamp are rotatably arranged on the first bracket and the second bracket respectively, the first clamp and / or the second clamp are connected to the rotating driver, and the first clamp and the second clamp are used together to clamp and rotate a workpiece; Wherein, the first clamp and / or the second clamp is connected to the sliding driver and is slidably disposed on the base to adjust the distance between the first clamp and the second clamp.

2. The turning device according to claim 1, characterized in that: The first clamp includes a first rotating shaft and a first rotating disk, and the second clamp includes a second rotating shaft and a second rotating disk. The first rotating shaft and the second rotating shaft are respectively passed through the first bracket and the second bracket, the first rotating disk and the second rotating disk are respectively arranged at the ends of the first rotating shaft and the second rotating shaft, and the second rotating shaft is connected to the rotation driver.

3. The turning device according to claim 2, characterized in that: The first clamp includes an elastic member, the elastic member is arranged between the first bracket and the first rotating disk, and the first rotating shaft is slidably arranged on the first bracket along the axial direction.

4. The turning device according to claim 3, characterized in that: It also includes a clamping in place sensor and a clamping overrun sensor, which are arranged on the first bracket, and the heads of the clamping in place sensor and the clamping overrun sensor are both directed to the first turntable.

5. The turning device according to claim 4, characterized in that: It also includes a distance adjustment component, which is used to adjust the distance between the head of the clamping in place sensor and the clamping overrun sensor and the first bracket.

6. The turning device according to any one of claims 1 to 5, characterized in that: It also includes a guide rail, which is arranged on the base and extends along the length direction of the base. The first bracket is fixed to the base surface of the base, and the second bracket is slidably arranged on the guide rail. The second bracket is connected to the sliding driver.

7. A turning device, characterized in that: The invention comprises a turning device as claimed in any one of claims 1 to 6.

8. The turning device according to claim 7, characterized in that: It also includes an action control module and an alarm module. The action control module is electrically connected to the flip device and the alarm module. The action control module is used to control the operation of the flip device.

9. A method for controlling a flip device, characterized in that: Applicable to the flipping device according to claim 7 or 8, comprising: The flipping device is moved to above the first station, and the flipping device is started when it is detected that there is a workpiece to be flipped at the first station; Clamp the workpiece to be flipped by a fixture of the flipping device, and flip the workpiece to be flipped; The workpiece that has been turned over is transferred to the second station by a turning device; The fixture is separated from the workpiece.

10. The flip device control method according to claim 9, characterized in that: The step of clamping the workpiece to be flipped by a fixture of the flipping device and flipping the workpiece to be flipped comprises: Controlling the sliding drive to slide so that the first clamp and the second clamp clamp the workpiece to be flipped; receiving a signal from a clamping-in-place sensor, and judging whether the workpiece is clamped in place according to the signal from the clamping-in-place sensor; If the signal from the clamping in place sensor indicates that the workpiece is clamped in place, the rotary drive is controlled to perform flipping of the workpiece; If the signal received from the clamping in place sensor indicates that the number of times the clamping is not in place reaches a preset number, the operation is stopped and an alarm is issued.

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