Turnover device, turnover system and control method of turnover system

Abstract

The invention provides a turnover device which comprises a base, a clamping turnover device and a lifting device, the base is provided with a first driving device, the clamping turnover device is slidably arranged on the base in the vertical direction, and the clamping turnover device comprises a first clamping piece, a second clamping piece, a guide rail, a first mounting base, a second mounting base, a second driving device and a third driving device; the second driving device is connected with the first mounting base and the second mounting base, the first clamping piece is rotationally arranged on the first mounting base, the second clamping piece is rotationally arranged on the second mounting base, a clamping space is formed between the first clamping piece and the second clamping piece, and the lifting device comprises a supporting plate and a fourth driving device. When the to-be-overturned object is overturned, the to-be-overturned object is transferred into the tray of the lifting device, the tray and the clamping and overturning device are driven to move the to-be-overturned object into the clamping space, the to-be-overturned device can be clamped and overturned by the first clamping piece and the second clamping piece, and the overturning task is completed. Manual overturning is avoided, and the safety and efficiency of the overturning system are improved.

Description

Technical Field

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

[0002] As the country vigorously promotes new energy technologies, technologies such as new energy vehicles have developed rapidly. As a key component of new energy vehicles, motors have a significant impact on the overall performance of vehicles. However, because both ends of heavy products such as motors need to be assembled, the production assembly line must flip their posture before operation, so the electric-driven flipping station is indispensable in the production line. The use of manual flipping may greatly reduce production efficiency, and manual operation also has an error rate. Summary of the invention

[0003] The present application proposes a flipping device, a flipping system and a control method thereof to at least partially improve the above technical problems.

[0004] In the first aspect, the present application provides a flipping device, including a base, a clamping flipping device and a lifting device, the base is provided with a first driving device, the clamping flipping device is vertically slidably arranged on the base, the first driving device is used to drive the clamping flipping device to move vertically, the clamping flipping device includes a first clamping member, a second clamping member, a guide rail, a first mounting seat, a second mounting seat, a second driving device and a third driving device, the first mounting seat and the second mounting seat are laterally slidably arranged on the guide rail, the first mounting seat and the second mounting seat are relatively arranged, the second driving device connects the first mounting seat and the second mounting seat and is used to drive the first mounting seat and the second mounting seat to move toward or away from each other, the first clamping member is rotatably arranged on the first mounting seat, the third driving device is used to drive the first clamping member to rotate horizontally, the second clamping member is rotatably arranged on the second mounting seat, a clamping space is formed between the first clamping member and the second clamping member, the lifting device includes a support plate and a fourth driving device, the fourth driving device is fixed to the base, and is used to drive the support plate to move vertically, the support plate is located below the clamping flipping device and corresponds to the flipping device.

[0005] In one embodiment, the base is provided with a counterweight block, the counterweight block and the clamping and flipping device are located on two opposite sides of the base, and the counterweight block is connected to the clamping and flipping device.

[0006] In one embodiment, the third drive device includes a motor, a coupling and a reducer, which are connected in sequence. The first mounting seat is provided with a mounting hole. The third drive device and the first clamping member are located on opposite sides of the first mounting seat. The coupling is passed through the mounting hole and connected to the first clamping member.

[0007] In one embodiment, the base includes a fixing hole, the opening direction of the fixing hole intersects with the sliding direction of the clamping and flipping device, the clamping and flipping device also includes a fixing device, the fixing device includes a fifth driving device and a latch, the latch is arranged corresponding to the fixing hole, the fifth driving device is fixed to the guide rail, and is used to drive the latch to move so as to selectively insert or pull out the fixing hole.

[0008] In one embodiment, the fifth driving device is configured to drive the pin to be inserted into the fixing hole when the clamping and flipping device is located at a predetermined position of the base, and to drive the pin to be pulled out of the fixing hole when the clamping and flipping device slides.

[0009] In one embodiment, the lifting device further includes a sixth driving device, which is disposed on the second driving device and moves vertically under the drive of the second driving device. The sixth driving device is transmission-connected to the pallet and is used to drive the pallet to rotate vertically.

[0010] In one embodiment, the lifting device further comprises a guide column, which is arranged vertically, one end of which is connected to the lifting device, and the other end of which passes through the base, and the guide column can slide relative to the base.

[0011] In a second aspect, the present application provides a flipping system, comprising a flipping device and a conveying device as described in the first aspect above, the conveying device comprising at least two conveyor belts and a pallet, the at least two conveyor belts being arranged at intervals, the pallet being arranged on the at least two conveyor belts and being used to carry items to be transported, the lifting device being arranged between the two conveyor belts, and the pallet being used to lift the pallet.

[0012] In one embodiment, the tray is provided with a positioning hole, and the support plate is provided with a positioning pin that cooperates with the tray.

[0013] In one embodiment, the conveying device also includes a stopper, which includes a first stopper and a second stopper, the first stopper is arranged between the two conveyor belts and is used to block the pallet, the second stopper is telescopically arranged between the two conveyor belts and is spaced apart from the first stopper, and the interval between the first stopper and the second stopper is greater than or equal to the width of the pallet.

[0014] In one embodiment, the second stopper is configured to extend when the tray contacts the first stopper and to block the tray when extended.

[0015] In a third aspect, the present application provides a control method for a flipping system according to the second aspect, comprising:

[0016] When the object to be turned over is placed on the pallet, the pallet is driven to move so that the object to be turned over moves to the clamping space;

[0017] Control the first clamping member and the second clamping member to clamp the article;

[0018] The clamping and flipping device is controlled to flip the object to a first angle.

[0019] In one embodiment, driving the pallet to move so that the object to be turned over moves to the clamping space includes:

[0020] driving the support plate to move to a first position, and driving the support plate to rotate to a second angle;

[0021] The clamping and flipping device is driven to descend so that the object to be flipped is located in the clamping space.

[0022] In one embodiment, controlling the clamping and flipping device to flip the object to a first angle includes:

[0023] Drive the clamping and flipping device to rise, so that the object to be flipped is separated from the pallet;

[0024] The clamping and flipping device drives the object to flip to a first angle.

[0025] The flipping device and flipping system provided by the present application are such that the object to be flipped is transferred to the tray of the lifting device, the tray and the clamping flipping device are driven to move the object to be flipped to the clamping space, and the first clamping member and the second clamping member can clamp and flip the object to be flipped to complete the flipping task, thereby avoiding manual flipping and improving the safety and efficiency of the flipping system.

[0026] The control method of the flipping system provided in the present application controls the lifting device to lift the items in the tray into the clamping space, and then controls the clamping and flipping device to clamp the items and flip them to a first angle, so that the items can meet subsequent assembly requirements, thereby greatly improving the efficiency of the assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of the structure of a flipping system proposed in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the structure of a base proposed in an embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of a clamping and flipping device proposed in an embodiment of the present application;

[0031] Figure 4A structural schematic diagram of a lifting device proposed in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of the structure of a conveying device proposed in an embodiment of the present application;

[0033] Figure 6 A schematic diagram of a flow chart of a control method for a flipping system proposed in an embodiment of the present application;

[0034] Figure 7 A schematic flow chart of another method for controlling a flipping system proposed in an embodiment of the present application.

[0035] Reference numerals: flip system 100, flip device 10, base 11, first drive device 111, counterweight 112, fixing hole 114, guide column 115, slide rail 116, clamping flip device 12, first clamping member 121, first clamping claw 1211, second clamping member 122, second clamping claw 1221, guide rail 123, first mounting seat 124, second mounting seat 125, second drive device 126, third drive device 127, motor 1271 , coupling 1272, reducer 1273, connecting part 128, connecting plate 1281, reinforcing rib 1282, guide assembly 129, lifting device 13, pallet 131, fourth drive device 132, sixth drive device 133, first guide column 134, conveying device 20, conveyor belt 21, pallet 22, stopper 23, first stop member 231, second stop member 232, fixing device 31, fifth drive device 311, and object 50 to be flipped. DETAILED DESCRIPTION

[0036] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0037] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0038] First embodiment

[0039] The present application provides a flipping system 100, see Figure 1The flipping system 100 includes a flipping device 10 and a conveying device 20. The flipping device 10 is arranged on the conveying line of the conveying device 20. The object 50 to be flipped can be conveyed to the corresponding position of the flipping device 10 by the conveying device 20. When the object 50 to be flipped corresponds to the flipping device 10, the flipping device 10 can flip the object 50 to be flipped to complete the subsequent assembly process.

[0040] See also Figure 1 as well as Figure 2 The turning device 10 may include a base 11, a clamping and turning device 12, and a lifting device 13. The clamping and turning device 12 is vertically slidably disposed on the base 11, and the lifting device 13 is disposed on a side of the base 11 close to the clamping and turning device 12, and the clamping and turning device 12 and the lifting device 13 are vertically correspondingly disposed. The lifting device 13 and the clamping and turning device 12 can move toward or away from each other, thereby driving the object 50 to be turned over to move onto the clamping and turning device 12, and turning over by the clamping and turning device 12.

[0041] In a more specific embodiment, the base 11 is provided with a first driving device 111, which can be a cylinder, a hydraulic cylinder, a hydraulic motor, etc. The first driving device 111 is fixed to one end of the base 11 close to the clamping and flipping device 12. The first driving device 111 includes an execution end, which can move vertically relative to the base 11, and the execution end is connected to the clamping and flipping device 12, so that the first driving device 111 can be used to drive the clamping and flipping device 12 to move vertically, and the clamping and flipping device 12 can move relative to the base 11. Exemplarily, the first driving device 111 can be a cylinder, and the execution end can be a piston rod. Gas enters the first driving device 111, and the piston is driven by the gas to make the piston rod move vertically. One end of the clamping and flipping device 12 is connected to the piston rod, and the clamping and flipping device 12 also moves vertically under the drive of the piston rod.

[0042] In addition, the terms "first", "second", etc. are only used to distinguish descriptions and cannot be understood as specific or special structures. The descriptions of the terms "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application.

[0043] Preferably, the base 11 may be provided with a vertically arranged slide rail 116, etc., on which the clamping and flipping device 12 is arranged, so that the clamping and flipping device 12 can move along the slide rail 116. The direction of the clamping and flipping device 12 is determined to ensure that the clamping and flipping device 12 works stably.

[0044] In one embodiment, the clamping and flipping device 12 will generate a torque on one side of the base 11 in both unloaded and loaded conditions, so that the base 11 may overturn. To ensure the stability of the base 11, the base 11 may be provided with a counterweight 112, and the counterweight 112 and the clamping and flipping device 12 are located on opposite sides of the base 11. The clamping and flipping device 12 will force the base 11 to overturn toward one side, and the counterweight 112 can offset at least part of the torque, reduce the influence of the clamping and flipping device 12 on the base 11, and maintain the balance of the base 11.

[0045] The counterweight 112 can also be connected to the clamping and flipping device 12, and the counterweight 112 can also move vertically. When the clamping and flipping device 12 moves vertically, the counterweight 112 can balance the gravity of the clamping and flipping device 12 to reduce the load and energy consumption of the first driving device 111, while improving the efficiency and safety of the first driving device 111. The counterweight 112 can also be provided with a guide column 115, so that the counterweight 112 can move along the direction of the guide column 115. The two ends of the guide column 115 can also be provided with a limiting portion 113, and the limiting portion 113 can limit the range of movement of the counterweight 112, thereby limiting the range of movement of the clamping and flipping device 12, and improving the safety of the flipping device 10.

[0046] In this example, see Figure 1 as well as Figure 3The clamping and flipping device 12 includes a first clamping member 121, a second clamping member 122, a guide rail 123, a first mounting seat 124, a second mounting seat 125, a second driving device 126, and a third driving device 127. In one embodiment, the first clamping member 121 and the second clamping member 122 can be symmetrically arranged, and the first mounting seat 124 and the second mounting seat 125 can also be symmetrically arranged, and the symmetrical plane can be the plane where the midpoint of the guide rail 123 is located. The first mounting seat 124 and the second mounting seat 125 are slidably arranged on the guide rail 123 along the transverse direction, wherein the transverse direction can be any direction parallel to the plane where the base 11 is located. The first mounting seat 124 and the second mounting seat 125 can be respectively arranged at opposite ends of the guide rail 123, and the first mounting seat 124 and the second mounting seat 125 can be slidably arranged along the guide rail 123. The first mounting seat 124 and the second mounting seat 125 are arranged opposite to each other, and the first mounting seat 124 and the second mounting seat 125 are parallel in the transverse direction. The driving direction of the second driving device 126 can be consistent with the length direction of the guide rail 123. The second driving device 126 is connected to the first mounting seat 124 and the second mounting seat 125 and is used to drive the first mounting seat 124 and the second mounting seat 125 to move toward or away from each other. The first clamping member 121 is arranged on the first mounting seat 124, and the second clamping member 122 is arranged on the second mounting seat 125. The first mounting seat 124 and the second mounting seat 125 are driven to move toward or away from each other, thereby driving the first clamping member 121 and the second clamping member 122 to move toward or away from each other. The first clamping member 121 includes a first clamping jaw 1211, and the second clamping member 122 includes a second clamping jaw 1221. The first clamping jaw 1211 and the second clamping jaw 1221 are arranged to face each other, so that a clamping space is formed between the first clamping member 121 and the second clamping member 122. Wherein, driven by the second driving device 126, the first clamping member 121 and the second clamping member 122 move toward each other, the object to be turned 50 enters the clamping space, and the object to be turned 50 can be clamped by both the first clamping member 121 and the second clamping member 122, and then the clamping turning device 12 completes the clamping task. Or the first clamping member 121 and the second clamping member 122 move away from each other, and the object to be turned 50 is put down by both the first clamping member 121 and the second clamping member 122.

[0047] In one embodiment, see Figure 2 as well as Figure 3The clamping and flipping device 12 also includes a connecting portion 128, which connects the guide rail 123 and the slide rail 116 of the base 11, so that the clamping and flipping device 12 can be slidably arranged along the slide rail 116 of the base 11. And to ensure the connection stability between the guide rail 123 and the base 11. Specifically, the connecting portion 128 includes a connecting piece 1281 and a plurality of reinforcing ribs 1282, one end of the connecting piece 1281 is connected to the slide rail 116 of the base 11, and the plurality of reinforcing ribs 1282 are arranged at intervals on the surface of the connecting piece 1281 away from the base 11, and the two ends of the plurality of reinforcing ribs 1282 are respectively connected to the connecting piece 1281 and the guide rail 123. So that the guide rail 123 of the clamping and flipping device 12 can be slidably connected with the slide rail 116 of the base 11, so that the first clamping member 121 and the second clamping member 122 can move in different directions.

[0048] Exemplarily, the second driving device 126 can be a bidirectional cylinder, and the second driving device 126 includes two piston rods, and the two piston rods can move toward the opposite sides of the second driving device 126. The two piston rods can be connected to the first mounting seat 124 and the second mounting seat 125 respectively, and the two piston rods can move toward or away from each other, so as to drive the first mounting seat 124 and the second mounting seat 125 to move toward or away from each other. In addition, the diameters of the two piston rods can be the same, and the second driving device 126 has the same driving force on the two piston rods, so that the first mounting seat 124 and the second mounting seat 125 can always be symmetrical on the plane where the midpoint of the guide rail 123 is located, so that the object to be flipped 50 clamped by the clamping flipping device 12 can always be located at a specified position to avoid displacement difference.

[0049] In one embodiment, the first clamping member 121 is rotatably disposed on the first mounting seat 124, and the first clamping member 121 can be connected to the first mounting seat 124 through a bearing. The first clamping member 121 can be connected to the first mounting seat 124 through a bearing, and the second clamping member 122 is rotatably disposed on the second mounting seat 125, and the rotation axes of the first clamping member 121 and the second clamping member 122 can be colinear. The third driving device 127 is disposed on the first mounting seat 124, and the driving shaft of the third driving device 127 is connected to and can rotate relative to the first mounting seat 124, and the driving shaft of the third driving device 127 can be aligned with the rotation axis of the first clamping member 121. When the first clamping member 121 and the second clamping member 122 both clamp the object 50 to be turned over, the third driving device 127 is used to drive the first clamping member 121 to rotate horizontally, and the first clamping member 121 is driven to drive the object 50 to be turned over and the second clamping member 122 to rotate, so as to complete the turning of the object 50 to be turned over.

[0050] Preferably, due to the size limitation of the object 50 to be flipped, the first clamping member 121 and the second clamping member 122 may be too far from the guide rail 123 of the clamping and flipping device 12, and the first clamping member 121 and the second clamping member 122 may have poor activity stability, so that the activity directions of the two are different, and thus the clamping effect of the first clamping member 121 and the second clamping member 122 is poor. A guide assembly 129 may be provided between the first clamping member 121 and the second clamping member 122, and the two ends of the guide assembly 129 may be connected to the first clamping member 121 and the second clamping member 122 respectively, and the two ends of the guide assembly 129 may be relatively contracted, and the guide assembly 129 may guide the first clamping member 121 and the second clamping member 122 to clamp along the same axis to ensure the clamping effect of the clamping and flipping device 12.

[0051] In a more specific embodiment, see Figure 3 The third driving device 127 includes a motor 1271, a coupling 1272 and a reducer 1273. The motor 1271, the reducer 1273 and the coupling 1272 are connected in sequence. The motor 1271 is powered on to rotate, and the motor 1271 drives the active end of the reducer 1273 to start rotating. The driven end of the reducer 1273 is driven to drive the coupling 1272. The speed ratio of the active end and the driven end of the reducer 1273 is greater than 1, so that the speed of the coupling 1272 is lower, so that the clamping and flipping device can rotate more smoothly. The first mounting seat 124 is provided with a mounting hole, which can pass through the mounting seat 124. The third driving device 127 and the first clamping member 121 are located on opposite sides of the first mounting seat 124. The end of the coupling 1272 away from the reducer 1273 is passed through the mounting hole and connected to the first clamping member 121. The coupling 1272 is driven to drive the first clamping member 121 to rotate, thereby driving the object 50 to be flipped to be flipped, and the flipping process can be completed by clamping the flipping device.

[0052] The motor 1271 in this embodiment can be a brushless DC motor. A brushless DC motor is a DC motor that uses electronic commutation and has the following advantages over a traditional AC motor:

[0053] First, the energy efficiency ratio of brushless DC motors is higher: since there is no need for current reverse regulation through traditional commutators, brushless DC motors can stop and start the motor in a shorter time, and the energy consumption is lower, so the energy efficiency ratio is higher. Secondly, brushless DC motors have a longer life: because there is no friction material (such as carbon brushes) in the motor, the friction loss of the motor during operation is smaller and the life is longer. Furthermore, brushless DC motors have less noise: since the friction generated inside the motor is smaller, the noise of the motor is lower. Finally, brushless DC motors have a wide speed regulation range: the speed regulation range of brushless DC motors is relatively wide, which can adapt to different load and working conditions.

[0054] The reducer 127 in this embodiment can be a gear reducer, a planetary reducer, a harmonic reducer, etc.

[0055] In one embodiment, the reducer 127 may be a gear reducer, which transmits force and torque through gears to achieve a change in transmission ratio. The reducer 127 may be composed of one or more pairs of gears, and the gear set may be a spur gear, a helical gear, a worm gear, or the like. The gear reducer has the characteristics of simple structure, high efficiency, and strong load-bearing capacity.

[0056] In one embodiment, the reducer 127 may be a planetary reducer, which is a reduction device using planetary gear transmission. The reducer 127 may be composed of a sun gear, a plurality of planetary gears and an internal gear, and the planetary gears are meshed with each other between the sun gear and the internal gear to achieve reduction transmission.

[0057] In one embodiment, the reducer 127 may be a harmonic reducer, which is a device that achieves deceleration through the principle of harmonic transmission. The reducer 127 may be composed of a flexible wheel, a rigid wheel, and an elastic ring. When an external drive acts on the elastic ring through the flexible wheel, the bending deformation of the elastic ring transmits force to the rigid wheel to achieve deceleration transmission.

[0058] In this embodiment, the type of reducer 127 can be selected according to specific application requirements and working conditions, and is not limited.

[0059] The coupling 1272 in this embodiment is a device for connecting the rotating shafts of the reducer 1273 and the first clamping member 121, and can transmit torque and keep the rotation synchronization between the reducer 1273 and the first clamping member 121. The coupling 1272 can be a polyurethane elastic coupling, a gear coupling, an elastic pin coupling, etc.

[0060] In one embodiment, the coupling 1272 may be a polyurethane elastic coupling, which has excellent elasticity and vibration absorption performance and can provide a good coupling effect under high torque and high speed conditions. It can reduce the vibration and impact between the rotating shafts of the reducer 1273 and the first clamping member 121 and increase the service life.

[0061] In one embodiment, the coupling 1272 may be a gear coupling, which transmits torque through the meshing of gears and has high torque transmission capacity and precise synchronization performance.

[0062] In one embodiment, the coupling 1272 may be an elastic pin coupling, which connects the shafts through elastic pins, allows certain axial and angular deviations, and is easy to install.

[0063] In this embodiment, the type of coupling 1272 can be selected according to specific application requirements and working conditions, and is not limited.

[0064] In another embodiment, please refer to Figure 2 as well as Figure 3 The base 11 includes a fixing hole 114. The opening direction of the fixing hole 114 intersects with the sliding direction of the clamping and flipping device 12. There may be an angle between the opening direction of the fixing hole 114 and the sliding direction of the clamping and flipping device 12. The angle may be 30°, 45°, 60°, 90°, etc., which is not limited in this embodiment. The clamping and flipping device 12 also includes a fixing device 31. When the clamping and flipping device 12 is at a predetermined position of the base 11, the fixing device 31 can be arranged relative to the fixing hole 114. Specifically, the fixing device 31 includes a fifth driving device 311 and a latch (not shown in the figure). The fifth driving device 311 is used to drive the latch to move. The fifth driving device 311 can be connected to the latch. The fifth driving device 311 is fixed to the guide rail of the clamping and flipping device 12. When the fixing device 31 can be arranged relative to the fixing hole 114, the plug is arranged corresponding to the fixing hole 114, the axial direction of the plug is colinear with the opening direction of the fixing hole 114, and the diameter of the plug is less than or equal to the aperture size of the fixing hole 114, so that the plug can be inserted into the fixing hole 114 under the drive of the fifth driving device 311. And the fifth driving device 311 can drive the plug to selectively insert or pull out of the fixing hole 114. A certain position can be configured as the flipping position of the clamping flipping device 12, that is, the clamping flipping device 12 performs flipping work at this position.

[0065] Before the clamping and flipping device 12 performs flipping operation, the fifth driving device 311 is configured to drive the latch to be inserted into the fixing hole 114 when the clamping and flipping device 12 is located at a predetermined position of the base 11. Due to the positional relationship between the fixing hole 114 and the clamping and flipping device 12, the latch can limit the vertical movement of the clamping and flipping device 12, thereby ensuring the stability of the clamping and flipping device 12 during flipping operation. When the clamping and flipping device 12 slides, the fifth driving device 311 is configured to drive the latch to be pulled out of the fixing hole 114, thereby releasing the restriction of the latch on the clamping and flipping device 12, thereby ensuring the normal movement of the clamping and flipping device 12.

[0066] It is understandable that the clamping and flipping device 12 has different functions according to the different positions of the base 11. For example, the clamping and flipping device 12 includes an inspection position, a flipping position, a clamping position, etc. The three different positions can correspond to the position of the clamping and flipping device 12 during inspection, the position during flipping, or the position during clamping. In order to ensure the stability of the clamping and flipping device 12 in various positions, the number of fixing holes 114 can be multiple, and multiple fixing holes 114 can be set at multiple positions, so that when the clamping and flipping device 12 is in a certain position, the fifth driving device 311 can drive the pin to be inserted into the corresponding fixing hole 114, so that the clamping and flipping device 12 has a certain stability in various positions.

[0067] The object 50 to be turned over is transferred from the conveying device 20 to the turning device 10, and when the object 50 to be turned over is turned over, the conveying device 20 may have a certain restriction effect. Figure 4 In this embodiment, the lifting device 13 may include a pallet 131 and a fourth driving device 132. When the object 50 to be turned over flows to the designated position, the pallet 131 may be arranged opposite to the object 50 to be turned over, the fourth driving device 132 is fixed to the base 11, and the execution end of the fourth driving device 132 is connected to the pallet 131, and the fourth driving device 132 is used to drive the pallet 131 to move vertically, and the fourth driving device 132 drives the execution end to lift the pallet 131 so that the object 50 to be turned over is placed in the pallet 131. The pallet 131 is located below the clamping and turning device 12 and corresponds to the turning device 10. The pallet 131 can continue to be lifted under the drive of the fourth driving device 132, so that the pallet 131 can reach the clamping and turning device 12, and then the object 50 to be turned over can enter the clamping space to facilitate the subsequent clamping and turning device 12 to turn over.

[0068] Preferably, the shape and size of the support plate 131 can be designed according to the shape and size of the object 50 to be turned over, so that the object 50 to be turned over can fall completely into the support plate 131 to prevent the object 50 to be turned over from falling.

[0069] In one embodiment, the turning process of the object 50 to be turned over may require vertical rotation in addition to turning and lifting. Figure 4The lifting device 13 further includes a sixth driving device 133, which can be arranged at the execution end of the second driving device 126. Driven by the second driving device 126, the sixth driving device 133 can move in the vertical direction, and then the sixth driving device 133 is connected to the support plate 131 in a transmission manner, that is, the execution end of the sixth driving device 133 away from the second driving device 126 can be connected to the support plate 131, and the sixth driving device 133 can be used to drive the support plate 131 to rotate vertically. The rotation axis of the support plate 131 can be the axis of the execution end of the sixth driving device 133. The diversity of the flipping device 10 is further improved so that the object 50 to be flipped can meet the flipping process.

[0070] In one embodiment, in order to improve the stability of the lifting device 13, the lifting device 13 further includes a guide column. Different from the guide column 115 of the counterweight block 112, for the convenience of subsequent description, the guide column of the lifting device 13 is a first guide column 134. The first guide column 134 is arranged vertically, one end of the first guide column 134 is connected to the lifting device 13, the first guide column 134 can be connected to the sixth driving device 133 or the support plate 131, and the other end of the first guide column 134 passes through the base 11. When the sixth driving device 133 or the support plate 131 is driven by the fourth driving device 132, the first guide column 134 can slide relative to the base 11, thereby allowing the support plate 131 and the sixth driving device 133 to move more stably in the vertical direction, thereby ensuring the stability of the lifting device 13.

[0071] In this example, see Figure 1 as well as Figure 5 The conveying device 20 includes at least two conveyor belts 21 and a tray 22. The at least two conveyor belts 21 are arranged at intervals. The tray 22 is arranged on the at least two conveyor belts 21 and is used to carry the objects 50 to be transported and turned over. The conveyor belts 21 can bring the objects 50 to be turned over to the turning device 10. The lifting device 13 is arranged between the two conveyor belts 21, and the pallet 131 is used to lift the tray 22. The lifting device 13 can lift the tray 22 so that the tray 22 is placed on the pallet 131. And the tray 22 can be further lifted so that the object 50 to be turned over can reach the clamping turning device 12 and can be placed in the clamping space.

[0072] In one embodiment, during the lifting process, the connection between the pallet 131 and the tray 22 is ensured to be stable, and the relative separation of the pallet 131 and the tray 22 is avoided. The tray 22 is provided with a positioning hole, and the pallet 131 is provided with a positioning pin that cooperates with the tray 22, and the positioning hole and the positioning pin are correspondingly arranged. When the tray 22 flows to the designated position, the pallet 131 is driven to rise by the fourth driving device 132, so that the positioning pin of the pallet 131 can be inserted into the positioning hole, thereby ensuring the stability of the pallet 131 and the tray 22 in the lateral direction, and avoiding the vibration generated during the lifting process from affecting the safety of the tray 22 and the items 50 to be turned over placed in the tray 22.

[0073] When the conveying device 20 is transporting the object 50 to be flipped, the object 50 to be flipped may not be in place, but the flipping device 10 is still working, resulting in an erroneous operation of the flipping system 100. To ensure that the object 50 to be flipped can be smoothly in place, and then the subsequent flipping process is carried out. The conveying device 20 also includes a stopper 23, and the stopper 23 can obtain the status of the tray 22 in place and limit the movement of the tray 22. The stopper 23 includes a first stopper 231 and a second stopper 232. The first stopper 231 and the second stopper 232 are arranged at intervals. The first stopper 231 is arranged between the two conveyor belts 21. The first stopper 231 may include a limit switch, a sensor, etc. For example, the flow direction of the tray 22 is as follows: Figure 5 As shown by the dotted line, the limit switch can detect that the tray 22 has arrived, and the limit switch can close the conveyor belt 21, so that the tray 22 stops moving. And the limit switch can also transmit a signal to the flipping device 10, so that the flipping device 10 can perform subsequent flipping work. And the first stopper 231 is also used to block the tray 22. The first stopper 231 can extend between the two conveyor belts 21 to block the movement of the tray 22 and ensure that the tray 22 can reach the specified position. In addition, when the conveyor belt 21 stops suddenly, inertia may cause the tray 22 to retreat, resulting in the failure of the object 50 to be flipped to be smoothly in place. The second stopper 232 is retractably arranged between the two conveyor belts 21. The second stopper 232 is configured to extend when the tray 22 contacts the first stopper 231, and the second stopper 232 blocks the tray 22 when extending to prevent the tray 22 from retreating, ensuring that the tray 22 can be accurately in place, and improving the working efficiency of the flipping system 100.

[0074] Preferably, the vertical projection of the clamping and flipping device 12 can also be located between the first stop 231 and the second stop 232, and the interval between the first stop 231 and the second stop 232 is greater than or equal to the width of the tray 22, thereby ensuring that the tray 22 can smoothly reach between the first stop 231 and the second stop 232, that is, ensuring that the object 50 to be flipped placed in the tray 22 can be arranged relative to the clamping space.

[0075] In this application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this application and the features of the different embodiments or examples without contradiction.

[0076] In this embodiment, the first driving device 111, the second driving device 126, the fourth driving device 132, the fifth driving device 311, and the sixth driving device 133 can all be one of a cylinder, a hydraulic cylinder, and a hydraulic motor, and this embodiment is not limited.

[0077] Exemplarily, taking the first driving device 111 as an example, it is as follows:

[0078] In one embodiment, the first driving device 111 may be a cylinder, which is a device that converts air pressure energy into mechanical linear motion. The first driving device 111 may be composed of a cylinder barrel, a piston, and a seal. The working medium is gas, for example, the working medium may be compressed air. The first driving device can lift the clamping flip device 12.

[0079] In one embodiment, the first drive device 111 may be a hydraulic cylinder, which is a device that converts hydraulic energy into mechanical linear motion. The first drive device 111 may be composed of a hydraulic cylinder, a piston, a piston rod, and a seal. The first drive device 111 may be used to lift a large-load clamping and flipping device 12.

[0080] In one embodiment, the first drive device 111 may be a hydraulic motor, which is a device that converts hydraulic energy into mechanical rotational motion. The first drive device 111 may be composed of a rotor, a motor housing, and a seal. The first drive device 111 may be applied to equipment that requires a rotating actuator.

[0081] In this embodiment, the type of the first driving device 111 may be selected according to specific application requirements and working conditions.

[0082] In the flipping device 10 and flipping system 100 provided by the present application, the object 50 to be flipped flows into the tray 22 of the lifting device 13, the tray 22 and the clamping flipping device 12 are driven to move the object 50 to be flipped into the clamping space, and the first clamping member 121 and the second clamping member 122 can clamp and flip the device 10 to be flipped to complete the flipping task. Manual flipping is avoided, and the safety and efficiency of the flipping system 100 are improved.

[0083] Second embodiment

[0084] See also Figure 6 This embodiment further provides a control method for a flipping system, which can be applied to the flipping system 100 in the above embodiment. The control method for the flipping system includes the following steps S110-S130.

[0085] Step S110: When the object to be turned over is placed on the pallet, the pallet is driven to move so that the object to be turned over moves to the clamping space.

[0086] Place the object to be turned over on a tray, and then place the tray on a conveyor belt. The object to be turned over is conveyed to the corresponding position of the lifting device through the conveyor belt. The corresponding position may be the position where one end of the tray abuts against the first stopper. The first stopper restricts the tray from continuing to flow, and the conveyor belt may be selectively closed, and the second stopper is extended to restrict the tray to this position. The pallet is controlled to lift upward, the positioning pin of the pallet is inserted into the bottom of the pallet, and the pallet and the object to be turned over are placed in the pallet together.

[0087] When the tray and the object to be turned over are placed in the support plate, the second drive device can be controlled to lift the support plate and the object to be turned over together, and when the object to be turned over is located in the clamping space of the clamping and turning device, the first drive device is controlled to stop working.

[0088] The control instruction may be a position sensor, a limit switch, etc. detecting the position of the object to be turned over and transmitting the position information to the turning device, and the turning device determines the control program according to the position information, etc. Or the user manually operates the turning device to control the first driving device to lift.

[0089] For a more specific implementation, see Figure 7 , driving the pallet to move so that the object to be turned over moves to the clamping space may include steps S111-S112:

[0090] Step S111: driving the support plate to move to the first position, and driving the support plate to rotate to a second angle;

[0091] The second driving device can lift the support plate and the object to be turned over to the first position, and drive the sixth driving device to rotate the support plate to the second angle, so as to change the positional relationship between the object to be turned over and the clamping and turning device, so that the object to be turned over can be smoothly clamped by the first clamping member and the second clamping member. The second angle can be 30°, 60°, 90°, 120°, 135°, 180°, etc., and this application does not limit it.

[0092] The first position is located at a position between the lifting device and the clamping and flipping device. When the support plate is driven to rotate at the first position, it will not be interfered by the clamping and flipping device, thereby ensuring the safety of the rotation of the object.

[0093] Step S112: driving the clamping and flipping device to descend so that the object to be flipped is located in the clamping space.

[0094] The clamping and flipping device is driven to descend to one side of the object, and the object is located in the clamping space between the first clamping member and the second clamping member. Preferably, a sensor in the clamping and flipping device can detect whether there is an object in the clamping space, and when the object enters the clamping space, the sensor can transmit information to the flipping device to control the first driving device to stop descending.

[0095] Step S120: Control the first clamping member and the second clamping member to clamp the object.

[0096] The first clamping member and the second clamping member are driven to move toward each other so that the first clamping member and the second clamping member can clamp the surface of the object. Specifically, when the first clamping member and the second clamping member contact the surface of the object at the same time, the first clamping member and the second clamping member are further clamped by the second driving device to ensure that the object can be smoothly taken away by the first clamping member and the second clamping member.

[0097] Alternatively, when one of the first clamping member and the second clamping member contacts the surface of the object first, the first clamping member stops moving, and when the remaining one contacts the surface of the object, the first clamping member and the second clamping member are further clamped by the second driving device to prevent the position of the object from shifting and the first clamping member and the second clamping member from causing the object to fall, thereby further improving the safety of the clamping and flipping device.

[0098] Step S130: controlling the clamping and flipping device to flip the object to a first angle.

[0099] The first driving device drives the clamping and flipping device to rise, and the clamping and flipping device brings the object to the specified position, and the object to be flipped leaves the pallet so that the pallet is away from the flipping range of the object to be flipped, ensuring the flipping safety of the object and avoiding interference of the object to be flipped by the pallet.

[0100] Preferably, when the object to be turned over reaches a designated position, the fixing device on the clamping and turning device can restrict both the first clamping member and the second clamping member to the position, thereby ensuring the stability of subsequent turning over.

[0101] The third driving device drives the first clamping member to rotate, and the first clamping member drives the article and the second clamping member to rotate together. The clamping flipping device drives the article to flip over a first angle. The first angle can be 30°, 60°, 90°, 120°, 135°, 180°, etc., which is not limited in this embodiment.

[0102] The control method of the flipping system provided in the present application controls the lifting device to lift the items in the tray into the clamping space, and then controls the clamping and flipping device to clamp the items and flip them to a first angle, so that the items can meet subsequent assembly requirements, thereby greatly improving the efficiency of the assembly process.

[0103] The above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present application, and should all be included in the protection scope of the present application.

Claims

1. A turning device, characterized in that: include: A base, wherein the base is provided with a first driving device; The clamping and flipping device is vertically slidably arranged on the base, the first driving device is used to drive the clamping and flipping device to move vertically, and the clamping and flipping device includes a first clamping member, a second clamping member, a guide rail, a first mounting seat, a second mounting seat, a second driving device and a third driving device. The first mounting seat and the second mounting seat are horizontally slidably arranged on the guide rail, the first mounting seat and the second mounting seat are relatively arranged, the second driving device connects the first mounting seat and the second mounting seat and is used to drive the first mounting seat and the second mounting seat to move toward or away from each other, the first clamping member is rotatably arranged on the first mounting seat, and the third driving device is used to drive the first clamping member to rotate horizontally, the second clamping member is rotatably arranged on the second mounting seat, and a clamping space is formed between the first clamping member and the second clamping member; as well as A lifting device, the lifting device includes a support plate and a fourth driving device, the fourth driving device is fixed to the base and is used to drive the support plate to move vertically, the support plate is located below the clamping and flipping device and corresponds to the flipping device.

2. The turning device according to claim 1, characterized in that: The base is provided with a counterweight block, the counterweight block and the clamping and flipping device are located on two opposite sides of the base, and the counterweight block is connected to the clamping and flipping device.

3. The turning device according to claim 1, characterized in that: The third driving device includes a motor, a coupling and a reducer, the motor, the reducer and the coupling are connected in sequence, the first mounting seat is provided with a mounting hole, the third driving device and the first clamping member are located on opposite sides of the first mounting seat, the coupling is passed through the mounting hole and connected to the first clamping member.

4. The turning device according to claim 1, characterized in that: The base includes a fixing hole, the opening direction of the fixing hole intersects with the sliding direction of the clamping and flipping device, the clamping and flipping device also includes a fixing device, the fixing device includes a fifth driving device and a latch, the latch is arranged corresponding to the fixing hole, the fifth driving device is fixed to the guide rail, and is used to drive the latch to move so as to selectively insert or pull out the fixing hole.

5. The turning device according to claim 4, characterized in that: The fifth driving device is configured to drive the pin to be inserted into the fixing hole when the clamping and flipping device is located at a predetermined position of the base, and to drive the pin to be pulled out of the fixing hole when the clamping and flipping device slides.

6. The turning device according to claim 1, characterized in that: The lifting device also includes a sixth driving device, which is arranged on the second driving device and moves vertically under the drive of the second driving device. The sixth driving device is transmission-connected to the support plate and is used to drive the support plate to rotate vertically.

7. The turning device according to claim 6, characterized in that: The lifting device further comprises a guide column, which is arranged vertically, one end of which is connected to the lifting device, and the other end of which passes through the base, and the guide column can slide relative to the base.

8. A turnover system, characterized in that: include The turning device according to any one of claims 1 to 7; A conveying device, wherein the conveying device comprises at least two conveyor belts and a pallet, wherein the at least two conveyor belts are arranged at intervals, the pallet is arranged on the at least two conveyor belts and is used to carry items to be transported, the lifting device is arranged between the two conveyor belts, and the pallet is used to lift the pallet.

9. The turning system according to claim 8, characterized in that: The tray is provided with a positioning hole, and the support plate is provided with a positioning pin matched with the tray.

10. The turning system according to claim 8, characterized in that: The conveying device also includes a stopper, which includes a first stopper and a second stopper. The first stopper is arranged between the two conveyor belts and is used to block the pallet. The second stopper is telescopically arranged between the two conveyor belts and is spaced apart from the first stopper. The interval between the first stopper and the second stopper is greater than or equal to the width of the pallet.

11. The turning system according to claim 10, characterized in that: The second stopper is configured to extend when the tray contacts the first stopper and to block the tray when extended.

12. The control method of the overturning system according to any one of claims 8 to 11, characterized in that: include: When an object to be turned over is placed on the support plate, the support plate is driven to move so that the object to be turned over moves to the clamping space; Controlling the first clamping member and the second clamping member to clamp the article; The clamping and flipping device is controlled to flip the object to a first angle.

13. The control method according to claim 12, characterized in that: The step of driving the support plate to move so that the object to be turned over moves to the clamping space includes: driving the support plate to move to a first position, and driving the support plate to rotate to a second angle; The clamping and flipping device is driven to descend so that the object to be flipped is located in the clamping space.

14. The control method according to claim 12, characterized in that: The controlling the clamping and flipping device to flip the article at a first angle comprises: Driving the clamping and flipping device to rise, so that the object to be flipped is separated from the support plate; The clamping and flipping device drives the article to flip at a first angle.

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