Gripper turnover device and product handling method

Abstract

The application provides a clamp overturning device and a product processing method. The clamp overturning device comprises a rack, a carrier plate connected to the lower carrier plate, a grabbing mechanism for grabbing and releasing the upper carrier plate, an X-axis driving mechanism for driving the carrier plate to move along the X-axis direction relative to the rack, a grabbing mechanism for grabbing and releasing the upper carrier plate, an overturning driving mechanism for driving the grabbing mechanism to rotate around the Y-axis direction relative to the rack, and a Z-axis driving mechanism for driving at least one of the X-axis driving mechanism and the overturning driving mechanism to move along the Z-axis direction relative to the rack. The clamp overturning device and the product processing method can reduce the labor intensity of the operator and improve the work efficiency. The upper carrier plate and the lower carrier plate have sufficient opening size, and the flexible connection structure of the product can be prevented from being excessively pulled during the overturning process, so that the risk of product damage is reduced.

Description

Technical Field

[0001] This invention relates to the field of automation, and more particularly to a clamp flipping device and a product handling method. Background Technology

[0002] When performing testing, cleaning, and other processing procedures on smartwatches, the screen and case of the smartwatch need to be unfolded to a specific angle. In existing technology, a dedicated fixture is designed to enable this unfolding. The fixture includes an upper plate and a lower plate. After the screen is placed on the upper plate and the case on the lower plate, the operator manually unfolds the upper plate relative to the lower plate to a specific angle. Then, the upper plate is fixed in place relative to the lower plate using latches, spring plungers, and other structures on the fixture.

[0003] Using existing clamps to unfold the screen and case of a smartwatch involves numerous steps and requires manual operation, resulting in low efficiency. Furthermore, operators have difficulty controlling the tilt angle of the upper plate, which could damage the wiring connecting the screen and case, leading to product damage. Summary of the Invention

[0004] This invention provides a clamp flipping device and a product processing method, which aims to solve the problems in the prior art where unfolding the screen and case of a smartwatch involves many steps, low efficiency, and is prone to causing damage to the product.

[0005] To achieve the above objectives, the present invention provides a clamp flipping device, the clamp comprising a detachable upper plate and a lower plate, the flipping device being used to drive the upper plate to flip relative to the lower plate, the clamp flipping device comprising:

[0006] frame; A platform for connecting the download board; A gripping mechanism for gripping and releasing the upper plate; X-axis drive mechanism, the X-axis drive mechanism is used to drive the stage to move relative to the frame along the X-axis direction; A flipping drive mechanism is used to drive the gripping mechanism to rotate relative to the frame about the Y-axis. Z-axis drive mechanism, the Z-axis drive mechanism being used to drive at least one of the X-axis drive mechanism and the flip drive mechanism to move relative to the frame along the Z-axis direction.

[0007] As an improvement of the present invention, the clamp flipping device further includes an unlocking member disposed on the gripping mechanism, the unlocking member being used to release the lock between the upper plate and the download plate during the process of the gripping mechanism gripping the upper plate.

[0008] As an improvement of the present invention, the gripping mechanism includes a gripping module, the gripping module includes a base plate and two grippers connected to the base plate, at least one gripper is movably disposed relative to the base plate so that the two grippers can move closer to each other and further apart, and the gripping mechanism further includes a gripper driving module for driving the two grippers to move closer to each other and further apart. The unlocking element is connected to a gripper that is movably disposed relative to the substrate. The unlocking element is used to release the lock between the upload board and the download board during the process of the two grippers moving close together to grasp the upload board.

[0009] As an improvement of the present invention, the gripping mechanism further includes a gripping module for gripping and releasing the gripping module, the gripping module being connected to the flipping drive mechanism; The clamp flipping device also includes a locking mechanism for locking and releasing the gripping module. When the gripping module is locked to the locking mechanism, the gripping module and the platform are set at an angle.

[0010] As an improvement of the present invention, the platform includes a main body connected to the output end of the X-axis drive mechanism and a detachable part connected to the main body. The detachable part is used to connect the download board, and the locking mechanism is provided on the detachable part.

[0011] As an improvement of the present invention, the gripper driving module includes a second elastic element and a gripper driving assembly. The second elastic element is disposed between the substrate and the gripper movably disposed relative to the substrate, so that the two grippers tend to move closer to each other. The gripper driving assembly is disposed in the gripping module. When the gripping module grips the grasping module, the gripper driving assembly is used to drive the two grippers to move away from each other.

[0012] As an improvement to the present invention, the locking mechanism includes: A bracket, which is connected to the separation portion; A first locking member and a second locking member are disposed on the bracket, and the two locking members can move closer to each other and further away from each other relative to the bracket along the Y-axis direction.

[0013] The present invention also provides a product processing method, which uses the above-described clamp flipping device and includes the following steps: Provide a product comprising a separable first part and a second part, and a flexible connection structure connecting the first part and the second part; The first part is placed on the download plate of the fixture, the second part is placed on the upper plate of the fixture, and the upper plate and the download plate are closed together. Connect the download board to the platform; The gripping mechanism grips the upper plate, and then the Z-axis drive mechanism drives at least one of the X-axis drive mechanism and the flip drive mechanism to move relative to the frame along the Z-axis direction, so that the upper plate and the download plate are separated along the Z-axis direction. The flipping drive mechanism drives the gripping mechanism to rotate relative to the frame on one side in the X-axis direction. At the same time, the X-axis drive mechanism drives the platform to move relative to the frame on the other side in the X-axis direction, so that the upper loading plate and the lowering plate unfold together.

[0014] As an improvement of the present invention, the gripping mechanism includes a gripping module for gripping and releasing the upper plate, and a clamping module for clamping and releasing the gripping module, wherein the clamping module is connected to the flipping drive mechanism; the clamping flipping device further includes a locking mechanism for locking and releasing the gripping module. The step "the gripping mechanism grips the upper plate" specifically refers to the gripping module gripping the upper plate; after the step "the flipping drive mechanism drives the gripping mechanism to rotate relative to the frame towards one side of the X-axis direction", the product processing method further includes the following steps: The gripping module is locked to the locking mechanism. When the gripping module is locked to the locking mechanism, the gripping module and the platform are set at an angle.

[0015] As an improvement of the present invention, the platform includes a main body connected to the output end of the X-axis drive mechanism and a detachable part detachably connected to the main body. The detachable part is used to connect the download board, and the locking mechanism is disposed on the detachable part. After the step of "locking the gripping module to the locking mechanism", the product processing method further includes the following steps: The gripping module releases the grasping module; The separating section is separated from the main body.

[0016] Beneficial effects: The clamp flipping device and product handling method provided by this invention can automatically drive the upper plate to flip relative to the lower plate, reducing the labor intensity of operators and improving work efficiency. While having sufficient opening dimensions, the upper and lower plates also prevent excessive stretching of the product's flexible connection structure during flipping, reducing the risk of product damage. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a clamp flipping device provided in an embodiment of the present invention; Figure 2 This is a front view of a clamp provided in an embodiment of the present invention; Figure 3 for Figure 2 The diagram shows a three-dimensional structure of the fixture, in which the upper loading plate and the lower loading plate are in an unfolded state; Figure 4 for Figure 2 The side view of the fixture shown shows the loading plate and the downloading plate in an unfolded state; Figure 5-7 A flowchart illustrating the product processing method provided by the present invention; Figure 8 This is a three-dimensional structural diagram of the fixture fixed to the platform, in which the upper loading plate and the lower loading plate are in a closed state; Figure 9 This is a three-dimensional structural diagram of the fixture fixed to the platform, in which the upper loading plate and the lower loading plate are in the unfolded state; Figure 10 for Figure 2 A cross-sectional view of the fixture shown; Figure 11 for Figure 1 A 3D structural diagram of the crawling module in the image; Figure 12 for Figure 1 Another 3D structural diagram of the grabbing module in the image; Figure 13 for Figure 1 A three-dimensional structural diagram of a portion of the fixture flipping device shown; Figure 14 for Figure 13 A three-dimensional structural diagram of the gripping mechanism and buffer components; Figure 15 for Figure 13 Another three-dimensional structural diagram of the gripping mechanism and buffer components; Figure 16 for Figure 1 A three-dimensional structural diagram of a portion of the fixture flipping device shown; Figure 17 for Figure 16A three-dimensional structural diagram of the locking mechanism and the separation part.

[0018] In the picture: 100. Clamp flipping device; 110. Unlocking component; 120. Buffer component; 10. Rack; 20. X-axis drive mechanism; 22. Platform; 221. Main body; 222. Separation section; 30. Gripping mechanism; 31. Gripping module; 311. Substrate; 312. Gripper; 312a. First gripper; 312a-1. First protrusion; 312b. Second gripper; 312b-1. Second protrusion; 313. Positioning post; 314. First pin hole; 315. Second pin hole; 32. Gripping module; 321. Gripping block; 322. Gripping block drive component; 33. Gripper drive module; 331. Second elastic element; 332. Gripper drive assembly; 3321. Gripper drive component.

[0019] 40. Tilting drive mechanism; 41. Tilting drive component; 42. Connecting frame; 50. Z-axis drive mechanism; 60. Locking mechanism; 61. Bracket; 62. First locking element; 621. First pin; 63. Second locking element; 631. Second pin; 64. Third elastic element; 65. Fourth elastic element; 70. Locking component drive module; 71. First drive assembly; 711. First clamping block; 712. First drive component; 72. Second drive assembly; 721. Second clamping block; 722. Second drive component; 200. Fixture; 210. Upper plate; 211. First connecting hole; 212. Second connecting hole; 220. Download plate; 230. Locking structure; 2301. Lock; 2302. Lock groove; 2303. First elastic element; 300. Product; 310. Part 1; 320. Part 2; 330. Flexible connection structure. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any modifications to the mechanism, method, or function made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0021] The terms used herein, such as "up," "down," "left," "right," "front," and "back," indicating spatial relative position, are for illustrative purposes to describe the relationship of one feature relative to another, as shown in the accompanying drawings. It is understood that, depending on the product's placement, these terms may be intended to include different orientations besides those shown in the figures, and should not be construed as limiting the claims. Furthermore, the descriptive term "horizontal" used herein is not entirely equivalent to being perpendicular to the direction of gravity, and allows for a certain angle of inclination.

[0022] like Figure 1-4 As shown, the present invention provides a clamp flipping device 100 for flipping a clamp 200. The clamp 200 includes a detachable upper plate 210 and a lower plate 220. The clamp flipping device 100 is used to flip the clamp 200, meaning that the clamp flipping device 100 drives the upper plate 210 to flip relative to the lower plate 220, so that the upper plate 210 unfolds relative to the lower plate 220 to a specific angle.

[0023] It is understandable that the upload board 210 and the download board 220 have a closed state (e.g., Figure 2 As shown), the unfolded state of the phase (e.g.) Figure 4 (As shown). The fixture flipping device 100 drives the upper plate 210 to flip relative to the download plate 220, which allows the upper plate 210 and the download plate 220 to switch between a closed state and an open state.

[0024] The aforementioned clamp flipping device 100 can be used in the testing, cleaning, and other processing of product 300. Combined with... Figure 10 As shown, product 300 includes a separable first part 310 and a second part 320, and a flexible connection structure 330 connecting the first part 310 and the second part 320.

[0025] The download plate 220 is used to place the first part 310 of product 300, and the loading plate 210 is used to place the second part 320 of product 300. The first part 310 can move with the download plate 220, and the second part 320 can flip with the loading plate 210. When the loading plate 210 and the download plate 220 are closed, the first part 310 and the second part 320 of product 300 are closed. When the loading plate 210 and the download plate 220 are unfolded, the first part 310 and the second part 320 of product 300 are unfolded. After the first part 310 and the second part 320 of product 300 are unfolded, the internal structure of product 300 will be exposed. In this state, testing, cleaning, and other processing procedures can be performed on the internal structure of product 300.

[0026] For example, product 300 can be a smartwatch. The first part 310 of product 300 is the screen of the smartwatch, the second part 320 is the watch case, and the flexible connection structure 330 is the wire structure connecting the screen and the watch case. When the screen and the watch case are unfolded, the internal structure of the smartwatch is exposed, allowing for testing, cleaning, and other processing procedures.

[0027] The clamp flipping device 100 includes a frame 10, a platform 22, a gripping mechanism 30, and a flipping drive mechanism 40. The platform 22 is used to connect the download plate 220. When the download plate 220 is connected to the platform 22, it can move with the platform 22. The platform 22 may be provided with positions for connecting the download plate 220, such as negative pressure adsorption structures and limiting blocks.

[0028] The gripping mechanism 30 is used to grip and release the upper plate 210. The gripping mechanism 30 is connected to the output end of the flip drive mechanism 40, which can drive the gripping mechanism 30 to rotate relative to the frame 10 around the Y-axis. After the gripping mechanism 30 grips the upper plate 210, the flip drive mechanism drives the gripping mechanism 30 to rotate, and the upper plate 210 will rotate accordingly.

[0029] The fixture flipping device 100 also includes an X-axis drive mechanism 20 and a Z-axis drive mechanism 50. The X-axis drive mechanism 20 is used to drive the stage 22 to move relative to the frame 10 along the X-axis direction. The stage 22 is fixed relative to the frame 10 and is connected to the output end of the X-axis drive mechanism 20.

[0030] Z-axis drive mechanism 50 is used to drive at least one of X-axis drive mechanism 20 and flip drive mechanism 40 to move relative to frame 10 along the Z-axis direction. When gripping mechanism 30 grips upper plate 210, at least one of X-axis drive mechanism 20 and flip drive mechanism 40 moves relative to frame 10 along the Z-axis direction, which can cause upper plate 210 and download plate 220 to move away from or closer to each other along the Z-axis direction.

[0031] In this article, the X-axis, Y-axis, and Z-axis are three mutually perpendicular directions. Figure 1 The coordinates in the diagram show the X-axis, Y-axis, and Z-axis directions.

[0032] The present invention also provides a product processing method, which uses the above-described clamp flipping device 100 and includes the following steps: Provide the above-mentioned product 300.

[0033] like Figure 5As shown, the first part 310 of product 300 is placed on the download plate 220 of fixture 200, the second part 320 of product 300 is placed on the upper plate 210 of fixture 200, and the upper plate 210 and the download plate 220 are closed together.

[0034] like Figure 8 As shown, the download board 220 is connected to the platform 22; when the download board 220 is connected to the platform 22, the upper loading board 210 is located above the download board 220.

[0035] like Figure 6 As shown, the gripping mechanism 30 grips the upper plate 210. Subsequently, the Z-axis drive mechanism 50 drives at least one of the X-axis drive mechanism 20 and the flip drive mechanism 40 to move relative to the frame 10 along the Z-axis. The movement of one of the X-axis drive mechanism 20 and the flip drive mechanism 40 relative to the frame 10 along the Z-axis causes the gripping mechanism 30 and the upper plate 210 to move away from the platform 22 along the Z-axis direction, thereby separating the upper plate 210 and the download plate 220 along the Z-axis direction.

[0036] like Figure 7 , 9 As shown, the flipping drive mechanism 40 drives the gripping mechanism 30 to rotate relative to the frame 10 in the X-axis direction. The gripping mechanism 30 can drive the upper plate 210 to rotate relative to the frame 10 in the X-axis direction. During the rotation of the gripping mechanism 30 relative to the frame 10 in the X-axis direction by the flipping drive mechanism 40, the X-axis drive mechanism 20 drives the platform 22 to move relative to the frame 10 in the other X-axis direction. The platform 22 can drive the download plate 220 on it to move. After completing the above steps, the upper plate 210 and the download plate 220 can unfold together.

[0037] As can be seen, when the fixture flipping device 100 flips the fixture 200, it first drives the upper plate 210 to move, causing the upper plate 210 to move away from the lower plate 220 along the Z-axis. Then, while driving the upper plate 210 to rotate to one side of the X-axis, it drives the lower plate 220 to move to the other side of the X-axis. After the flipping is completed, the upper plate 210 and the lower plate 220 cause the first part 310 and the second part 320 of the product 300 to unfold to a certain angle, exposing the internal structure of the product 300. Under these conditions, the internal structure of the product 300 can be tested, cleaned, and processed.

[0038] The upper plate 210 and lower plate 220 of the fixture 200 are separable. When the fixture flipping device 100 flips the fixture 200, it first separates the upper plate 210 and lower plate 220 along the Z-axis. Then, while driving the upper plate 210 to flip towards one side of the X-axis, it simultaneously drives the lower plate 220 to move towards the other side of the X-axis. Thus, after the fixture 200 is flipped, the upper plate 210 not only rotates relative to the lower plate 220 by a certain angle, but also misaligns relative to the lower plate 220 along both the X-axis and Z-axis. This design ensures that the upper plate 210 and lower plate 220 have sufficient opening dimensions while preventing excessive stretching of the flexible connection structure 330 of the product 300 during the flipping process.

[0039] The clamp flipping device 100 and product processing method provided by this invention can automatically drive the upper plate 210 to flip relative to the lower plate 220, which can reduce the labor intensity of operators and improve work efficiency. While having sufficient opening dimensions, the upper plate 210 and lower plate 220 can also prevent the flexible connection structure 330 of the product 300 from being excessively stretched during the flipping process, reducing the risk of damage to the product 300.

[0040] like Figure 2-3 As shown in Figure 10, a locking structure 230 is provided between the upload plate 210 and the download plate 220. The locking structure 230 can lock the upload plate 210 and the download plate 220 in a closed state, preventing the upload plate 210 from unfolding relative to the download plate 220. After the locking structure 230 releases the lock on the upload plate 210 and the download plate 220, the upload plate 210 can be flipped relative to the download plate 220.

[0041] like Figure 11-12 As shown, the clamp flipping device 100 also includes an unlocking member 110 disposed on the gripping mechanism 30. The unlocking member 110 cooperates with the locking structure 230 to release the locking structure 230 from locking the upper plate 210 and the lower plate 220. Specifically, during the gripping process of the gripping mechanism 30 gripping the upper plate 210, the unlocking member 110 can release the locking structure 230 from locking the upper plate 210 and the lower plate 220.

[0042] The unlocking component 110 provided on the gripping mechanism 30 can release the lock between the upper plate 210 and the download plate 220 while the gripping mechanism 30 grips the upper plate 210. When the gripping mechanism 30 completes the action of gripping the upper plate 210, the lock between the upper plate 210 and the download plate 220 is also released. Before the flipping drive mechanism 40 drives the gripping mechanism 30 to rotate, the upper plate 210 can move relative to the download plate 220 so as to perform subsequent actions of flipping the upper plate 210 and moving the download plate 220.

[0043] With the above configuration, the two actions of gripping the upper plate 210 and releasing the lock between the upper plate 210 and the download plate 220 can be completed simultaneously, saving the working time of the fixture flipping device 100, improving work efficiency, and the structure of the fixture flipping device 100 is also relatively compact.

[0044] The gripping mechanism 30 includes a gripping module 31 for gripping the upper plate 210. The gripping module 31 includes a substrate 311 and two grippers 312 connected to the substrate 311. At least one gripper 312 is movably disposed relative to the substrate 311, such that the two grippers 312 can move closer together and further apart. The gripping mechanism 30 also includes a gripper driving module 33 for driving the two grippers 312 to move closer together and further apart. When the two grippers 312 move closer together, they can grip the upper plate 210; when the two grippers 312 move further apart, they can release the upper plate 210.

[0045] The unlocking element 110 is connected to the gripper 312, which is movable relative to the substrate 311. As the two grippers 312 move closer together to grasp the upper plate 210, the unlocking element 110 moves with the gripper 312 and can act on the locking structure 230, thereby releasing the lock between the upper plate 210 and the download plate 220.

[0046] The gripper drive module 33 drives the two grippers 312 to move closer and further apart, reliably gripping and releasing the upper plate 210. The gripping module 31 has a simple mechanism and is easy to control. An unlocking element 110 is mounted on the gripper 312; as the gripper 312 moves, the unlocking element 110 moves with it, thereby releasing the lock between the upper plate 210 and the download plate 220. The gripping module 31 operates compactly, taking less time to grip the upper plate 210 and release the lock between the upper plate 210 and the download plate 220.

[0047] Combination Figure 10 As shown, in one embodiment of the present invention, the locking structure 230 includes a latch 2301 rotatably connected to the upper plate 210 and a latch groove 2302 formed in the lower plate 220. When the latch 2301 is engaged in the latch groove 2302, the upper plate 210 and the lower plate 220 are locked in a closed state, preventing relative movement between them. When the latch 2301 disengages from the latch groove 2302, the lock between the upper plate 210 and the lower plate 220 is released, allowing the upper plate 210 to flip relative to the lower plate 220.

[0048] During the process of the two grippers 312 moving close together to grasp the upper plate 210, the unlocking member 110 moves with the grippers 312. During the movement, the unlocking member 110 can act on the latch 2301, causing the latch 2301 to rotate relative to the upper plate 210, so that the latch 2301 can disengage from the latch groove 2302.

[0049] The locking structure 230 also includes a first elastic element 2303. The first elastic element 2303 is disposed between the latch 2301 and the upper plate 210, with its two ends abutting against the upper plate 210 and the latch 2301, respectively. When the latch 2301 is engaged in the latching groove 2302, the first elastic element 2303 can restrict the position of the latch 2301, making it difficult for the latch 2301 to disengage from the latching groove 2302.

[0050] Continue to combine Figure 1 , 9 As shown in Figures 13-15, the gripping mechanism 30 also includes a gripping module 32 for gripping and releasing the gripping module 31. The gripping module 32 is connected to the flipping drive mechanism 40, which can drive the gripping module 32 to rotate around the Y-axis. When the gripping module 32 grips the gripping module 31, the gripping module 32 can drive the gripping module 31 to rotate; when the gripping module 32 releases the gripping module 31, the gripping module 31 separates from the gripping module 32.

[0051] The clamp flipping device 100 also includes a locking mechanism 60. The locking mechanism 60 locks the gripping module 31, thereby fixing its position. When the gripping module 31 is locked to the locking mechanism 60, the gripping module 31 and the platform 22 are at an angle. The angle between the gripping module 31 and the platform 22 determines the angle between the upper plate 210 and the lower plate 220. The angle between the gripping module 31 and the platform 22 is an acute angle.

[0052] The angle between the gripping module 31 and the stage 22 can range from 30° to 60°, and more specifically, it can be 45°.

[0053] In the product processing method provided by the present invention, the step "grabbing mechanism 30 grabs the upper plate 210" specifically means: the grabbing module 31 grabs the upper plate 210.

[0054] After the step "the flipping drive mechanism 40 drives the gripping mechanism to rotate relative to the frame 10 in the X-axis direction", the product processing method also includes the following step: locking the gripping module 31 to the locking mechanism 60.

[0055] The loading plate 210 is gripped by the gripping module 31, and the download plate 220 is connected to the platform 22. When the gripping module 31 is locked in the locking mechanism 60, the loading plate 210 can be unfolded to a preset angle relative to the download plate 220, and the position of the loading plate 210 is stable and reliable. The relative positions of the first part 310 and the second part 320 of the product 300 can remain stable.

[0056] Continue to combine Figure 16As shown, the stage 22 includes a main body 221 and a detachable part 222. The main body 221 is connected to the output end of the X-axis drive mechanism 20, and the detachable part 222 is detachably connected to the main body 221. The detachable part 222 is used to connect the download plate 220, and a locking mechanism 60 is provided in the detachable part 222.

[0057] The product processing method provided by this invention further includes the following steps: The gripping module 32 releases the grasping module 31; The separation section 222 separates from the main body section 221.

[0058] After the clamp flipping device 100 drives the upper plate 210 to flip relative to the lower plate 220, the locking mechanism 60 can lock the gripping module 31, thereby fixing the position of the gripping module 31 and the upper plate 210. After the gripping module 32 releases the gripping module 31, the separating part 222 separates from the main body 221, and the clamp 200 and the separating part 222 can be removed from the main body 221 together. After the clamp 200 and the separating part 222 are removed from the main body 221, they can be placed on other equipment, such as a testing device for testing the product 300.

[0059] After the separation section 222 separates from the main body 221, it can be placed in other equipment for further processing of the product 300. After processing, the separation section 222 can be separated from other equipment and reconnected to the main body 221 of the fixture flipping device 100. The fixture flipping device 100 can then drive the upper plate 210 to flip relative to the lower plate 220, so that the upper plate 210 and the lower plate 220 are closed.

[0060] In the above step "the flipping drive mechanism 40 drives the gripping mechanism 30 to rotate relative to the frame 10 in the X-axis direction, while the X-axis drive mechanism 20 drives the platform 22 to move relative to the frame 10 in the other X-axis direction", the side in the X-axis direction is the rear side, and the other side in the X-axis direction is the front side. After the step "separation part 222 separates from main body part 221", the product processing method provided by the present invention further includes the following steps: The separation part 222 is connected to the main body part 221; The locking mechanism 60 releases the gripping module 31, and the clamping module 32 clamps the gripping module 31. The flipping drive mechanism 40 drives the gripping module 32 to rotate in the front of the frame 10 in the X-axis direction, while the X-axis drive mechanism 20 drives the platform 22 to move in the rear of the frame 10 in the X-axis direction. Z-axis drive mechanism 50 drives at least one of X-axis drive mechanism 20 and flip drive mechanism 40 to move relative to frame 10 along the Z-axis direction so that loading plate 210 and downloading plate 220 close together along the Z-axis direction.

[0061] As can be seen, the process of driving the upper plate 210 and the lower plate 220 to close is the reverse of the process of driving the upper plate 210 and the lower plate 220 to unfold. After the upper plate 210 and the lower plate 220 are closed, the operator can remove the fixture 200 from the platform 22.

[0062] Before performing the step "connecting the download board 220 to the platform 22", if the gripping module 31 is locked to the locking mechanism 60, the product processing method provided by the present invention further includes the following steps: The clamping module 32 clamps the grasping module 31, and the locking mechanism 60 releases the grasping module 31; Z-axis drive mechanism 50 drives at least one of X-axis drive mechanism 20 and flip drive mechanism 40 to move relative to frame 10 along the Z-axis direction so that gripping module 31 is moved away from locking mechanism 60.

[0063] When connecting the download board 220 to the platform 22, if the gripping module 31 is locked to the locking mechanism 60, the space between the gripping module 31 and the platform 22 is small, which is not conducive to connecting the download board 220 to the platform 22. The fixture 200 may interfere with the gripping mechanism 30. In the above steps, before connecting the download board 220 to the platform 22, the gripping module 31 should be moved away from the locking mechanism 60 (see reference). Figure 8 As shown), the subsequent download board 220 can be easily connected to the platform 22.

[0064] It should be noted that when the fixture is flipped more than 100 times using the fixture flipping device, when the fixture 200 is initially placed into the fixture flipping device 100, the gripping module 31 is locked to the locking mechanism 60. At this time, the space formed between the gripping module 31 and the platform 22 is small, which is not conducive to the connection of the download plate 220 to the platform 22. When the upper plate 210 is subsequently flipped to close the upper plate 210 and the download plate 220, the gripping module 31 needs to disengage from the locking mechanism 60 in order to drive the upper plate 210 to flip. Therefore, when the download plate 220 is subsequently connected to the platform 22, since the gripping module 31 has disengaged from the locking mechanism 60, it is not necessary to release the gripping module 31 from the locking mechanism 60. After the upper plate 210 and the download plate 220 are closed, the Z-axis drive mechanism 50 can drive the gripping module 31 away from the locking mechanism 60, and the gripping module 31 will not interfere with the locking mechanism 60. Figure 11-12As shown in Figures 14-15, the gripper drive module 33 includes a second elastic member 331 and a gripper drive assembly 332. The second elastic member 331 is disposed between the substrate 311 and the grippers 312 that are movable relative to the substrate 311. Under the action of the second elastic member 331, the two grippers 312 tend to move closer together. Under the action of the second elastic member 331, the two grippers 312 can hold the upper plate 210. When the separation part 222 separates from the main body part 221, the two grippers 312 can maintain the gripping of the upper plate 210.

[0065] The gripper drive assembly 332 is located in the gripping module 32. When the gripping module 32 grips the grasping module 31, the gripper drive assembly 332 can drive the two grippers 312 to move away from each other. When needed, the gripper drive assembly 332 drives the two grippers 312 to move away from each other, and the two grippers 312 will no longer grip the upper plate 210, allowing the upper plate 210 to be released.

[0066] The two grippers 312 are designated as a first gripper 312a and a second gripper 312b. Both grippers 312a and 312b are movably connected to the substrate 311 in the same direction and are capable of moving relative to the substrate 311. Two sets of second elastic members 331 are provided, each set including at least one second elastic member 331. One set of the two sets of second elastic members 331 is located on the side of the first gripper 312a opposite to the second gripper 312b, with both ends abutting against the first gripper 312a and the substrate 311, respectively. The other set is located on the side of the second gripper 312b opposite to the first gripper 312a, with both ends abutting against the second gripper 312b and the substrate 311, respectively. Under the action of the two sets of second elastic members 331, the first gripper 312a and the second gripper 312b tend to move closer together.

[0067] A first protrusion 312a-1 is formed on the side of the first gripper 312a facing the second gripper 312b, and a second protrusion 312b-1 is formed on the side of the second gripper 312b facing the first gripper 312a. A first connecting hole 211 corresponding to the first protrusion 312a-1 and a second connecting hole 212 corresponding to the second protrusion 312b-1 are formed on the upper plate 210. Figure 3 (As shown). When the first gripper 312a and the second gripper 312b grip the upper plate 210, the first protrusion 312a-1 extends into the first connecting hole 211, and the second protrusion 312b-1 extends into the second connecting hole 212. In this way, the first gripper 312a and the second gripper 312b can reliably grip the upper plate 210, and the upper plate 210 is not easily dislodged.

[0068] The gripping module 31 may also include a plurality of positioning posts 313 connected to the substrate 311. The upper plate 210 has positioning holes corresponding to the plurality of positioning posts 313. When the gripping module 31 grips the upper plate 210, the plurality of positioning posts 313 are inserted into the plurality of positioning holes respectively, so that the position of the upper plate 210 relative to the gripping module 31 can remain stable.

[0069] Two unlocking components 110 are provided, one on the first gripper 312a and the other on the second gripper 312b. Corresponding to the two unlocking components 110, the clamp 200 is provided with two locking structures 230, which can reliably lock the upper plate 210 and the lower plate 220 in a closed state. During the process of the first gripper 312a and the second gripper 312b moving closer together to clamp the upper plate 210, the two unlocking components 110 can act on the two locking structures 230 respectively, thereby unlocking the two locking structures 230.

[0070] The gripper drive assembly 332 may include two gripper drives 3321. Of the two gripper drives 3321, one is used to drive the first gripper 312a away from the second gripper 312b, and the other is used to drive the second gripper 312b away from the first gripper 312a.

[0071] The gripping module 32 includes two gripping blocks 321 and a gripping block drive member 322 that drives the two gripping blocks 321 to move closer together and further apart. When the two gripping blocks 321 move closer together, they can grip the gripping module 31; when the two gripping blocks 321 move further apart, they can release the gripping module 31.

[0072] The directions of movement of the two gripping blocks 321 toward each other and away from each other are perpendicular to the directions of movement of the two grippers 312 toward each other and away from each other. In this way, the two gripping blocks 321 and the two grippers 312 are reasonably distributed. On the basis that the gripping module 32 and the two grippers 312 do not interfere with each other, the gripping module 32 and the two grippers 312 can be arranged compactly, reducing the space occupied by the gripping mechanism 30.

[0073] like Figure 16-17 As shown, the locking mechanism 60 includes a bracket 61, a first locking member 62, and a second locking member 63. The bracket 61 is connected to the platform 22, specifically to the separation portion 222 of the platform 22. The first locking member 62 and the second locking member 63 are connected to the bracket 61, and can move closer to and further away from the bracket 61 along the Y-axis. When the first locking member 62 and the second locking member 63 move closer to each other, they can lock the gripping module 31; when the first locking member 62 and the second locking member 63 move further away from each other, they can release the gripping module 31.

[0074] A first pin 621 extending toward the second locking member 63 is formed on the first locking member 62, and a second pin 631 extending toward the first locking member 62 is formed on the second locking member 63. A first pin hole 314 corresponding to the first pin 621 is formed on the upper plate 210 (e.g., ...). Figure 11 As shown), the second pin hole 315 corresponding to the second pin 631 (as shown) Figure 12 (As shown). When the first locking member 62 and the second locking member 63 move close to each other, the first pin 621 can be inserted into the first pin hole 314, and the second pin 631 can be inserted into the second pin hole 315. In this way, the first locking member 62 and the second locking member 63 can reliably lock the position of the gripping module 31.

[0075] The locking mechanism 60 also includes a third elastic element 64 and a fourth elastic element 65. The third elastic element 64 is located on the side of the first locking member 62 opposite to the second locking member 63, and its two ends abut against the first locking member 62 and the bracket 61, respectively. The fourth elastic element 65 is located on the side of the second locking member 63 opposite to the first locking member 62, and its two ends abut against the second locking member 63 and the bracket 61, respectively. Under the action of the third elastic element 64 and the fourth elastic element 65, the first locking member 62 and the second locking member 63 tend to move closer together, thereby maintaining the lock on the gripping module 31.

[0076] The clamp flipping device 100 also includes a locking member drive module 70 for driving the first locking member 62 and the second locking member 63 to move away from each other. The locking member drive module 70 is disposed on the platform 22, specifically in the main body 221 of the platform 22. When the locking mechanism 60 needs to release the locking of the gripping module 31, the locking member drive module 70 can drive the first locking member 62 and the second locking member 63 to move away from each other, thereby unlocking the gripping module 31.

[0077] The locking member drive module 70 includes a first drive assembly 71 and a second drive assembly 72. The first drive assembly 71 includes a first clamping block 711 and a first drive member 712. The first drive member 712 is connected to the main body 221, and the first clamping block 711 is connected to the output end of the first drive member 712. The first clamping block 711 can clamp the first locking member 62, and the first drive member 712 can drive the first clamping block 711 to move along the Y-axis direction. The movement of the first clamping block 711 along the Y-axis direction can move the first locking member 62 away from the second locking member 63.

[0078] The second drive assembly 72 includes a second clamping block 721 and a second drive member 722. The second drive member 722 is connected to the main body 221, and the second clamping block 721 is connected to the output end of the second drive member 722. The second clamping block 721 can clamp the second locking member 63, and the second drive member 722 can drive the second clamping block 721 to move along the Y-axis. The movement of the second clamping block 721 along the Y-axis can move the second locking member 63 away from the first locking member 62.

[0079] like Figure 1 As shown, in one embodiment of the present invention, the Z-axis drive mechanism 50 is used to drive the flip drive mechanism 40 to move along the Z-axis. Specifically, the Z-axis drive mechanism 50 is fixedly disposed relative to the frame 10. The flip drive mechanism 40 includes a flip drive member 41 and a connecting frame 42. The flip drive member 41 is connected to the output end of the Z-axis drive mechanism 50, one side of the connecting frame 42 in the length direction is connected to the output end of the flip drive member 41, and the gripping mechanism 30 is connected to the other side of the connecting frame 42 in the length direction.

[0080] The gripping mechanism 30 is connected to the output end of the flipping drive 41 via the connecting frame 42. The gripping mechanism 30 can be moved away from the platform 22, thereby providing space for the rotation of the gripping mechanism 30 and making the structure of the clamp flipping device 100 more compact.

[0081] A buffer 120 may be provided between the gripping mechanism 30 and the connecting frame 42. The buffer 120 allows the gripping mechanism 30 to float relative to the connecting frame 42. In this way, when the gripping mechanism 30 grips the upper plate 210, the two can avoid rigid impact, and the upper plate 210 and the gripping mechanism 30 are not easily damaged.

[0082] The aforementioned buffer 120 can be a slide cylinder. The cylinder body is connected to the connecting frame 42, and the slide is connected to the gripping mechanism 30. The slide cylinder can absorb and buffer the impact force through the compressed gas inside its cylinder.

[0083] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0084] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A clamp flipping device, the clamp comprising a detachable upper plate and a lower plate, the flipping device being used to drive the upper plate to flip relative to the lower plate, characterized in that, The clamp flipping device includes: frame; A platform for connecting the download board; A gripping mechanism for gripping and releasing the upper plate; X-axis drive mechanism, the X-axis drive mechanism is used to drive the stage to move relative to the frame along the X-axis direction; A flipping drive mechanism is used to drive the gripping mechanism to rotate relative to the frame about the Y-axis. Z-axis drive mechanism, the Z-axis drive mechanism being used to drive at least one of the X-axis drive mechanism and the flip drive mechanism to move relative to the frame along the Z-axis direction.

2. The clamp flipping device according to claim 1, characterized in that, The clamp flipping device also includes an unlocking component disposed on the gripping mechanism, the unlocking component being used to release the lock between the upper plate and the download plate during the process of the gripping mechanism gripping the upper plate.

3. The clamp flipping device according to claim 2, characterized in that, The gripping mechanism includes a gripping module, which includes a base plate and two grippers connected to the base plate. At least one gripper is movably disposed relative to the base plate so that the two grippers can move closer to each other and further apart. The gripping mechanism also includes a gripper driving module for driving the two grippers to move closer to each other and further apart. The unlocking element is connected to a gripper that is movably disposed relative to the substrate. The unlocking element is used to release the lock between the upload board and the download board during the process of the two grippers moving close together to grasp the upload board.

4. The clamp flipping device according to claim 3, characterized in that, The gripping mechanism further includes a gripping module for gripping and releasing the gripping module, the gripping module being connected to the flipping drive mechanism; The clamp flipping device also includes a locking mechanism for locking and releasing the gripping module. When the gripping module is locked to the locking mechanism, the gripping module and the platform are set at an angle.

5. The clamp flipping device according to claim 4, characterized in that, The platform includes a main body connected to the output end of the X-axis drive mechanism and a detachable part connected to the main body. The detachable part is used to connect the download board, and the locking mechanism is located on the detachable part.

6. The clamp flipping device according to claim 5, characterized in that, The gripper driving module includes a second elastic element and a gripper driving assembly. The second elastic element is disposed between the substrate and the gripper movably disposed relative to the substrate, so that the two grippers tend to move closer to each other. The gripper driving assembly is disposed in the gripping module. When the gripping module grips the grasping module, the gripper driving assembly is used to drive the two grippers to move away from each other.

7. The clamp flipping device according to claim 5, characterized in that, The locking mechanism includes: A bracket, which is connected to the separation portion; A first locking member and a second locking member are disposed on the bracket, and the two locking members can move closer to each other and further away from each other relative to the bracket along the Y-axis direction.

8. A product processing method, characterized in that, The product processing method uses the clamp flipping device according to any one of claims 1-3 and includes the following steps: Provide a product comprising a separable first part and a second part, and a flexible connection structure connecting the first part and the second part; The first part is placed on the download plate of the fixture, the second part is placed on the upper plate of the fixture, and the upper plate and the download plate are closed together. Connect the download board to the platform; The gripping mechanism grips the upper plate, and then the Z-axis drive mechanism drives at least one of the X-axis drive mechanism and the flip drive mechanism to move relative to the frame along the Z-axis direction, so that the upper plate and the download plate are separated along the Z-axis direction. The flipping drive mechanism drives the gripping mechanism to rotate relative to the frame on one side in the X-axis direction. At the same time, the X-axis drive mechanism drives the platform to move relative to the frame on the other side in the X-axis direction, so that the upper loading plate and the lowering plate unfold together.

9. The product processing method according to claim 8, characterized in that, The gripping mechanism includes a gripping module for gripping and releasing the upper plate, and a clamping module for clamping and releasing the gripping module, wherein the clamping module is connected to the flipping drive mechanism; the clamping flipping device further includes a locking mechanism for locking and releasing the gripping module. The step "the gripping mechanism grips the upper plate" specifically refers to the gripping module gripping the upper plate; after the step "the flipping drive mechanism drives the gripping mechanism to rotate relative to the frame towards one side of the X-axis", the product processing method further includes the following steps: The gripping module is locked to the locking mechanism. When the gripping module is locked to the locking mechanism, the gripping module and the platform are set at an angle.

10. The product processing method according to claim 9, characterized in that, The platform includes a main body connected to the output end of the X-axis drive mechanism and a detachable part detachably connected to the main body. The detachable part is used to connect the download board, and the locking mechanism is located on the detachable part. After the step "locking the gripping module to the locking mechanism", the product processing method further includes the following steps: The gripping module releases the grasping module; The separating section is separated from the main body.

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