Turnover device

Abstract

The utility model relates to a turnover device. The turnover device comprises a first turnover mechanism and a second turnover mechanism; the first turnover mechanism comprises a first rotating platform and a first suction cup; the first suction cup is arranged on the first rotating platform and used for sucking materials to be turned over. The first rotating platform is used for driving the first sucker to rotate, so that the first sucker can rotate from an initial angle to a first angle; the second turnover mechanism comprises a second rotating platform and a second suction cup; the second suction cup is arranged on the second rotating platform and used for sucking the materials to be turned over. The second rotating platform is used for driving the second suction cup to rotate so that the second suction cup can rotate from the first angle to the target angle. According to the turnover device, the turnover process is simple, the turnover efficiency is high, and materials to be turned are not prone to falling off in the turnover process.

Description

Technical Field

[0001] The utility model relates to the technical field of turning over materials such as PCBs, and in particular to a turning over device. Background Art

[0002] Circuit boards are basic components of the modern electronics industry. Common circuit boards include printed circuit boards (PCBs) and flexible circuit boards (FPCs). With the advancement of technology and the increase in demand, double-sided printed PCBs and FPCs are widely used. In the process of double-sided printed PCBs and FPCs, they generally have to be turned over.

[0003] In the prior art, when turning over PCBs, FPCs, etc., especially when turning over a PCB or FPC of a new specification or size during production switching, problems such as low turning efficiency and easy falling may occur. Utility Model Content

[0004] The utility model provides a turning device to solve the technical problems of low turning efficiency, material falling and the like that are easy to occur during turning in the above-mentioned prior art.

[0005] The utility model provides a flipping device, which includes a first flipping mechanism and a second flipping mechanism; the first flipping mechanism includes a first rotating platform and a first suction cup; the first suction cup is arranged on the first rotating platform, and is used to absorb the material to be turned over; the first rotating platform is used to drive the first suction cup to rotate, so that the first suction cup can be rotated from an initial angle to a first angle; the second flipping mechanism includes a second rotating platform and a second suction cup; the second suction cup is arranged on the second rotating platform, and is used to absorb the material to be turned over; the second rotating platform is used to drive the second suction cup to rotate, so that the second suction cup can be rotated from the first angle to a target angle.

[0006] In which, the flipping device also includes a first linear drive mechanism and / or a second linear drive mechanism; the first linear drive mechanism is connected to the first suction cup, and the first suction cup can reciprocate along the direction of the first angle under the drive of the first linear drive mechanism; the second linear drive mechanism is connected to the second suction cup, and the second suction cup can reciprocate along the direction of the first angle under the drive of the second linear drive mechanism.

[0007] Wherein, the flipping device includes a linear motor, and the linear motor includes a first mover and a second mover; the first linear drive mechanism is the first mover, and the second linear drive mechanism is the second mover.

[0008] Wherein, the flipping device includes a screw module, and the screw module includes a first cylinder and a second cylinder; the first linear drive mechanism is the first cylinder, and the second linear drive mechanism is the second cylinder.

[0009] Among them, the flipping device also includes a first lifting mechanism and a second lifting mechanism; the first lifting mechanism is connected to the first suction cup, and is used to drive the first suction cup to rise and fall; the second lifting mechanism is connected to the second suction cup, and is used to drive the second suction cup to rise and fall.

[0010] The first suction cup is in a horizontal state when at an initial angle and in a vertical state when at a first angle; the second suction cup is in a vertical state when at the first angle and in a horizontal state when at a target angle.

[0011] Wherein, a plurality of suction nozzles are arranged on the first suction cup and the second suction cup, and each of the suction nozzles can be opened and closed.

[0012] Wherein, the flipping device includes a first detection unit and a control unit; the first detection unit is used to determine the position of each suction nozzle adsorbed on the material to be flipped, and the control unit is used to control the suction nozzle adsorbed on the hollow area of ​​the material to be flipped to close.

[0013] Wherein, the flipping device includes a second detection unit and a control unit; the second detection unit is used to detect whether the position where each suction nozzle is adsorbed on the material to be turned over is hollow, and the control unit is used to close the suction nozzle when the suction nozzle is adsorbed on the hollow area on the material to be turned over.

[0014] Wherein, the flipping device includes a controller, which is connected to the first rotating platform and the second rotating platform, and controls the first rotating platform to drive the first suction cup to rotate from an initial angle to a first angle and the second rotating platform to drive the second suction cup to rotate to the first angle simultaneously or sequentially.

[0015] The flipping method provided by the utility model is based on the above-mentioned flipping device, and the flipping method comprises:

[0016] Controlling the first suction cup to suck the material to be turned over;

[0017] Controlling the first rotating platform to rotate so that the first suction cup rotates from an initial angle to a first angle;

[0018] Controlling the second rotating platform to rotate so that the second suction cup rotates to a first angle;

[0019] Controlling the second suction cup to absorb the material to be turned over, and controlling the first suction cup to stop absorbing the material to be turned over;

[0020] The second rotating platform is controlled to rotate so that the second suction cup is rotated to a target angle.

[0021] Wherein, the second suction cup is rotated to the first angle and the first suction cup is rotated from the initial angle to the first angle simultaneously or sequentially.

[0022] The first suction cup rotates by 90° from the initial angle to the first angle, and the second suction cup rotates by 90° from the first angle to the target angle.

[0023] Before controlling the second suction cup to suck the material to be turned over, the first suction cup and / or the second suction cup is controlled to move so that the first suction cup and the second suction cup approach each other until they respectively touch two opposite sides of the material to be turned over.

[0024] Compared with the prior art, the above-mentioned turning device provided by the utility model has the following advantages:

[0025] The turning device provided by the utility model absorbs the material to be turned over by the first suction cup in the first turning mechanism, and the first rotating platform rotates the first suction cup and the material to be turned over sucked by it from the initial angle to the first angle; the second suction cup in the second turning mechanism is also at the first angle under the control of the second rotating platform, and at the position of the first angle, it absorbs the material to be turned over sucked by the first suction cup; then the second rotating platform drives the second suction cup and the material to be turned over sucked by it to rotate to the target angle, thereby realizing the turning over of the material to be turned over. The turning over process is simple, the turning over efficiency is high, and the material to be turned over is not easy to fall off during the turning over process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present utility model, and together with the description, are used to explain the principles of the present utility model.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 This is a schematic diagram of the structure of the turning device in the embodiment of the utility model;

[0029] Figure 2 It is a structural schematic diagram of the turning device in the embodiment of the utility model for turning over the material to be turned over;

[0030] Figure 3 for Figure 1 A schematic diagram of the unfolding structure of the flip device shown;

[0031] Figure 4 It is a structural schematic diagram of the first turning mechanism and the second turning mechanism;

[0032] Figure 5 It is a flow chart of the flipping method in the embodiment of the utility model.

[0033] In the figure:

[0034] 10-first turning mechanism; 101-first rotating platform; 102-first suction cup;

[0035] 20-second turning mechanism; 201-second rotating platform; 202-second suction cup;

[0036] 30- linear motor; 31- first mover; 32- second mover;

[0037] 40- first lifting mechanism;

[0038] 50- second lifting mechanism;

[0039] 60-Gantry;

[0040] A1-initial position; A2-target position. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] The embodiments of the turning device provided by the utility model are described below in conjunction with the accompanying drawings.

[0043] In one embodiment of the turning device of the present invention, Figure 1 to Figure 4As shown, the flipping device includes a first flipping mechanism 10 and a second flipping mechanism 20. The first flipping mechanism 10 includes a first rotating platform 101 and a first suction cup 102; the first suction cup 102 is arranged on the first rotating platform 101, and is used to absorb the material to be flipped; the first rotating platform 101 is used to drive the first suction cup 102 to rotate, so that the first suction cup 102 can rotate from an initial angle to a first angle. The second flipping mechanism 20 includes a second rotating platform 201 and a second suction cup 202; the second suction cup 202 is arranged on the second rotating platform 201, and is used to absorb the material to be flipped; the second rotating platform 201 is used to drive the second suction cup 202 to rotate, so that the second suction cup 202 can rotate from a first angle to a target angle.

[0044] In this embodiment, the material to be turned over may be, for example, a printed circuit board (PCB), a flexible circuit board (FPC), etc. The initial angle of the first suction cup 102 may be, for example, a horizontal state, the first angle of the first suction cup 102 and the second suction cup 202 may be, for example, a vertical state, and the target angle of the second suction cup 202 may be, for example, a horizontal state. For the material to be turned over that is sucked and fixed by the first suction cup 102 and the second suction cup 202, it is placed horizontally at the initial angle (side A facing upward), it is placed vertically at the first angle, and becomes horizontally placed at the target angle (side B facing upward, side A and side B are two opposite sides of the material to be turned over).

[0045] In this embodiment, when turning over the material to be turned over, firstly, the first suction cup 102 sucks the material to be turned over from the initial position A1.

[0046] For double-sided circuit boards (including PCBs, FPCs, etc.), the two sides (side A and side B) are generally processed in different stations in sequence. After side A is processed, it is transferred to another station to process side B and turned over during the process. In this case, the initial position A1 is the position after side A is processed, that is, the station for processing side A. The first suction cup 102 is set above the initial position A1, and at this time, the first suction cup 102 absorbs side A of the circuit board to be processed.

[0047] Thereafter, the first rotating platform 101 drives the first suction cup 102 to rotate, so that the first suction cup 102 and the material to be turned over sucked therein are rotated from a horizontal placement state to a vertical placement state.

[0048] Still taking the circuit board as an example, in the above process, the first suction cup 102 can be rotated toward the second flip mechanism 20 when rotating, so that the first suction cup 102 in a vertical position can be directed toward the second flip mechanism 20. At this time, the B surface of the circuit board adsorbed on the first suction cup 102 faces the second flip mechanism 20. This makes it easier for the second suction cup 202 on the second flip mechanism 20 to adsorb the B surface of the circuit board.

[0049] Before, after or simultaneously with the above process, the second rotating platform 201 drives the second suction cup 202 to rotate, so that the second suction cup 202 rotates to a horizontal placement state.

[0050] Then, the second suction cup 202 docks with the material to be turned over, and absorbs the material to be turned over. At the same time or thereafter, the first suction cup 102 no longer absorbs the material to be turned over, so that the material to be turned over is transferred from the first suction cup 102 to the second suction cup 202.

[0051] In the above process, the surface of the material to be turned over that is sucked by the second suction cup 202 is different from the surface that is sucked by the first suction cup 102. Taking the circuit board as an example, the second suction cup 202 sucks the B surface of the circuit board, and the first suction cup 102 stops sucking the A surface of the circuit board, and the circuit board is separated from the first suction cup 102 and sucked by the second suction cup 202.

[0052] Thereafter, the second rotating platform 201 drives the second suction cup 202 to rotate, so that the second suction cup 202 and the material to be turned over sucked therein are rotated from a vertical placement state to a horizontal placement state, and the material to be turned over is placed at the target position A2.

[0053] Still taking the circuit board as an example, its target position is the station where the B side is processed. The second flipping mechanism 20 is generally arranged above the target position. At this time, the B side of the circuit board adsorbed by the second suction cup 202 is on the top, and the A side is on the bottom. In this way, when the second suction cup 202 stops adsorbing the circuit board and places the circuit board at the target position A2, the state of the circuit board changes to the B side on the top and the A side on the bottom, that is, the flipping is completed, and the B side of the circuit board can be processed at this station.

[0054] In this embodiment, the first suction cup in the first flipping mechanism sucks the material to be flipped, and the first rotating platform rotates the first suction cup and the material to be flipped sucked by it from the initial angle to the first angle; the second suction cup in the second flipping mechanism is also at the first angle under the control of the second rotating platform, and at the position of the first angle, it sucks the material to be flipped sucked by the first suction cup; then the second rotating platform drives the second suction cup and the material to be flipped sucked by it to rotate to the target angle, thereby realizing the flipping of the material to be flipped. The above flipping process is simple, the flipping efficiency is high, and the material to be flipped is not easy to fall during the flipping process.

[0055] In one embodiment of the flipping device, the flipping device further comprises a first linear drive mechanism and a second linear drive mechanism. The first linear drive mechanism is connected to the first suction cup 102, and the first suction cup 102 can reciprocate along the direction of the first angle under the drive of the first linear drive mechanism; the second linear drive mechanism is connected to the second suction cup 202, and the second suction cup 202 can reciprocate along the direction of the first angle under the drive of the second linear drive mechanism.

[0056] During the process of flipping the material to be turned over, when the first suction cup 102 and the second suction cup 202 are both rotated to the first angle, there is still a certain distance between them. In this case, the second suction cup 202 cannot contact and adsorb the material to be turned over, thereby failing to complete the transfer of the material to be turned over from the first suction cup 102 to the second suction cup 202.

[0057] In this embodiment, by setting up a first linear drive mechanism, the first suction cup 102 can be driven to approach the second suction cup 202, and by setting up a second linear drive mechanism, the second suction cup 202 can be driven to approach the first suction cup 102, so that the gap between the first suction cup 102 and the second suction cup 202 can be eliminated, so that the second suction cup 202 can absorb the material to be turned over, thereby realizing the transfer of the material to be turned over from the first suction cup 102 to the second suction cup 202.

[0058] In this embodiment, the first linear drive mechanism is connected to the first suction cup 102, and the structural form of the two can be directly connected or indirectly connected. For example, the first linear drive mechanism is connected to the first rotating platform 101, and the first linear drive mechanism drives the first rotating platform 101 and the first suction cup 102 to move linearly synchronously. The connection between the second linear drive mechanism and the second suction cup 202 is the same, and will not be repeated.

[0059] When turning over materials of different sizes, the first suction cup 102 and the second suction cup 202 generally need to be adjusted in a targeted manner to absorb the materials to be turned over more firmly and prevent the materials to be turned over from falling during the turning process. In this embodiment, the first linear drive mechanism and the second linear drive mechanism can also be used to specifically adjust the absorption position of the first suction cup 102 when absorbing the materials to be turned over and the position of the second suction cup 202 when placing the materials to be turned over for materials of different sizes, thereby facilitating the absorption and fixation of the materials to be turned over more firmly.

[0060] In this embodiment, the first linear drive mechanism and the second linear drive mechanism are provided at the same time, but in other alternative embodiments, only the first linear drive mechanism or only the second linear drive mechanism may be provided, which can also eliminate the interval between the first suction cup 102 and the second suction cup 202, so that the second suction cup 202 can adsorb the material to be turned over at the first angle. Specifically, when only one linear drive mechanism is provided, the first linear drive mechanism is preferably provided, because the first linear drive mechanism can adjust the adsorption position of the first suction cup 102 when adsorbing the material to be turned over, and can more firmly adsorb the material to be turned over, while the second linear drive mechanism is weaker than the first linear drive mechanism in this respect.

[0061] In a further embodiment of the flipping device, the flipping device includes a linear motor 30 , and the linear motor includes a first mover 31 and a second mover 32 ; the first linear drive mechanism is the first mover 31 , and the second linear drive mechanism is the second mover 32 .

[0062] In this embodiment, the first mover 31 and the second mover 32 on the linear motor 30 are used as the first linear drive mechanism and the second linear drive mechanism respectively, which can simplify the structure of the flipping device and reduce the cost of setting up the first linear drive mechanism and the second linear drive mechanism at the same time.

[0063] In an alternative embodiment of the flipping device, the flipping device includes a screw module, and the screw module includes a first cylinder and a second cylinder; the first linear drive mechanism is the first cylinder, and the second linear drive mechanism is the second cylinder.

[0064] In this embodiment, the first cylinder and the second cylinder are used as the first linear drive mechanism and the second linear drive mechanism respectively, which can also play the role of driving the first suction cup 102 and the second suction cup 202 to translate. However, compared with the above-mentioned embodiment in which the linear motor 30 is provided, the efficiency of the present embodiment in acting on the first suction cup 102 and the second suction cup 202 is lower, while the cost is similar. Therefore, in actual implementation, the above-mentioned embodiment in which the linear motor 30 is provided is preferably implemented.

[0065] In one embodiment of the flipping device, the flipping device further comprises a first lifting mechanism 40 and a second lifting mechanism 50. The first lifting mechanism 40 is connected to the first suction cup 102, and is used to drive the first suction cup 102 to rise and fall; the second lifting mechanism 50 is connected to the second suction cup 202, and is used to drive the second suction cup 202 to rise and fall.

[0066] As mentioned above, the first suction cup 102 and the second suction cup 202 are generally arranged above the material to be turned over. When the first suction cup 102 sucks the material to be turned over from the initial position of the material to be turned over, and when the second suction cup 202 places the material to be turned over to the target position, the first suction cup 102 and the second suction cup 202 need to rise and fall relative to the initial position and the target position of the material to be turned over.

[0067] In this embodiment, the first lifting mechanism 40 drives the first suction cup 102 to rise and fall, and the second lifting mechanism 50 drives the second suction cup 202 to rise and fall. Specifically, when the first suction cup 102 absorbs the material to be turned over from the initial position, the first lifting mechanism 40 drives the first suction cup 102 to fall, and after the absorption is completed, it drives the first suction cup 102 to rise. After the second suction cup 202 absorbs the material to be turned over from the first suction cup 102, the second lifting mechanism 50 drives the second suction cup 202 to fall, and after placing the material to be turned over at the target position, it drives the second suction cup 202 to rise.

[0068] In this embodiment, the first lifting mechanism 40 is connected to the first suction cup 102, and the structural form of the two can be directly connected or indirectly connected. For example, the first lifting mechanism 40 is connected to the first rotating platform 101, and the first lifting mechanism 40 drives the first rotating platform 101 and the first suction cup 102 to perform synchronous lifting and lowering movements. The connection between the second lifting mechanism 50 and the second suction cup 202 is the same, and will not be repeated.

[0069] In one embodiment of the flipping device, the first suction cup 102 is in a horizontal state when at the initial angle and in a vertical state when at the first angle; the second suction cup 202 is in a vertical state when at the first angle and in a horizontal state when at the target angle.

[0070] In this embodiment, the initial angle and target angle of the first suction cup 102 and the second suction cup 202 are both in a horizontal state, that is, the material to be turned over is also in a horizontal state. Taking a circuit board as an example, this makes it easy to process the A side and the B side of the circuit board. When the first angle is set to a vertical state, the first suction cup 102 and the second suction cup 202 only need to rotate 90°, which makes it easy to control the rotation process of the two and also makes it easy to transfer the material to be turned over between the first suction cup 102 and the second suction cup 202.

[0071] In one embodiment of the flipping device, a plurality of suction nozzles are disposed on the first suction cup 102 and the second suction cup 202, and each of the suction nozzles can be opened and closed.

[0072] In this embodiment, the suction nozzle contacts the material to be turned over and absorbs the material to be turned over in the contact area. Each suction nozzle can be connected to a negative pressure source such as a vacuum device through a pipeline, and the material to be turned over is absorbed by forming a negative pressure at the suction nozzle.

[0073] Due to the different sizes and shapes of the materials to be turned over, some of the suction nozzles will not contact the materials to be turned over when the materials are adsorbed. As for the circuit board, there are usually hollows on it, and when the circuit board is adsorbed, the suction nozzle may correspond to the hollows on the circuit board.

[0074] In this embodiment, the suction nozzles that are in actual contact with the material to be turned over are controlled to be opened to absorb the material to be turned over; while the suction nozzles that are not in contact with the material to be turned over and the suction nozzles corresponding to the hollows are closed to avoid pressure loss at these suction nozzles. The negative pressure strength at the suction nozzles that are in actual contact with the material to be turned over can be ensured, so that the material to be turned over can be absorbed and fixed more firmly.

[0075] Specifically, the plurality of suction nozzles may be arranged in a matrix.

[0076] In a further embodiment of the flipping device, the flipping device includes a first detection unit and a control unit; the first detection unit is used to determine the position of each suction nozzle adsorbed on the material to be turned over, and the control unit is used to control the suction nozzle adsorbed on the hollow area of ​​the material to be turned over to close.

[0077] In this embodiment, the first detection unit may be specifically an image acquisition device, which acquires images when the first suction cup 102 and the second suction cup 202 absorb the material to be turned over, and determines whether each suction nozzle is in contact with the material to be turned over and whether the contact area is hollow according to the acquired images. According to the result determined by the first detection unit, the control unit controls the state of each suction nozzle to control it to be closed or opened.

[0078] In addition, the first detection unit can also determine the position where each suction nozzle is adsorbed on the material to be turned over in other ways. For example, the first detection unit can obtain information about the size, shape and position of the material to be turned over, and obtain position information of multiple suction nozzles on the first suction cup 102 and the second suction cup 202. Based on the above information, it can be determined whether each suction nozzle of the first suction cup 102 and the second suction cup 202 will contact the material to be turned over when sucking the material to be turned over, which area of ​​the material to be turned over is contacted, whether the contacted area is hollow, etc.

[0079] In an alternative embodiment of the flipping device, the flipping device includes a second detection unit and a control unit; the second detection unit is used to detect whether the position where each suction nozzle is adsorbed on the material to be turned over is hollow, and the control unit is used to close the suction nozzle when the suction nozzle is adsorbed on the hollow area on the material to be turned over.

[0080] It is understandable that the air pressure and airflow parameters at the suction nozzle are different when it is in contact with and adsorbed on the material to be turned over, and when it is not in contact with the material to be turned over or the area in contact with the material to be turned over is hollow. In this embodiment, the second detection unit may include, for example, an air pressure or airflow sensor, which determines whether the suction nozzle is in contact with the material to be turned over by detecting the air pressure and airflow parameters at each suction nozzle. Based on the result determined by the second detection unit, the control unit can close the suction nozzle that is not in contact with the material to be turned over and the suction nozzle that is in contact with the hollow area of ​​the material to be turned over to avoid pressure loss.

[0081] In one embodiment of the turning device, the turning device further comprises a gantry 60, and the first turning mechanism 10 and the second turning mechanism 20 are arranged on the gantry 60. In addition, the first linear drive mechanism and the second linear drive mechanism can also be arranged on the gantry 60.

[0082] For example, in Figure 1 and Figure 2 In the structure shown, the linear motor 30 is arranged on the gantry 60, and the first mover 31 and the second mover 32 serving as the first linear drive mechanism and the second linear drive mechanism respectively can translate in the horizontal direction along the gantry 60; the first lifting mechanism 40 and the second lifting mechanism 50 are respectively arranged on the first mover 31 and the second mover 32; and the first flipping mechanism 10 and the second flipping mechanism 20 are respectively arranged on the first lifting mechanism 40 and the second lifting mechanism 50.

[0083] In one embodiment of the flipping device, the flipping device includes a controller, which is connected to the first rotating platform 101 and the second rotating platform 201, and controls the first rotating platform 101 to drive the first suction cup 102 to rotate from the initial angle to the first angle and the second rotating platform 201 to drive the second suction cup 202 to rotate to the first angle simultaneously or sequentially. The meaning of sequentially includes that the first suction cup 102 rotates to the first angle first and the second suction cup 202 rotates to the first angle later, and the second suction cup 202 rotates to the first angle first and the first suction cup 102 rotates to the first angle later. In the actual implementation process, the controller can be configured to control the specific order of the rotation of the first suction cup 101 and the second suction cup 102 as needed. But generally, in order to achieve the flipping process more efficiently, the controller can control that when the first rotating platform 102 drives the first suction cup 101 to rotate to the first angle, the second suction cup 102 has been driven by the second rotating platform 201 to rotate to the first angle in advance or at the same time.

[0084] In one embodiment of the flipping method of the present invention, the flipping method is implemented based on the flipping device described in the above embodiment. The flipping method specifically includes the following steps S1 to S5: Figure 5 shown.

[0085] Step S1, controlling the first suction cup 102 to suck the material to be turned over.

[0086] For the flipping device, the first suction cup 102 is generally located above the material to be flipped. In step S1, the first suction cup 102 can, for example, move vertically downward to reach the material to be flipped and absorb the upper surface of the material to be flipped. The vertical downward movement of the first suction cup 102 can be specifically driven by the first lifting mechanism 40.

[0087] Before the first suction cup 102 absorbs the material to be turned over, the position of the first suction cup 102 in the horizontal direction can be pre-adjusted according to the size and shape of the material to be turned over, so that the position of the first suction cup 102 in the vertical direction relative to the material to be turned over is more suitable for sucking and fixing the material to be turned over, for example, the first suction cup 102 is moved to a position corresponding to the central area of ​​the material to be turned over, that is, the projection of the first suction cup 102 on the material to be turned over is located in the central area of ​​the material to be turned over, so that the material to be turned over can be better and more firmly absorbed and fixed, and the material to be turned over can be prevented from falling during the turning process. The horizontal position adjustment of the first suction cup 102 can be driven by the first linear drive mechanism.

[0088] When the first suction cup 102 absorbs the material to be turned over, the states of the multiple suction nozzles of the first suction cup 102 are adjusted according to the contact area between the first suction cup 102 and the material to be turned over. Specifically, the state of the suction nozzles in the contact area and actually in contact with the material to be turned over is set to open, so that negative pressure is generated at the suction nozzles to absorb the material to be turned over; and the state of the suction nozzles not in the contact area, and the suction nozzles in the contact area but corresponding to the hollow area on the material to be turned over are set to closed, so as to avoid pressure loss at these suction nozzles and ensure that there is sufficient negative pressure at the suction nozzles in the contact area to absorb and fix the material to be turned over.

[0089] Step S2, controlling the first rotating platform 101 to rotate so that the first suction cup 102 rotates from an initial angle to a first angle.

[0090] In step S2, the initial angle of the first suction cup 102 can be specifically horizontal, at which time, the material to be turned over sucked by the first suction cup 102 is also in a horizontal state; the first angle can be vertical, at which time, the material to be turned over sucked by the first suction cup 102 is also in a vertical state. That is, in step S2, the first rotating platform 101 drives the first suction cup 102 and the material to be turned over sucked by the first suction cup 102 to rotate 90 degrees.

[0091] Step S3, controlling the second rotating platform 201 to rotate so that the second suction cup 202 rotates to a first angle.

[0092] In step S3, the second suction cup 202 rotates to the first angle and the first suction cup 102 rotates from the initial angle to the first angle can be performed simultaneously or sequentially. The meaning of sequentially performing includes that the first suction cup 102 rotates to the first angle first and the second suction cup 202 rotates to the first angle later, and the second suction cup 202 rotates to the first angle first and the first suction cup 102 rotates to the first angle later.

[0093] Step S4, controlling the second suction cup 202 to suck the material to be turned over, and controlling the first suction cup 102 to stop sucking the material to be turned over.

[0094] In step S4, after the first suction cup 102 and the second suction cup 202 are both at the first angle, generally, there is still a certain distance between them. At this time, before controlling the second suction cup 202 to suck the material to be turned over, the first suction cup 102 or the second suction cup 202 is controlled to move, or the first suction cup 102 and the second suction cup 202 are controlled to move simultaneously, so that the first suction cup 102 and the second suction cup 202 are moved towards each other until they touch the two opposite sides of the material to be turned over respectively. In this process, the first suction cup 102 can be driven by the first linear drive mechanism, and the second suction cup 202 can be driven by the second linear drive mechanism.

[0095] When the first suction cup 102 and the second suction cup 202 approach each other until the second suction cup 202 contacts the material to be turned over, the suction nozzle on the second suction cup 202 can suck the material to be turned over, and the surface of the material to be turned over sucked by the second suction cup 202 is the lower surface of the material to be turned over at the initial position (as opposed to the upper surface of the material to be turned over sucked by the first suction cup 102 at the initial position).

[0096] After the second suction cup 202 sucks the material to be turned over, the suction nozzle on the first suction cup 102 stops sucking the material to be turned over, and the material to be turned over is transferred from the first suction cup 102 to the second suction cup 202. Subsequently, the second suction cup performs step S5, and the first suction cup 102 can be driven by the first rotating platform 101 to rotate back to the original position.

[0097] Step S5, controlling the second rotating platform 201 to rotate so that the second suction cup 202 rotates to a target angle.

[0098] In step S2, the target angle of the second suction cup 202 can be specifically a horizontal state, and the target position of the material to be turned over is located below the second turning mechanism 20. At this time, the second rotating platform 201 drives the second suction cup 202 and the material to be turned over sucked by it to rotate downward, and rotates from the first angle to a horizontal state. In this process, the first rotating platform 101 drives the first suction cup 102 and the material to be turned over sucked by the first suction cup 102 to rotate at an angle of 90°.

[0099] After the second suction cup 202 rotates to the target angle, the material to be turned over is roughly above its target position. At this time, the second suction cup 202 can make a vertical downward movement, and stop adsorbing the material to be turned over when it moves to the target position. The material to be turned over is placed at its target position, and at this time, the side of the material to be turned over facing upward is the side facing downward at its initial position, thereby achieving turning over.

[0100] The flipping method provided by the above embodiment of the utility model firstly sucks the material to be flipped by the first suction cup, and the first rotating platform rotates the first suction cup and the material to be flipped sucked by it from the initial angle to the first angle; the second suction cup is also at the first angle under the control of the second rotating platform, and at the position of the first angle, it adsorbs the material to be flipped sucked by the first suction cup; then the second rotating platform drives the second suction cup and the material to be flipped sucked by it to rotate to the target angle, thereby realizing the flipping of the material to be flipped. The above flipping process is simple, the flipping efficiency is high, and the material to be flipped is not easy to fall during the flipping process.

[0101] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0102] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A turning device, characterized in that: The flipping device comprises a first flipping mechanism and a second flipping mechanism; The first turning mechanism includes a first rotating platform and a first suction cup; the first suction cup is arranged on the first rotating platform and is used to absorb the material to be turned over; the first rotating platform is used to drive the first suction cup to rotate, so that the first suction cup can rotate from an initial angle to a first angle; The second turning mechanism includes a second rotating platform and a second suction cup; the second suction cup is arranged on the second rotating platform and is used to absorb the material to be turned over; the second rotating platform is used to drive the second suction cup to rotate, so that the second suction cup can rotate from the first angle to the target angle.

2. The turning device according to claim 1, characterized in that: The flipping device further comprises a first linear drive mechanism and / or a second linear drive mechanism; The first linear drive mechanism is connected to the first suction cup, and the first suction cup can reciprocate along the direction of the first angle under the drive of the first linear drive mechanism; the second linear drive mechanism is connected to the second suction cup, and the second suction cup can reciprocate along the direction of the first angle under the drive of the second linear drive mechanism.

3. The turning device according to claim 2, characterized in that: The flipping device includes a linear motor, and the linear motor includes a first mover and a second mover; the first linear drive mechanism is the first mover, and the second linear drive mechanism is the second mover.

4. The turning device according to claim 2, characterized in that: The flipping device includes a screw module, and the screw module includes a first cylinder and a second cylinder; the first linear drive mechanism is the first cylinder, and the second linear drive mechanism is the second cylinder.

5. The turning device according to claim 1, characterized in that: The flipping device also includes a first lifting mechanism and a second lifting mechanism; The first lifting mechanism is connected to the first suction cup and is used to drive the first suction cup to rise and fall; the second lifting mechanism is connected to the second suction cup and is used to drive the second suction cup to rise and fall.

6. The turning device according to claim 1, characterized in that: The first suction cup is in a horizontal state when at the initial angle, and in a vertical state when at the first angle; The second suction cup is in a vertical state when at the first angle, and is in a horizontal state when at the target angle.

7. The turning device according to claim 1, characterized in that: The first suction cup and the second suction cup are provided with a plurality of suction nozzles, and each of the suction nozzles can be opened and closed.

8. The turning device according to claim 6, characterized in that: The flipping device includes a first detection unit and a control unit; The first detection unit is used to determine the position where each suction nozzle is adsorbed on the material to be turned over, and the control unit is used to control the suction nozzle of the hollow area adsorbed on the material to be turned over to be closed.

9. The turning device according to claim 6, characterized in that: The flipping device includes a second detection unit and a control unit; The second detection unit is used to detect whether the position where each suction nozzle is adsorbed on the material to be turned over is hollow, and the control unit is used to close the suction nozzle when the suction nozzle is adsorbed on the hollow area on the material to be turned over.

10. The turning device according to claim 1, characterized in that: The flipping device includes a controller, which is connected to the first rotating platform and the second rotating platform, and controls the first rotating platform to drive the first suction cup to rotate from an initial angle to a first angle and the second rotating platform to drive the second suction cup to rotate to the first angle simultaneously or sequentially.

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