Flipping devices, testing equipment and processing equipment

Abstract

The present application provides a flipping device, a detection device, and a processing device, which relate to the field of semiconductor or photovoltaic material processing, and solve the technical problem that the flipping device has a short horizontal displacement, which causes a conflict between the installation positions of the detection device and the conveying device. The flipping device includes: a support, a swing arm, a drive assembly, a transmission arm, a moving assembly, and a flipping assembly. Through this structure, the flipping assembly can perform unequal circular motion, so that the material grasped by the second end of the flipping assembly can perform unequal circular motion, that is, the material can be flipped and displaced horizontally for a long distance at the same time, so that the flipped material can be close to or even exceed the edge of the conveying device, so that the detection device can be installed on the outside of the conveying device and close to the flipped material to achieve accurate detection of the other side of the material.

Description

Technical Field

[0001] The present application relates to the field of semiconductor or photovoltaic material processing, and specifically to a flipping device, a detection device, and a processing device. Background Art

[0002] In photovoltaic manufacturing, it is necessary to turn the material over, for example, to inspect or process the back of the material. For example, when inspecting the material, both the upper and lower surfaces of the material need to be inspected. Therefore, during the inspection process of the material, a turning device needs to be used to turn the material over to inspect the other side of the material.

[0003] In a traditional flipping device, the robotic arm can grab the material vertically downward, and then the driving source can control the robotic arm to make a circular motion, so that the robotic arm rotates 90 degrees to a horizontal state, thereby exposing the other side of the material. However, if the other side of the material is to be accurately detected, the detection device needs to be installed close to the flipped material. In actual production, materials are usually transported by transportation devices such as conveyor belts. When the robotic arm carries the material to make a circular motion, the horizontal displacement of the material is small. Since the conveying device is long in the horizontal direction, if the detection device is to be close to the flipped material, the installation position of the detection device will conflict with the conveying device. Therefore, there is an urgent need for a flipping device that can cause the material to displace a longer distance in the horizontal direction, so that the detection device can avoid conflict with the installation position of the conveying device while being able to approach the material. Utility Model Content

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a flipping device, a detection device and a processing device.

[0005] In the first aspect, an embodiment of the present application provides a flipping device, characterized in that it includes: a support, a swing arm, a driving assembly, a transmission arm, a moving assembly and a flipping assembly; the first end of the swing arm is rotatably connected to the support; the driving assembly is connected to the swing arm, and is configured to drive the swing arm to swing on a first plane; the first end of the transmission arm is rotatably connected to the second end of the swing arm; the moving assembly includes a connecting member and a moving member, the moving member is rotatably connected to the second end of the transmission arm through the connecting member, the moving member is slidably connected to the support along a first straight line, and the first straight line is arranged parallel to the first plane; the first end of the flipping assembly is fixedly connected to the first end of the transmission arm, and the second end of the flipping assembly is used to grab materials.

[0006] In some embodiments, the swing arm swings around the first axis on the first plane, and the distance from the second end of the swing arm to the first axis is greater than the distance from the first straight line to the first axis.

[0007] In some embodiments, the support has a first slide groove, the first slide groove extends along a first straight line direction, and the moving member is slidably connected to the first slide groove.

[0008] In some embodiments, the moving member is a first roller, the first roller is rotatably connected to the connecting member, and the first roller is rollingly connected to the first sliding groove.

[0009] In some embodiments, the support is vertically arranged, the first slide groove is arranged at the top of the support, and the first end of the swing arm is rotatably connected to the bottom of the support.

[0010] In some embodiments, the second end of the transmission arm is rotatably connected to the connecting member.

[0011] In some embodiments, the flipping assembly includes: a bearing seat, at least one bearing, a rotating shaft, a flipping arm, and a grabbing piece, wherein the bearing seat is fixedly connected to the second end of the swing arm; the bearing is arranged in the bearing seat; the rotating shaft passes through at least one bearing, and the first end of the rotating shaft is fixedly connected to the first end of the transmission arm; the first end of the flipping arm is fixedly connected to the second end of the rotating shaft; the grabbing piece is connected to the second end of the flipping arm, and the grabbing piece is used to grab materials.

[0012] In some embodiments, the driving assembly includes: a transmission member and a driving member, the transmission member is located on one side of the swing arm, the first end of the transmission member is rotatably connected to the support, and the second end of the transmission member is rotatably connected to the swing arm; the driving member is transmission-connected to the transmission member, and the driving member is used to drive the first end of the transmission member to move along an arc.

[0013] In some embodiments, the driving member includes: a driving source, a rotating wheel, the rotating wheel is connected to the driving source and is configured to rotate under the drive of the driving source, the end face of the rotating wheel is provided with an annular groove, and the middle part surrounded by the annular groove forms a cam; the transmission member includes: a support shaft, a first arm segment, a second arm segment, and a connecting rod, the support shaft is rotatably connected to the support; the first end of the first arm segment slides in the annular groove; the second arm segment is set at an angle greater than 0° and less than 180° to the first arm segment, and the first end of the second arm segment is connected to the second end of the first arm segment, wherein the connection area between the first arm segment and the second arm segment is fixedly connected to the support shaft; the first end of the connecting rod is rotatably connected to the second end of the second arm segment, and the second end of the connecting rod is rotatably connected between the first end of the swing arm and the second end of the swing arm.

[0014] In some embodiments, the driving member further includes a second roller, which is rotatably connected to the first end of the first arm segment, and the second roller is located in the annular groove and rolls along the wheel surface of the cam.

[0015] In the second aspect, an embodiment of the present application provides a detection device, comprising: a flipping device of any one of the above-mentioned first aspects, configured to grab the material and drive the material to flip; a detection device, located on one side of the flipping device, and configured to detect the material after the material is flipped.

[0016] In a third aspect, an embodiment of the present application provides a processing device, comprising: a flipping device according to any one of the first aspects above, configured to grab materials and drive the materials to flip; a processing device, located on one side of the flipping device, and configured to process and / or detect the materials.

[0017] The flipping device and detection equipment proposed in the embodiment of the present application, the driving component can drive the swing arm to swing on the first plane, thereby driving the transmission arm to rotate and move, thereby driving the moving part to slide along the first straight line, and the sliding of the moving part along the first straight line further drives the transmission arm to move along the first straight line, so that the transmission arm can make unequal circular motion under the drive of the swing arm and the moving part, and further, the flipping component also makes unequal circular motion under the drive of the transmission arm, so that the material grasped by the second end of the flipping component can make unequal circular motion, that is, the material can simultaneously realize flipping and horizontal displacement over a long distance, so that the flipped material can be close to or even exceed the edge of the conveying device, so that the detection device can be installed on the outside of the conveying device and close to the flipped material to achieve accurate detection of the other side of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 Shown is a schematic structural diagram of a flipping device provided by an exemplary embodiment of the present application.

[0020] Figure 2 Shown is a schematic structural diagram of a flipping device provided by another exemplary embodiment of the present application.

[0021] Figure 3 Shown is a front view of a flipping device provided by an exemplary embodiment of the present application.

[0022] Figure 4 Shown is a front view of a flipping device provided by another exemplary embodiment of the present application.

[0023] Figure 5 Shown is a top view of a flip device provided by an exemplary embodiment of the present application.

[0024] Figure 6 Shown is a schematic diagram of the motion trajectory of a transmission arm and a swing arm provided by an exemplary embodiment of the present application.

[0025] Figure 7 Shown is a schematic structural diagram of a flipping device provided by yet another exemplary embodiment of the present application.

[0026] Figure 8 Shown is a schematic structural diagram of a detection device provided by an exemplary embodiment of the present application.

[0027] Fig. 9 Shown is a schematic structural diagram of a processing device provided by an exemplary embodiment of the present application.

[0028] Reference numerals:

[0029] 100, turning device; 101, support; 1011, first slide; 102, swing arm; 1021, mounting plate; 1022, bottom plate; 1023, roller mounting hole; 103, driving assembly; 1031, transmission member; 10311, support shaft; 10312, first arm section; 10313, second arm section; 10314, connecting rod; 10315, driving shaft; 1032, driving member; 10321, rotating wheel; 103211, annular slide; 10322, second roller Wheel; 104, transmission arm; 105, moving component; 1051, connecting piece; 1052, moving piece; 106, flipping component; 1061, bearing seat; 1062, bearing; 1063, rotating shaft; 1064, flipping arm; 1065, grabbing piece; 107, swing arm bearing seat; 108, swing arm rotating shaft; 109, rotating shaft; 110, third roller; 111, guide plate; 300, detection equipment; 310, detection device; 400, processing equipment; 410, processing device. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] Application Overview

[0032] The quality and defect detection of semiconductor materials (such as silicon wafers) is crucial to the photovoltaic industry. Traditional detection methods include visual inspection and manual sampling, but they are inefficient and prone to human errors. With the advancement of optical detection technology and image processing algorithms, automated silicon wafer detection has become possible, such as the use of photovoltaic laser equipment for automated optical inspection (AOI), photoluminescence testing (PL), and square resistance detection. Usually, automated detection is to place the semiconductor material on a synchronous belt for transmission, and use cameras, sensors, and related image processing algorithms to perform detection. With the development of technology, when detecting semiconductor materials, it is necessary to detect both the upper and lower surfaces of the semiconductor material. Therefore, during the detection process of the semiconductor material, the semiconductor material needs to be flipped (such as flipping 90 degrees or 180 degrees) to detect the other side of the semiconductor material.

[0033] In a traditional flipping device, the robotic arm can grab the material vertically downward, and then the driving source can control the robotic arm to make a circular motion, so that the robotic arm rotates 90 degrees to a horizontal state, thereby exposing the other side of the material. However, if the other side of the material is to be accurately detected, the detection device needs to be installed close to the flipped material. In actual production, materials are usually transported by transportation devices such as conveyor belts. When the robotic arm carries the material to make a circular motion, the horizontal displacement of the material is small. Since the conveying device is long in the horizontal direction, if the detection device is to be close to the flipped material, the installation position of the detection device will conflict with the conveying device. Therefore, there is an urgent need for a flipping device that can cause the material to displace a longer distance in the horizontal direction, so that the detection device can avoid conflict with the installation position of the conveying device while being able to approach the material.

[0034] In view of this, the present application proposes a flipping device and a detection equipment, the flipping device includes: a support, a swing arm, a driving assembly, a transmission arm, a moving assembly and a flipping assembly; the first end of the swing arm is rotatably connected to the support; the driving assembly is connected to the swing arm, and is configured to drive the swing arm to swing on a first plane; the first end of the transmission arm is rotatably connected to the second end of the swing arm; the moving assembly includes a connecting member and a moving member, the moving member is connected to the second end of the transmission arm through the connecting member, the moving member is slidably connected to the support along a first straight line, the first straight line is arranged parallel to the first plane, and the second end of the moving member or the transmission arm is rotatably connected to the connecting member; the first end of the flipping assembly is fixedly connected to the first end of the transmission arm, and the second end of the flipping assembly is used to grab materials.

[0035] Through this structure, the driving component can drive the swing arm to swing on the first plane, thereby driving the transmission arm to rotate and driving the moving part to slide along the first straight line. The sliding of the moving part along the first straight line further drives the transmission arm to move along the first straight line, so that the transmission arm can make unequal circular motions under the drive of the swing arm and the moving part. Furthermore, the flipping component also makes unequal circular motions under the drive of the transmission arm. In this way, the material grasped by the second end of the flipping component can make unequal circular motions, that is, the material can be flipped and displaced horizontally for a long distance at the same time, so that the flipped material can be close to or even exceed the edge of the conveying device, so that the detection device can be installed on the outside of the conveying device and close to the flipped material to achieve accurate detection of the other side of the material.

[0036] Exemplary Devices

[0037] Figure 1 FIG. 1 is a schematic diagram of the structure of a flipping device provided by an exemplary embodiment of the present application. Figure 2 FIG. 1 is a schematic diagram of the structure of a flipping device provided by another exemplary embodiment of the present application. Figure 3 The figure shows a front view of a flipping device provided by an exemplary embodiment of the present application. Figure 4 FIG. 1 is a front view of a flip device provided by another exemplary embodiment of the present application. Figure 5 Shown is a top view of a flip device provided by an exemplary embodiment of the present application.

[0038] like Figure 1 to Figure 5 As shown, an embodiment of the present application provides a flipping device 100, comprising: a support 101, a swing arm 102, a driving assembly 103, a transmission arm 104, a moving assembly 105 and a flipping assembly 106; the first end of the swing arm 102 is rotatably connected to the support 101; the driving assembly 103 is connected to the swing arm 102, and is configured to drive the swing arm 102 to swing on a first plane; the first end of the transmission arm 104 is rotatably connected to the second end of the swing arm 102; the moving assembly 105 comprises a connecting member 1051 and a moving member 1052, the moving member 1052 is rotatably connected to the second end of the transmission arm 104 through the connecting member 1051, the moving member 1052 is slidably connected to the support 101 along a first straight line, and the first straight line is arranged parallel to the first plane; the first end of the flipping assembly 106 is fixedly connected to the first end of the transmission arm 104, and the second end of the flipping assembly 106 is used to grab materials.

[0039] Specifically, the support 101 may include a plurality of vertically placed elements, such as the support 101 may include a vertically placed support plate, and the first end of the swing arm 102 is rotatably connected to the support plate. The first plane is illustratively a vertical plane. In other embodiments, the first plane may also be an inclined plane, a horizontal plane, etc. The transmission arm 104 is illustratively a block structure, and in other embodiments, the transmission arm 104 may also be a rod-shaped structure, etc. The moving member 1052 may illustratively slide along a first straight line on the surface of the support 101. The material is illustratively a silicon wafer, a battery cell, or a glass substrate, etc. Exemplarily, the second end of the transmission arm 104 has a connector mounting hole, the first end of the connector 1051 passes through the connector mounting hole, and the first end of the connector 1051 is fixed to the second end of the transmission arm 104 by screws, bolts, connecting blocks, etc., and the second end of the connector 1051 is rotatably connected to the moving member 1052.

[0040] For example, Figure 1 and Figure 3 The figure shows the state when the turning device 100 lifts the material. Figure 2 and Figure 4 The figure shows the state when the turning device 100 grabs the material downwards.

[0041] In the above embodiment, the driving component 103 can drive the swing arm 102 to swing on the first plane, drive the transmission arm 104 to rotate and move, thereby driving the moving part 1052 to slide along the first straight line, and the sliding of the moving part 1052 along the first straight line further drives the transmission arm 104 to move along the first straight line, so that the transmission arm 104 can make unequal circular motions under the drive of the swing arm 102 and the moving part 1052. Furthermore, the flipping component 106 also makes unequal circular motions under the drive of the transmission arm. In this way, the material grasped by the second end of the flipping component 106 can make unequal circular motions, that is, the material can be flipped and displaced horizontally for a longer distance at the same time, so that the flipped material can be close to or even exceed the edge of the conveying device, so that the detection device can be installed on the outside of the conveying device and close to the flipped material to achieve accurate detection of the other side of the material.

[0042] Figure 6 Shown is a schematic diagram of the motion trajectory of a transmission arm and a swing arm provided by an exemplary embodiment of the present application.

[0043] In some embodiments, the second end of the transmission arm 104 is rotatably connected to the connecting member 1051. Through this structure, the transmission arm 104 can be rotated relative to the moving assembly 105.

[0044] In some embodiments, the swing arm 102 swings around the first axis on the first plane, and the distance from the second end of the swing arm 102 to the first axis is greater than the distance from the first straight line to the first axis. The first axis is an axis perpendicular to the first plane. With this structure, when the swing arm 102 performs circular motion, it can drive the transmission arm 104 to perform unequal circular motion. For example, Figure 6 As shown, the circular trajectory m represents the trajectory of the swing arm 102 when it makes a circular motion, the straight line X represents the trajectory of the transmission arm 104 along the first straight line motion, n1, n2, and n3 represent the trajectories that may be generated when the transmission arm 104 rotates when the swing arm 102 rotates to different positions (referred to as rotation trajectories for short), and the rotation trajectory of the transmission arm 104 and the trajectory of the transmission arm 104 along the first straight line motion are combined to obtain the actual motion trajectory of the transmission arm 104 (i.e., the transmission arm 104 performs unequal circular motion).

[0045] In some embodiments, Figure 1 As shown, the support 101 has a bearing seat mounting hole, and the flip device 100 further includes: a swing arm bearing seat 107, at least one swing arm bearing, and a swing arm rotating shaft 108. The swing arm bearing seat 107 is arranged in the bearing seat mounting hole; at least one swing arm bearing is arranged in the swing arm bearing seat 107; and the swing arm rotating shaft 108. The first end of the swing arm rotating shaft 108 is rotatably connected to the at least one swing arm bearing, and the second end of the swing arm rotating shaft 108 is connected to the first end of the swing arm 102. Exemplarily, the second end of the swing arm rotating shaft 108 can pass through the swing arm rotating shaft mounting hole of the first end of the swing arm 102, and the second end of the swing arm rotating shaft 108 is fixed to the first end of the swing arm 102 by screws, bolts, connecting blocks, etc.

[0046] In some embodiments, Figure 1 to Figure 4 As shown, the support 101 has a first slide groove 1011, the first slide groove 1011 extends along a first straight line direction, and the moving member 1052 is slidably connected to the first slide groove 1011. By sliding the moving member 1052 along the first slide groove 1011, the moving member 1052 can be accurately moved along the first straight line direction.

[0047] For example, Figure 1 to Figure 4 As shown, when the moving member 1052 rolls from the first end of the first slide groove 1011 to the second end of the first slide groove 1011, the flipping assembly 106 rotates 90 degrees counterclockwise, so that the grasped material can be flipped from a vertical state to a horizontal state. When the moving member 1052 rolls from the second end of the first slide groove 1011 to the first end of the first slide groove 1011, the flipping assembly 106 rotates 90 degrees clockwise, so that the grasped material can be flipped from a horizontal state to a vertical state.

[0048] In some embodiments, Figure 1As shown, the moving member 1052 is a first roller, which is rotatably connected to the connecting member 1051 and rollingly connected to the first slide groove 1011. By rollingly connecting the first roller to the first slide groove 1011, the friction force on the moving member 1052 during movement can be reduced compared to the sliding connection method.

[0049] In some embodiments, the moving component 105 is a first follower.

[0050] In some embodiments, Figure 1 to Figure 4 As shown, the support 101 is vertically arranged, the first slide slot 1011 is arranged at the top of the support 101 , and the first end of the swing arm 102 is rotatably connected to the bottom of the support 101 .

[0051] In some embodiments, Figure 1 As shown, the flip assembly 106 includes: a bearing seat 1061, at least one bearing 1062, a rotating shaft 1063, a flip arm 1064, and a grabbing member 1065. The bearing seat 1061 is fixedly connected to the second end of the swing arm 102 (such as by screws or bolts); at least one bearing 1062 is arranged in the bearing seat 1061; the rotating shaft 1063 passes through the at least one bearing 1062, and the first end of the rotating shaft 1063 is fixedly connected to the first end of the transmission arm 104 (such as the first end of the transmission arm 104 has a first rotating shaft mounting hole, and the first end of the rotating shaft 1063 can pass through the first rotating shaft mounting hole. The first end of the rotating shaft 1063 is fixedly connected to the first end of the transmission arm 104 through the first rotating shaft mounting hole and screws, bolts, connecting blocks, etc.); the flip arm 1064, the first end of the flip arm 1064 is fixedly connected to the second end of the rotating shaft 1063 (for example, the first end of the flip arm 1064 has a second rotating shaft mounting hole, the second end of the rotating shaft 1063 passes through the second rotating shaft mounting hole, and screws or bolts are used to fix the second end of the rotating shaft 1063 to the first end of the flip arm 1064); the grabbing member 1065 is connected to the second end of the flip arm 1064, and the grabbing member 1065 is used to grab materials. Among them, the grabbing member 1065 is exemplarily a vacuum suction cup.

[0052] Through this structure, the transmission arm 104 moves and rotates, which can drive the rotating shaft 1063 to move and rotate relative to the bearing 1062. The rotating shaft 1063 can drive the flip arm 1064 to move and rotate. The flip arm 1064 can drive the grabbing member 1065 to move and rotate, thereby causing the material grabbed by the grabbing member 1065 to move and rotate.

[0053] In some embodiments, Figure 3As shown, the swing arm 102 includes a mounting plate 1021 and a bottom plate 1022, the mounting plate 1021 is detachably connected to the bottom plate 1022, and the driving assembly 103 is connected to the mounting plate 1021. Specifically, the mounting plate 1021 can be installed at different positions of the bottom plate 1022, so that the rotation amplitude of the swing arm 102 driven by the driving assembly 103 can be adjusted, and then the angle of the material flipping by the flipping device 100 can be adjusted. In a specific example, Figure 3 As shown, the bottom plate 1022 is a long strip structure, and the mounting plate 1021 can be installed at different positions in the extension direction of the bottom plate 1022. There are two mounting plates 1021, which are respectively arranged on both sides of the bottom plate 1022. The two mounting plates 1021 are connected by a locking member (such as a screw or a bolt), so that the two mounting plates 1021 clamp the bottom plate 1022. More specifically, the swing arm 102 has a roller mounting hole 1023 (the roller mounting hole 1023 is described later), and the two mounting plates 1021 can be installed on both sides of the roller mounting hole 1023. The locking member can first pass through one of the mounting plates 1021, then pass through the roller mounting hole 1023, and finally pass through the other mounting plate 1021, so as to lock the mounting plate 1021 and the bottom plate 1022.

[0054] Figure 7 Shown is a schematic structural diagram of a flipping device provided by yet another exemplary embodiment of the present application.

[0055] In some embodiments, Figure 7 As shown, the support 101 has a first surface on one side close to the swing arm 102, and the first surface is parallel to the first plane. The flip device 100 also includes a rotating shaft 109 and a third roller 110. The rotating shaft 109 is connected to the swing arm 102 and is arranged parallel to the first surface. The third roller 110 is sleeved on the rotating shaft 109 and rotates around the rotating shaft 109. The third roller 110 is connected to the first surface in a rolling manner. Through this structure, the third roller 110 can roll on the first surface as the swing arm 102 rotates. The third roller 110 can support the swing arm 102, maintain the distance between the swing arm 102 and the first surface of the support 101, prevent the swing arm 102 from sinking toward the support 101, and can also enhance the structural stability of the swing arm 102 and prevent the swing arm 102 from deviating and rotating.

[0056] In some embodiments, Figure 2 , Figure 3 and Figure 7As shown, the swing arm 102 has a roller mounting hole 1023 extending in a direction perpendicular to the first surface, and the rotating shaft 109 and the third roller 110 are arranged in the roller mounting hole 1023; wherein, the flipping device 100 also includes a guide plate 111, which is arranged parallel to the first surface and is located on the side of the swing arm 102 away from the support 101, and the side of the guide plate 111 close to the swing arm 102 has a second slide groove; wherein, the third roller 110 rolls along the second slide groove.

[0057] With this structure, the rotating shaft 109 and the third roller 110 are arranged in the roller mounting hole 1023, which can save space. When the third roller 110 rolls, one side rolls along the first surface and the other side rolls along the second slide groove. Since the third roller 110 rolls along the second slide groove, the second slide groove can limit the posture of the third roller 110, preventing the third roller 110 from tilting due to gravity, pressure applied to the third roller 110 by the swing arm 102, loose connection between the third roller 110 and the rotating shaft 109, etc., thereby improving the structural stability.

[0058] In some embodiments, Figure 1 As shown, the driving component 103 includes: a transmission member 1031 and a driving member 1032, the transmission member 1031 is located on one side of the swing arm 102, the first end of the transmission member 1031 is rotatably connected to the support 101, and the second end of the transmission member 1031 is rotatably connected to the swing arm 102; the driving member 1032 is transmission-connected to the transmission member 1031, and the driving member 1032 is used to drive the first end of the transmission member 1031 to move along an arc, thereby causing the second end of the transmission member 1031 to move, so as to drive the swing arm 102 to rotate.

[0059] In some embodiments, Figure 1 to Figure 4As shown, the driving member 1032 includes: a driving source, a rotating wheel 10321, the rotating wheel 10321 is connected to the driving source and is configured to rotate under the drive of the driving source, and the end surface of the rotating wheel 10321 is provided with an annular groove 103211, and the middle part surrounded by the annular groove 103211 forms a cam. The transmission member 1031 includes: a support shaft 10311, a first arm section 10312, a second arm section 10313, and a connecting rod 10314, and the support shaft 10311 is rotatably connected to the support 101. The first end of the first arm section 10312 slides in the annular groove 103211. The second arm section 10313 is set at an angle greater than 0° and less than 180° with the first arm section 10312, and the first end of the second arm section 10313 is connected to the second end of the first arm section 10312. The connection area between the first arm segment 10312 and the second arm segment 10313 is fixedly connected to the support shaft 10311. The first end of the connecting rod 10314 is rotatably connected to the second end of the second arm segment 10313, and the second end of the connecting rod 10314 is rotatably connected between the first end of the swing arm 102 and the second end of the swing arm 102.

[0060] Specifically, the driving source can be a motor (such as a DC motor or a servo motor) or a cylinder. The driving source has a driving shaft 10315, and the center of the rotating wheel 10321 has a driving shaft mounting hole. The driving shaft 10315 can pass through the driving shaft mounting hole. The rotation of the driving shaft 10315 can drive the rotating wheel 10321 to rotate. The annular slide groove 103211 is composed of multiple groove segments with different curvatures.

[0061] The support 101 also includes at least one mounting frame, which has a first support shaft mounting hole, in which a support shaft bearing is arranged, the first end of the support shaft 10311 is rotatably connected to at least one support shaft bearing, the connection area between the first arm segment 10312 and the second arm segment 10313 has a second support shaft mounting hole, the second end of the support shaft 10311 passes through the second support shaft mounting hole, and the second end of the support shaft 10311 can be fixed to the connection area by screws, bolts, connecting blocks, etc.

[0062] The first end of the connecting rod 10314 has a first mounting hole, and the second end of the connecting rod 10314 has a second mounting hole. The first bolt passes through the first mounting hole and is screwed to the second end of the second arm segment 10313. The second bolt passes through the second mounting hole and is screwed between the first end and the second end of the swing arm 102. The first end of the connecting rod 10314 is rotatable relative to the first bolt, and the second end of the connecting rod 10314 is rotatable relative to the second bolt. The second end of the connecting rod 10314 can be rotatably connected to the above-mentioned mounting plate 1021.

[0063] In actual operation, due to the rotation of the rotating wheel 10321, the first end of the first arm segment 10312 can slide in the annular groove 103211. Since the annular groove 103211 is composed of multiple groove segments with different curvatures, when the first end of the first arm segment 10312 slides at different positions of the annular groove 103211, the first arm segment 10312 will move, thereby driving the connecting rod 10314 to move, and then driving the swing arm 102 to rotate. Through this structure, a driving force can be accurately applied to the swing arm 102, thereby driving the swing arm 102 to rotate.

[0064] In some embodiments, the driving member 1032 further includes a second roller 10322, which is rotatably connected to the first end of the first arm section 10312, and the second roller 10322 is located in the annular slide groove 103211 and rolls along the wheel surface of the cam. The rolling friction force generated by the second roller 10322 rolling along the wheel surface of the cam is smaller than the sliding friction force, so the friction force can be reduced through this structure.

[0065] In a specific example, the first end of the first arm segment 10312 has a third mounting hole, the driving member 1032 includes a second follower, the second follower includes a second roller 10322, a stud and a nut, the second roller 10322 is rotatably connected to the first end of the stud and slides in the annular groove 103211, and the second end of the stud passes through the third mounting hole and is threadedly connected to the nut.

[0066] Figure 8 Shown is a schematic structural diagram of a detection device provided by an exemplary embodiment of the present application.

[0067] Based on the same concept, the embodiment of the present application also provides a detection device 300. Figure 8 As shown, the detection device 300 includes: any of the flipping devices 100 in the above embodiments, configured to grab the material and drive the material to flip; a detection device 310, located on one side of the flipping device 100, and configured to detect the material after the material is flipped.

[0068] In some embodiments, the detection device 300 further includes a first transport device, which is used to transport the material to the flipping device 100 and transport the material detected by the detection device 310 to the next process. For example, the first transport device may be a conveyor belt.

[0069] In a specific application scenario, the first transport device transports the material to the bottom of the flipping device 100, the flipping device 100 grabs the material and flips it 90 degrees, from the horizontal direction to the vertical direction, the detection device 310 detects the back of the material (that is, the surface of the material in contact with the first transport device during transportation), and the flipping device 100 flips the inspected material 90 degrees, from the vertical direction to the horizontal direction, and places it on the first transport device, and the first transport device transports the material to the next process.

[0070] Fig. 9 Shown is a schematic structural diagram of a processing device provided by an exemplary embodiment of the present application.

[0071] Based on the same concept, Fig. 9 As shown, the embodiment of the present application also provides a processing device 400, which includes: any of the flipping devices 100 and processing devices 410 in the above embodiments, the flipping device 100 is configured to grab the material and drive the material to flip; the processing device 410 is located on one side of the flipping device 100 and is configured to process and / or detect the material. It should be noted that the processing device 410 can be a processing device to process the material; the processing device 410 can also be a detection device 310 to detect the material; the processing device 410 can also be a device with both processing and detection functions; those skilled in the art can choose according to the actual application scenario.

[0072] In some embodiments, the processing equipment 400 further includes a second transport device, which is used to transport the material to the flipping device 100 and transport the material processed or tested by the processing device 410 to the next process. Exemplarily, the second transport device may be a conveyor belt. In other embodiments, the second transport device may also be a roller conveyor, or a slide rail conveyor.

[0073] In a specific application scenario, the second transport device transports the material to the bottom of the flipping device 100, the flipping device 100 grabs the material and flips it 90 degrees from the horizontal direction to the vertical direction, the processing device 410 processes or inspects the back of the material (that is, the surface of the material that contacts the second transport device during transportation), and the flipping device 100 flips the processed or inspected material 90 degrees from the vertical direction to the horizontal direction, and places it on the second transport device, and the second transport device transports the material to the next process.

[0074] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0075] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0076] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0077] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0078] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A turning device, characterized in that: include: Support; A swing arm, a first end of which is rotatably connected to the support; A driving assembly, connected to the swing arm and configured to drive the swing arm to swing on a first plane; A transmission arm, wherein a first end of the transmission arm is rotatably connected to a second end of the swing arm; A moving component, the moving component comprising a connecting member and a moving member, the moving member being rotatably connected to the second end of the transmission arm through the connecting member, the moving member being slidably connected to the support along a first straight line, and the first straight line being arranged parallel to the first plane; as well as A flip assembly, wherein the first end of the flip assembly is fixedly connected to the first end of the transmission arm, and the second end of the flip assembly is used for grabbing materials.

2. The turning device according to claim 1, characterized in that: The swing arm swings around a first axis on the first plane, and a distance from a second end of the swing arm to the first axis is greater than a distance from the first straight line to the first axis.

3. The turning device according to claim 1 or 2, characterized in that: The support has a first sliding groove, the first sliding groove extends along the first straight line direction, and the moving member is slidably connected to the first sliding groove.

4. The turning device according to claim 3, characterized in that: The moving member is a first roller, the first roller is rotationally connected to the connecting member, and the first roller is rollingly connected to the first sliding groove.

5. The turning device according to claim 3, characterized in that: The support is vertically arranged, the first slide slot is arranged at the top of the support, and the first end of the swing arm is rotatably connected to the bottom of the support.

6. The turning device according to claim 1 or 2, characterized in that: The second end of the transmission arm is rotatably connected to the connecting member.

7. The turning device according to claim 1 or 2, characterized in that: The flip assembly comprises: A bearing seat, fixedly connected to the second end of the swing arm; at least one bearing disposed in the bearing seat; A rotating shaft passes through at least one of the bearings, and a first end of the rotating shaft is fixedly connected to a first end of the transmission arm; A flip arm, wherein a first end of the flip arm is fixedly connected to a second end of the rotating shaft; A grabbing piece is connected to the second end of the flip arm, and the grabbing piece is used to grab materials.

8. The turning device according to claim 1 or 2, characterized in that: The drive assembly comprises: a transmission member, located at one side of the swing arm, wherein a first end of the transmission member is rotatably connected to the support, and a second end of the transmission member is rotatably connected to the swing arm; and The driving member is in driving connection with the transmission member, and the driving member is used to drive the first end of the transmission member to move along an arc.

9. The turning device according to claim 8, characterized in that: The driving member comprises: Driving source; A rotating wheel connected to the driving source and configured to rotate under the drive of the driving source, an annular groove is provided on the end surface of the rotating wheel, and a cam is formed in the middle part surrounded by the annular groove; The transmission member comprises: A support shaft, rotatably connected to the support; a first arm segment, wherein a first end of the first arm segment slides in the annular sliding groove; A second arm segment is arranged at an angle greater than 0° and less than 180° with the first arm segment, a first end of the second arm segment is connected to a second end of the first arm segment, wherein a connection area between the first arm segment and the second arm segment is fixedly connected to the support shaft; A connecting rod, wherein the first end of the connecting rod is rotatably connected to the second end of the second arm segment, and the second end of the connecting rod is rotatably connected between the first end of the swing arm and the second end of the swing arm.

10. The turning device according to claim 9, characterized in that: The driving member also includes a second roller, which is rotatably connected to the first end of the first arm segment. The second roller is located in the annular sliding groove and rolls along the wheel surface of the cam.

11. A detection device, characterized in that: include: The turning device according to any one of claims 1 to 10 is configured to grab a material and drive the material to turn over; The detection device is located at one side of the turning device and is configured to detect the material after the material is turned over.

12. A processing equipment, characterized in that: include: The turning device according to any one of claims 1 to 10 is configured to grab a material and drive the material to turn over; The processing device is located on one side of the turning device and is configured to process and / or detect the material.

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