Turnover double-sucker grabbing mechanism

Abstract

The utility model discloses an overturning double-sucker material grabbing mechanism, which relates to the technical field of mechanical equipment, and comprises a manipulator, an overturning assembly and a sucker assembly, the overturning assembly comprises a frame body connected to the movable end of the manipulator, and a motor power mechanism arranged on one outer side of the frame body, the suction cup assembly comprises a movable plate rotationally connected to the inner side of the frame body, a first vacuum suction cup installed on the upper surface of the movable plate and a second vacuum suction cup installed on the lower surface of the movable plate, and the movable plate is in power connection with an output shaft of the motor power mechanism so as to be driven by the motor power mechanism to rotate. Therefore, the movable plate can turn over up and down relative to the frame body, and alternate operation of the first vacuum suction cup and the second vacuum suction cup is achieved. The double-face grabbing and overturning mechanism integrates the double-face grabbing function and the overturning function, is compact and exquisite in structure, adapts to the automatic operation process of a six-axis mechanical arm, and achieves upgrading and expanding of the grabbing function on the premise that an original production line layout structure is not changed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a flip double-suction cup material grabbing mechanism. Background Art

[0002] In today's highly industrialized era, manufacturing is rapidly advancing toward intelligent, efficient, and sophisticated processes. The demands for precision, flexibility, and efficiency in material handling and processing across all production processes have reached unprecedented levels. Material handling, a critical component of the production process, demands equipment performance that directly impacts the overall production line's operational efficiency and product quality.

[0003] With the deep penetration of automation and robotics technologies into the industrial sector, six-axis manipulators, with their exceptional flexibility and multi-degree-of-freedom control, have become the preferred choice for performing material handling, handling, and positioning tasks in complex working conditions. With six independently controllable articulated axes, six-axis manipulators can achieve nearly arbitrary posture changes in three-dimensional space and precisely reach target locations. Whether performing precise pick-and-place operations in confined spaces or moving materials along complex trajectories, they demonstrate strong adaptability and are widely used in industries such as automotive manufacturing, electronics, and precision machining.

[0004] However, despite the excellent spatial positioning capabilities of six-axis robots, the traditional gripping devices they support have gradually exposed numerous shortcomings, making them difficult to meet the increasingly diverse and complex demands of production. Conventional gripping methods often use single-function mechanical grippers or fixed suction cup structures. When gripping fragile parts with easily damaged surfaces (such as ultra-thin glass panels and precision injection molded parts), mechanical grippers are prone to scratching and deformation due to improper gripping force, leading to increased scrap rates. Conventional suction cups, on the other hand, are limited by their fixed suction surface and can only handle a single side of the material.

[0005] In actual production scenarios, the need for double-sided processing, inspection, or assembly is common. For example, motherboard processing on a mobile phone production line requires immediate flipping and precise positioning after the placement process on one side, allowing for insertion, welding, and other operations on the other side. Another example is metal stamping parts, which require both sides to be polished and inspected after stamping. Traditional gripping equipment frequently requires downtime to change gripping tools or manual flipping of materials, a cumbersome and time-consuming process that not only significantly slows production, but also introduces cumulative errors from repeated repositioning, reducing machining and assembly precision and impacting the overall quality stability of the product.

[0006] Therefore, it is necessary to propose an improved technical solution to solve the above problems. Utility Model Content

[0007] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0008] A flipping double-suction cup material grabbing mechanism includes a manipulator, a flipping assembly and a suction cup assembly, the flipping assembly includes a frame body connected to the movable end of the manipulator, and a motor power mechanism installed on an outer side of the frame body, the suction cup assembly includes a movable plate rotatably connected to the inner side of the frame body, a first vacuum suction cup installed on the upper surface of the movable plate, and a second vacuum suction cup installed on the lower surface of the movable plate, wherein the movable plate is connected to the output shaft power of the motor power mechanism, so that the movable plate can be flipped up and down relative to the frame body through the drive of the motor power mechanism, thereby realizing the alternating operation of the first vacuum suction cup and the second vacuum suction cup.

[0009] As a further solution of the present invention: the frame body is in a gantry shape to enclose and form an activity space that allows the movable panel to turn over.

[0010] As a further solution of the present invention: the frame body has a first bracket, and a second bracket and a third bracket connected to both sides of the first bracket, the movable end of the manipulator is connected to the end of the first bracket, and the two sides of the movable plate are movably connected to the inner sides of the second bracket and the third bracket respectively;

[0011] The second bracket is mounted with the motor power mechanism, one end of the movable plate is dynamically connected to the output shaft of the motor power mechanism, and the other end of the movable plate is rotationally connected to the third bracket.

[0012] As a further solution of the present invention: a first connecting assembly is provided on the second bracket, and the first connecting assembly includes a first connecting block, a second connecting block, and a third connecting block;

[0013] The first connecting block and the second connecting block are interlocked and fixed on the outer side and the inner side of the second bracket, the motor power mechanism is fixed on the first connecting block, and the movable plate is fixed on the third connecting block and connected to the output shaft of the motor power mechanism through the third connecting block.

[0014] As a further solution of the present invention: a first slot for the third connecting block to rotate is formed between the third connecting block and the second bracket, and a first bearing is provided in the first slot and is sleeved on the mating end of the third connecting block corresponding to the motor power mechanism.

[0015] As a further solution of the present invention: the third connecting block is connected to the output shaft of the motor power mechanism,

[0016] The third connecting block is key-connected to the output shaft of the motor power mechanism, or a coupling is connected to the output shaft of the motor power mechanism, and the third connecting block is fixedly connected to the connecting shaft.

[0017] As a further solution of the present invention: a second connecting component is installed on the third bracket, and the second connecting component includes a rotating shaft seat and a fourth connecting block. The rotating shaft seat is installed inside the third bracket, one end of the fourth connecting block can be rotatably embedded in the rotating shaft seat, and the other end of the fourth connecting block is fixedly connected to the movable plate.

[0018] As a further solution of the present invention: a second slot for the fourth connecting block to rotate is formed between the fourth connecting block and the third bracket, and a second bearing is provided in the second slot and is sleeved on the mating end of the fourth connecting block corresponding to the rotating shaft seat.

[0019] As a further solution of the present invention: a plurality of holes are provided on the first bracket, the second bracket and the third bracket.

[0020] As a further solution of the present invention: a plurality of the first vacuum suction cups and a plurality of the second vacuum suction cups are provided, and the plurality of first vacuum suction cups and the plurality of second vacuum suction cups are arranged in an array.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1) Eliminating the drawbacks of traditional mechanical grippers that can easily damage fragile parts with delicate surfaces (such as ultra-thin glass panels and precision injection molded parts), this system utilizes the gentle adsorption characteristics of vacuum cups to grip materials through negative pressure, avoiding direct rigid contact and improper clamping force. This significantly reduces the risk of scratches and deformation, effectively controls scrap rates, and ensures product integrity and high-quality output.

[0023] 2) To cope with production scenarios with frequent double-sided processing, inspection, and assembly, there is no need to frequently stop the machine to replace gripping tools or rely on manual material flipping as in traditional methods. With the motor-driven movable plate flipping and the suction cups working alternately, both sides of the material can be processed continuously within a single gripping and positioning process, significantly reducing operation time, accelerating production cycle time, and increasing output per unit time.

[0024] 3) It integrates double-sided gripping and flipping functions in a compact and sophisticated structure, and is suitable for the automated operation process of a six-axis robot. Without changing the original production line layout, it can upgrade and expand the gripping function, enrich the robot's application scenarios and task processing capabilities, provide strong support for intelligent manufacturing and flexible production, and reduce the cost and complexity of comprehensive equipment transformation.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 It is a structural diagram of the utility model;

[0028] Figure 2 This is a schematic diagram of the matching structure of the flip assembly and the suction cup assembly of the utility model;

[0029] Figure 3 This is a cross-sectional structural diagram of the cooperation between the flip assembly and the suction cup assembly of the utility model;

[0030] Figure 4 yes Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0031] Figure 5 yes Figure 3 Schematic diagram of the enlarged structure at point B in the middle.

[0032] The reference numerals and names in the figures are as follows:

[0033] 1. Robotic arm; 2. Flip assembly; 3. Suction cup assembly; 4. Frame; 5. Motor power mechanism; 6. Movable plate; 7. First vacuum suction cup; 8. Second vacuum suction cup; 9. First bracket; 10. Second bracket; 11. Third bracket; 12. First connecting block; 13. Second connecting block; 14. Third connecting block; 15. First slot; 16. First bearing; 17. Rotating shaft seat; 18. Fourth connecting block; 19. Second slot; 20. Second bearing; 21. Hole position. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] See also Figure 1-5In an embodiment of the utility model, a flipping double-suction cup grabbing mechanism includes a manipulator 1, a flipping assembly 2 and a suction cup assembly 3, wherein the flipping assembly 2 includes a frame body 4 connected to the movable end of the manipulator 1, and a motor power mechanism 5 installed on an outer side of the frame body 4, the suction cup assembly 3 includes a movable plate 6 rotatably connected to the inner side of the frame body 4, a first vacuum suction cup 7 installed on the upper surface of the movable plate 6, and a second vacuum suction cup 8 installed on the lower surface of the movable plate 6, wherein the movable plate 6 is dynamically connected to the output shaft of the motor power mechanism 5, so that the movable plate 6 can be flipped up and down relative to the frame body 4 through the drive of the motor power mechanism 5, thereby realizing the alternating operation of the first vacuum suction cup 7 and the second vacuum suction cup 8.

[0036] In the technical solution of the present utility model, the manipulator 1 is a six-axis manipulator 1. The six-axis manipulator 1 has excellent movement flexibility and the ability to change postures almost arbitrarily in three-dimensional space by virtue of its six independently controllable joint axes, and can accurately reach the target position. The flipping double-suction cup grabbing mechanism relies on the six-axis manipulator 1 as the basic bearing platform, and firmly connects the frame body 4 in the flipping component 2 to the movable end of the manipulator 1. In this way, during the entire material grabbing, handling and subsequent processing process, with the help of the precise motion control and coordinated cooperation of each joint axis of the manipulator 1, the flipping component 2 and the suction cup component 3 can be smoothly and accurately moved to the location of the material. Regardless of whether it is in a compact layout and a narrow space working area, or in a working condition where a complex trajectory needs to be followed to approach the material, the overall mechanism can be accurately positioned, laying a solid foundation for subsequent grabbing operations.

[0037] The flip assembly 2 is mainly composed of a frame body 4 and a motor power mechanism 5. The frame body 4 serves as a key supporting structure and is tightly fixed to the movable end of the manipulator 1, providing physical support and a stable installation foundation for the entire assembly, ensuring that the subsequent components operate smoothly and reliably. The motor power mechanism 5 is installed on an outer side of the frame body 4, and its output shaft passes through the frame body 4 and extends to the inner space of the frame body 4. A direct power connection is established between the output shaft and the movable plate 6, which usually adopts a key connection, a coupling connection or other reliable rigid connection methods to ensure that the rotational motion of the motor output shaft can be efficiently and accurately transmitted to the movable plate 6 without motion deviation or power loss. The motor serves as a power source and operates according to a preset program according to the instructions issued by the control system. When the suction cup needs to be switched, the motor rotates forward or reverse accurately according to the instructions, and the output shaft then drives the movable plate 6 connected to it to rotate around the connection point;

[0038] The core part of the suction cup assembly 3 is the movable plate 6 rotatably connected to the inner side of the frame body 4, and the first vacuum suction cup 7 and the second vacuum suction cup 8 respectively mounted on the upper and lower surfaces of the movable plate 6. The movable plate 6 is rotatably connected to the inner side of the frame body 4 by means of rotating parts such as bearings and pins. This connection not only ensures that the movable plate 6 can be flexibly flipped, but also maintains its stability and position accuracy during the flipping process. The first vacuum suction cup 7 and the second vacuum suction cup 8 each have an independent air path, which is connected to the external vacuum generating device. At the starting stage of work, when the entire mechanism moves above the material and the corresponding suction cup to be used (such as the first vacuum suction cup on the upper surface) is After the suction cup 7 contacts the material surface, the vacuum generating device works, and air is extracted through the air circuit, causing the internal air pressure of the suction cup to drop rapidly, forming a negative pressure environment. The external atmospheric pressure is relatively high, thus generating a pressure difference that presses the material tightly against the surface of the suction cup. The material is stably grasped by relying on the friction between the suction cup and the material surface. When one side of the material is processed, the motor starts to drive the movable plate 6 to flip 180 degrees. The second vacuum suction cup 8 on the lower surface flips upward and aligns with the other side of the material. The above vacuum adsorption process is repeated, or cross-operation between adjacent stations is performed, thereby achieving alternating adsorption of both sides of the material, meeting different process requirements such as double-sided processing and testing in production;

[0039] In summary, the disadvantages of traditional mechanical grippers that are prone to damaging fragile and easily damaged parts (such as ultra-thin glass panels and precision injection-molded parts) are abandoned. The soft adsorption characteristics of vacuum suction cups are utilized to grasp materials through negative pressure adsorption, avoiding direct rigid contact and improper clamping force. This greatly reduces the risk of scratching and deformation of materials, effectively controls the scrap rate, and ensures product integrity and good product output. To cope with production scenarios with frequent double-sided processing, inspection, and assembly, there is no need to frequently stop the machine to replace gripping tools or rely on manual flipping of materials as in traditional methods. With the help of the motor-driven movable plate 6 to flip and the suction cups to operate alternately, both sides of the material are processed continuously in a single gripping and positioning process, which significantly shortens operation time, speeds up production cycle, and increases output per unit time. The double-sided gripping and flipping functions are integrated into one, with a compact and sophisticated structure, which is suitable for the automated operation process of the six-axis robot 1. Without changing the original production line layout and architecture, the gripping function can be upgraded and expanded, enriching the application scenarios and task processing capabilities of the robot 1, providing strong support for flexible production in intelligent manufacturing, and reducing the cost and complexity of comprehensive equipment transformation.

[0040] In the embodiment of the present invention, the frame body 4 is shaped like a gantry to enclose a movable space that allows the movable panel 6 to turn over.

[0041] The frame body 4 of the flipping and grabbing mechanism is designed in a gantry shape. Taking advantage of its stable structural characteristics, it is tightly and firmly connected to the movable end of the manipulator 1, and moves precisely following the movement trajectory of the manipulator 1. The columns on both sides of the gantry-shaped frame body 4 and the top beam enclose a regular and open internal space, which is the exclusive activity space that allows the movable plate 6 to flip freely. Driven by the manipulator 1, the frame body 4 can stably shuttle between complex production line layouts, ensuring that subsequent flipping and adsorption actions are carried out in an orderly manner, laying the foundation for accurate material grabbing.

[0042] In the embodiment of the present utility model, the frame body 4 has a first bracket 9, and a second bracket 10 and a third bracket 11 connected to both sides of the first bracket 9. The movable end of the manipulator 1 is connected to the end of the first bracket 9, and the two sides of the movable plate 6 are movably connected to the inner sides of the second bracket 10 and the third bracket 11 respectively;

[0043] The second bracket 10 is mounted with the motor power mechanism 5 , one end of the movable plate 6 is dynamically connected to the output shaft of the motor power mechanism 5 , and the other end of the movable plate 6 is rotationally connected to the third bracket 11 .

[0044] The frame body 4 is composed of a first bracket 9, a second bracket 10 and a third bracket 11 to form a stable structure, similar to the structural principle of a bridge. The first bracket 9 serves as a "main beam" to bear the connection with the manipulator 1 and the main force. The second bracket 10 and the third bracket 11 on both sides act as auxiliary support and positioning functions like "bridge piers". The two sides of the movable plate 6 are movably connected to the inner sides of the second bracket 10 and the third bracket 11 respectively, and bearings and pin shaft assemblies are mostly used to achieve rotational coordination to ensure that the movable plate 6 can be flipped around the axis in a low-friction and high-precision manner within the plane defined by the two. This multi-point connection layout is similar to the structural principle of a balance, which balances and supports the movable plate 6 from both sides, disperses the force, ensures that the flipping process is smooth and there is no deflection or shaking, and provides a stable base for the suction cup to efficiently adsorb materials.

[0045] In the embodiment of the present invention, a first connecting assembly is provided on the second bracket 10 , and the first connecting assembly includes a first connecting block 12 , a second connecting block 13 , and a third connecting block 14 ;

[0046] The first connecting block 12 and the second connecting block 13 are interlocked and fixed to the outer side and the inner side of the second bracket 10, the motor power mechanism 5 is fixed to the first connecting block 12, and the movable plate 6 is fixed to the third connecting block 14 and connected to the output shaft of the motor power mechanism 5 through the third connecting block 14;

[0047] A first slot 15 for the third connecting block 14 to rotate is formed between the third connecting block 14 and the second bracket 10. A first bearing 16 is provided in the first slot 15 and is sleeved on the mating end of the third connecting block 14 corresponding to the motor power mechanism 5.

[0048] The third connecting block 14 is connected to the output shaft of the motor power mechanism 5 in that:

[0049] The third connecting block 14 is key-connected to the output shaft of the motor power mechanism 5 , or a coupling is connected to the output shaft of the motor power mechanism 5 , and the third connecting block 14 is fixedly connected to the connecting shaft.

[0050] The first connecting assembly is composed of a first connecting block 12, a second connecting block 13 and a third connecting block 14, which is intended to provide a reliable structural foundation for the stable installation and effective transmission of the motor power mechanism 5 and the movable plate 6 on the second bracket 10. The first connecting block 12 and the second connecting block 13 are interlocked and fixed, respectively, and are placed on the outer side and inner side of the second bracket 10. This interlocking structure is similar to the mortise and tenon structure principle. Through the fit of the shapes and the possible use of bolts, pins and other connecting parts, the two are tightly combined on the second bracket 10 to form a stable whole, which effectively enhances the stability of the overall structure when subjected to forces in different directions and prevents the components from loosening, shifting, etc.

[0051] The motor power mechanism 5 is fixed on the first connecting block 12. The first connecting block 12 serves as a bearing base and must be able to withstand the vibration, torque and other forces generated when the motor is running. It must have sufficient strength and rigidity. The fixing method of the motor is usually to use a plurality of high-strength bolts evenly distributed to ensure that the motor and the first connecting block 12 are tightly connected. The output shaft of the motor can be accurately positioned and oriented in the direction of the movable plate 6 to prepare for subsequent power transmission. The movable plate 6 is fixed to the third connecting block 14. The third connecting block 14 becomes the key intermediary for transmitting power between the movable plate 6 and the motor power mechanism 5. The movable plate 6 and the third connecting block 14 can be firmly connected by welding, bolting, etc. to ensure that the two can move as a whole during the movement, avoiding relative displacement and affecting the accuracy of power transmission and the stability of the material grabbing operation.

[0052] The first slot 15 formed between the third connecting block 14 and the second bracket 10 provides a rotation space for the third connecting block 14, limiting its rotation range and trajectory so that it can only rotate around a specific axis, thereby ensuring the standardization and predictability of the flipping action of the movable plate 6. The first bearing 16 located in the first slot 15 and sleeved on the mating end of the third connecting block 14 corresponding to the motor power mechanism 5 plays a key role in reducing friction.

[0053] There are two main ways to connect the output shaft of the motor power mechanism 5 and the third connecting block 14. One is a key connection. By processing keyways at the corresponding positions of the output shaft and the third connecting block 14, a flat key or a semicircular key is embedded therein. When the motor output shaft rotates, the torque is transmitted by the extrusion between the side of the key and the side of the keyway to achieve synchronous rotation of the two. This method has a simple structure, reliable connection and can ensure high transmission accuracy; the other is to connect with the help of a coupling. First, the coupling is connected to the output shaft of the motor power mechanism 5, and the third connecting block 14 is fixedly connected to the connecting shaft of the coupling. The coupling plays a role in buffering, compensating for the relative displacement of the two shafts and transmitting a large torque. When the motor starts, stops or the load changes, it can effectively protect the motor and related components, ensure that power is stably and continuously transmitted from the motor to the movable plate 6, and drive it to perform accurate flipping movements.

[0054] In an embodiment of the present utility model, a second connecting component is installed on the third bracket 11, and the second connecting component includes a rotating shaft seat 17 and a fourth connecting block 18. The rotating shaft seat 17 is installed inside the third bracket 11, and one end of the fourth connecting block 18 can be rotatably embedded in the rotating shaft seat 17, and the other end of the fourth connecting block 18 is fixedly connected to the movable plate 6; a second slot 19 for the fourth connecting block 18 to rotate is formed between the fourth connecting block 18 and the third bracket 11, and a second bearing 20 is provided in the second slot 19 and is sleeved on the mating end of the fourth connecting block 18 corresponding to the rotating shaft seat 17.

[0055] In the flip double suction cup grabbing mechanism, the third bracket 11 serves as part of the supporting structure of the frame body 4, and the second connecting assembly thereon constructs a stable rotation system for the movable plate 6. The shaft seat 17 is installed inside the third bracket 11, similar to a fixed "axle sleeve", providing a rotation base point for the fourth connecting block 18. By utilizing its own structural strength and stable installation in the bracket (often fastened by bolts to ensure fit and accurate positioning), the rotation center is defined. One end of the fourth connecting block 18 is embedded in the shaft seat 17 to achieve a rotatable connection, similar to the cooperation of a "journal" and a "axle sleeve", and the other end is rigidly fixed to the movable plate 6 (welding and high-strength bolt connection ensure the integrity of the two), thereby transmitting the rotation demand of the movable plate 6 to the cooperation point between the fourth connecting block 18 and the shaft seat 17, forming a force transmission path from the edge of the movable plate 6 through the fourth connecting block 18 to the third bracket 11, achieving multi-point coordinated support rotation;

[0056] The second slot 19 creates a dedicated rotation space between the fourth connecting block 18 and the third bracket 11, similar to a track constraint, ensuring that the fourth connecting block 18 can only rotate within a preset direction and angle range, preventing uncontrolled deflection and displacement. The second bearing 20 in the slot exerts its core friction reduction performance.

[0057] In the embodiment of the present invention, a plurality of holes 21 are formed on the first bracket 9 , the second bracket 10 and the third bracket 11 .

[0058] From a mechanical point of view, some of the holes 21 are rationally arranged according to the force distribution law of the frame. Without affecting the overall structural strength, they are similar to the "weight-reducing holes" in building structures. They can reduce the weight of excess materials, optimize the weight distribution, alleviate the inertia and load impact caused by the movement of the manipulator 1 and the grasping of materials, and improve the dynamic response performance. At the same time, these holes 21 provide a basis for possible subsequent structural reinforcement and accessory installation. For example, in high-load applications, auxiliary support ribs can be installed through the holes 21 to enhance local rigidity.

[0059] From the perspective of assembly and function expansion, hole 21 is the "interface" for realizing the multifunctionality and customization of the equipment. In the manufacturing and assembly process, hole 21 can be used to accurately locate and fix each component. For example, when the motor power mechanism 5, the shaft seat 17, etc. are connected to the bracket, the bolts pass through the corresponding hole 21 to achieve tightening, ensuring installation accuracy and stability; when the production line adapts to different process requirements, the hole 21 can be used to flexibly add sensors (to monitor vibration and displacement), protective baffles (to prevent debris and collision) or auxiliary operating tooling (fine-tuning positioning fixtures), seamlessly integrate into the automated production process, and expand the equipment's intelligent and refined operation capabilities.

[0060] In the embodiment of the present invention, a plurality of the first vacuum suction cups 7 and the second vacuum suction cups 8 are provided, and the plurality of first vacuum suction cups 7 and the plurality of second vacuum suction cups 8 are arranged in an array.

[0061] In the flip double-suction cup grabbing mechanism, multiple first vacuum cups 7 and second vacuum cups 8 are set and arranged in an array based on the principle of mechanical equilibrium. When grabbing materials, the uniformity of force at each point on the material surface is crucial. The array arrangement can reasonably distribute the suction cup positions according to the shape and size of the material, ensuring uniform coverage of the adsorption force, avoiding single-point or local concentrated force, and preventing the material from deformation and warping due to uneven force. Especially for large-area, thin-plate materials (such as metal sheets, circuit boards), similar to "multi-point support", each suction cup cooperates to form a stable negative pressure adsorption field to ensure firm grasping.

[0062] In summary, the flip double suction cup material grabbing mechanism has excellent stability and outstanding precision, effectively eliminating the eccentricity problem, the frame body 4 is gantry-shaped, and a stable support structure is constructed by the first bracket 9, the second bracket 10 and the third bracket 11. Each bracket is provided with a number of holes 21, which not only optimizes the deadweight distribution and strengthens the mechanical properties, but also provides convenience for precise assembly, and fundamentally guarantees the overall stability. The second bracket 10, with the help of a sophisticatedly designed first connecting component, utilizes an interlocking fixed connecting block, a rotating slot with a bearing and a reliable key connection or coupling connection method to stably carry the motor power mechanism 5 and accurately transmit power; the third bracket The second connecting component on the frame 11, through the rotating shaft seat 17, the second slot 19 with the bearing and the fourth connecting block 18 closely connected to the movable plate 6, cooperates to realize the smooth and smooth flipping of the movable plate 6. The two sides of the movable plate 6 rotate in a standardized manner on the inside of the bracket, the forces at both ends are balanced, and the rotation trajectory is precise. In addition, the first vacuum suction cup 7 and the second vacuum suction cup 8 arranged in an array ensure that the material is evenly adsorbed and the force is stable. The multi-level coordinated force makes the mechanism stable and reliable throughout the operation. The flip angle accuracy can reach millimeter level or even higher standards, completely avoiding the hidden dangers of eccentricity, and laying a solid foundation for operations such as precise double-sided material grasping and processing.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced within the present invention.

Claims

1. A flip double suction cup material grabbing mechanism, characterized in that: It includes a manipulator, a flipping assembly and a suction cup assembly, the flipping assembly includes a frame body connected to the movable end of the manipulator, and a motor power mechanism installed on an outer side of the frame body, the suction cup assembly includes a movable plate rotatably connected to the inner side of the frame body, a first vacuum suction cup installed on the upper surface of the movable plate, and a second vacuum suction cup installed on the lower surface of the movable plate, wherein the movable plate is connected to the output shaft power of the motor power mechanism, so that the movable plate can be flipped up and down relative to the frame body through the drive of the motor power mechanism, thereby realizing the alternating operation of the first vacuum suction cup and the second vacuum suction cup.

2. The flip double suction cup material grabbing mechanism according to claim 1, characterized in that: The frame body is in a gantry shape to enclose a movable space that allows the movable panel to turn over.

3. The flip double suction cup material grabbing mechanism according to claim 2, characterized in that: The frame body comprises a first bracket, and a second bracket and a third bracket connected to both sides of the first bracket, the movable end of the manipulator is connected to the end of the first bracket, and both sides of the movable plate are movably connected to the inner sides of the second bracket and the third bracket respectively; The second bracket is mounted with the motor power mechanism, one end of the movable plate is dynamically connected to the output shaft of the motor power mechanism, and the other end of the movable plate is rotationally connected to the third bracket.

4. The flip double suction cup material grabbing mechanism according to claim 3, characterized in that: The second bracket is provided with a first connecting assembly, and the first connecting assembly includes a first connecting block, a second connecting block, and a third connecting block; The first connecting block and the second connecting block are interlocked and fixed on the outer side and the inner side of the second bracket, the motor power mechanism is fixed on the first connecting block, and the movable plate is fixed on the third connecting block and connected to the output shaft of the motor power mechanism through the third connecting block.

5. The flip double suction cup material grabbing mechanism according to claim 4, characterized in that: A first slot for the third connecting block to rotate is formed between the third connecting block and the second bracket. A first bearing sleeved on the matching end of the third connecting block corresponding to the motor power mechanism is arranged in the first slot.

6. The flip double suction cup material grabbing mechanism according to claim 4, characterized in that: The third connecting block is connected to the output shaft of the motor power mechanism, in that: The third connecting block is key-connected to the output shaft of the motor power mechanism, or a coupling is connected to the output shaft of the motor power mechanism, and the third connecting block is fixedly connected to the connecting shaft.

7. The flip double suction cup material grabbing mechanism according to claim 3, characterized in that: The third bracket is provided with a second connecting assembly, which includes a rotating shaft seat and a fourth connecting block. The rotating shaft seat is installed inside the third bracket, one end of the fourth connecting block can be rotatably embedded in the rotating shaft seat, and the other end of the fourth connecting block is fixedly connected to the movable plate.

8. The flip double suction cup material grabbing mechanism according to claim 7, characterized in that: A second slot for the fourth connecting block to rotate is formed between the fourth connecting block and the third bracket, and a second bearing sleeved on the matching end of the fourth connecting block corresponding to the rotating shaft seat is arranged in the second slot.

9. The flip double suction cup material grabbing mechanism according to claim 3, characterized in that: A plurality of holes are formed on the first bracket, the second bracket and the third bracket.

10. The flip double suction cup material grabbing mechanism according to claim 1, characterized in that: A plurality of the first vacuum suction cups and a plurality of the second vacuum suction cups are provided, and the plurality of first vacuum suction cups and the plurality of second vacuum suction cups are arranged in an array.

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