Turnover mechanism and vacuum coating production line

Abstract

The utility model relates to the technical field of automation equipment, in particular to a turnover mechanism and a vacuum coating production line. The turnover mechanism comprises a material clamping robot and a transfer frame, a placing position is arranged in the transfer frame, the material clamping robot comprises a material clamping mechanism and a first driving device used for driving the material clamping mechanism to do multi-degree-of-freedom space motion, and a material clamping position is arranged in the material clamping mechanism; the material clamping robot executes a discharging action or a turning-over action relative to the transfer frame, and the material clamping mechanism can perform multi-degree-of-freedom space movement relative to the transfer frame through a first driving device and drive the material clamping position to synchronously move relative to the placing position, so that materials are placed in the placing position in the first direction or move away from the placing position in the second direction; therefore, the discharging action or the turning-over action is completed. The first direction is perpendicular to the placing position, the second direction is opposite to the first direction, and the second direction extends in the direction away from the placing position. And a coated product is prevented from being damaged or polluted in the turn-over process, and the coating quality and the product percent of pass are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation equipment especially, relates to a kind of turnover mechanism and vacuum coating production line. BACKGROUND

[0002] In the existing vacuum coating field, the quality requirement of coating product is higher and higher, product edge is not allowed to have invalid area of coating, therefore, traditional manual handling turnover product has been very difficult to meet product demand, especially for some large size products or heavy products, need to assist clamping mechanism by robot to complete.

[0003] In addition, in the vacuum coating processing of some special products, there is a product turning process, that is, after the completion of one side coating, it needs to be turned over to carry out the coating of the other side, if the product turning process is operated manually, it is easy to cause pollution or damage to the product, for example, product surface is easy to stick oil stain or dust and other impurities, or, in the process of manually handling and turning over product, product surface is easy to be scratched, affect coating quality, reduce the qualified rate of product, and manual operation is time-consuming and laborious, and when manually handling and turning over larger and heavier product, safety hazard is easy to appear, for the whole production line, it will reduce production efficiency, affect the continuity of production line.

[0004] The utility model is just for the deficiency of prior art and research. UTILITY MODEL CONTENT

[0005] The utility model is for the problem that the product surface is damaged or contaminated by manually handling and turning over product in the above-mentioned vacuum coating production line, affect coating quality, reduce the qualified rate of product, also reduce production efficiency, propose a kind of coating product turnover mechanism and vacuum coating production line.

[0006] The technical scheme that the utility model solves its technical problem is as follows:

[0007] A turnover mechanism, comprising a clamping robot, a transfer frame arranged on one side of the clamping robot, and a placement position capable of accommodating materials in the transfer frame, wherein the clamping robot comprises a clamping mechanism for clamping materials, a first driving device for driving the clamping mechanism to perform multi-degree-of-freedom spatial motion, and a clamping position capable of accommodating materials in the clamping mechanism; the clamping robot performs a material placement action or a turnover action relative to the transfer frame, the clamping mechanism can perform multi-degree-of-freedom spatial motion relative to the transfer frame through the first driving device, and the clamping position is driven to perform synchronous motion relative to the placement position, so that the materials are placed in the placement position along a first direction or moved away from the placement position along a second direction, to complete the material placement action or the turnover action; the first direction is perpendicular to the placement position, the second direction is opposite to the first direction, and the second direction extends away from the placement position.

[0008] The turnover mechanism as described above, further comprising a turnover cavity in the transfer frame, which is in communication with the placement position and capable of accommodating the clamping mechanism, and is arranged on the lower side of the placement position along the second direction; when the clamping robot performs the turnover action, the clamping mechanism can extend into the turnover cavity, and the clamping position is parallel to the placement position along the second direction; the transfer frame is provided with a space-providing opening on the side close to the clamping robot, which is in communication with the turnover cavity and the placement position, and is used for providing space for the first driving device.

[0009] The turnover mechanism as described above, further comprising a supporting assembly arranged on one side of the placement position in the transfer frame, which comprises a plurality of supporting brackets, each of which is arranged at intervals and surrounds the placement position, and each of which is provided with a supporting surface; an openwork opening is formed between two adjacent supporting brackets, which extends away from the placement position.

[0010] The turnover mechanism as described above, wherein the end of the supporting bracket is provided with a step portion extending towards the placement position, the step portion is recessed relative to the supporting bracket along the first direction, the supporting surface is arranged in the step portion, and a limiting surface is formed on the side wall of the supporting bracket perpendicular to the supporting surface.

[0011] The turnover mechanism as claimed in any one of the above, the material clamping mechanism comprises a main mounting bracket connected with the first driving device, a first clamp assembly and a second clamp assembly oppositely arranged on both sides of the main mounting bracket, the first clamp assembly and the second clamp assembly each comprise a first clamping jaw, a first moving device connected with the first clamping jaw, each of the first clamping jaws is provided with a first clamping groove facing the material clamping position, and the first clamping grooves of the first clamping jaws form the material clamping position between the first clamping jaws, and each of the first moving devices drives the corresponding first clamping jaw to move towards or away from each other in the vertical direction, so that the material clamping mechanism clamps or releases the material.

[0012] The turnover mechanism as claimed in any one of the above, the material clamping mechanism further comprises a first auxiliary clamp assembly arranged outside the first clamp assembly and a second auxiliary clamp assembly arranged outside the second clamp assembly, the first auxiliary clamp assembly and the second auxiliary clamp assembly are oppositely arranged, the first auxiliary clamp assembly and the second auxiliary clamp assembly each comprise an auxiliary clamping jaw, and each of the auxiliary clamping jaws is connected with the corresponding first clamping jaw through a connecting bracket; each of the auxiliary clamping jaws comprises a first clamping part and a second clamping part, the first clamping part and the second clamping part are connected with the connecting bracket through a rotating device, the first clamping part and the second clamping part are driven to rotate towards or away from each other through the rotating device, so that the auxiliary clamping jaw clamps or releases the material.

[0013] The turnover mechanism as claimed in any one of the above, the rotating device and the connecting bracket are further provided with a first adjusting device, and the first adjusting device is used to drive the auxiliary clamping jaw to further move towards or away from the material clamping position in the vertical direction.

[0014] The turnover mechanism as claimed in any one of the above, the material clamping mechanism further comprises a third clamp assembly and a fourth clamp assembly oppositely arranged on both sides of the main mounting bracket, the third clamp assembly and the fourth clamp assembly are arranged between the first clamp assembly and the second clamp assembly, the third clamp assembly and the fourth clamp assembly each comprise a second clamping jaw and a second moving device connected with the second clamping jaw, each of the second clamping jaws is provided with a second clamping groove facing the material clamping position, and the second clamping grooves of the second clamping jaws form the material clamping position between the second clamping jaws, and the second moving devices drive the corresponding second clamping jaws to move towards or away from each other in the horizontal direction, so that the material clamping mechanism clamps or releases the material; each of the second clamping jaws is connected with the second moving device through a second adjusting device, and the second adjusting device drives the second clamping jaw to further move towards or away from the material clamping position in the horizontal direction.

[0015] The turnover mechanism as described above further comprises a walking mechanism connected with the material clamping robot, the walking mechanism comprising a slide rail and a second driving device connected with the slide rail, the material clamping robot further comprising a base connected with the first driving device, the material clamping robot being installed on the second driving device through the base and being driven by the second driving device to move along the slide rail relative to the transfer stand.

[0016] The utility model further provides a vacuum coating production line, including first vacuum coating production line, second vacuum coating production line and turnover mechanism as claim any one side, transfer stand set between first vacuum coating production line and second vacuum coating production line, the material clamping robot is translationally set in first vacuum coating production line, transfer stand and second vacuum coating production line one side through walking mechanism, the material clamping robot moves back and forth relative to first vacuum coating production line, transfer stand and second vacuum coating production line through walking mechanism.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] 1、The turnover mechanism in the utility model can be applied to the vacuum coating production line, and the turnover of the coating product is completed through cooperation of the material clamping robot and the transfer stand, so that the coating product can be prevented from being damaged or contaminated during the turnover process, the coating quality is improved, the product qualified rate is improved, the material clamping robot is used to transport the coating product, the conveying efficiency of the product is improved, and the production efficiency of the coating product is improved.

[0019] 2、The material clamping robot can clamp the material through the material clamping mechanism, and the material clamping mechanism is driven to move in a multi-degree-of-freedom space through the first driving device, so as to adjust the state of the material clamping mechanism according to the placement state of the material, so that the material clamping mechanism realizes accurate clamping, the material conveying efficiency is improved, and the production efficiency is improved.

[0020] The utility model will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a perspective view of the turnover mechanism of the utility model;

[0022] Figure 2 It is a perspective view of the transfer stand of the utility model Figure 1 ;

[0023] Figure 3 It is an enlarged view of part A in Figure 2 ;

[0024] Figure 4The three-dimensional transfer rack of the utility model Figure 2 ;

[0025] Figure 5 The three-dimensional transfer rack of the utility model Figure 3 ;

[0026] Figure 6 This is a three-dimensional diagram of the material clamping robot of the present utility model;

[0027] Figure 7 A three-dimensional diagram of the clamping mechanism of the clamping robot of the present invention;

[0028] Figure 8 for Figure 7 Local magnification in Figure 1 ;

[0029] Figure 9 for Figure 7 Local magnification in Figure 2 ;

[0030] Figure 10 This is a reference diagram of the material clamping mechanism of the material clamping robot of the present invention in use;

[0031] Figure 11 This is a structural diagram of one embodiment of the vacuum coating production line of the present invention. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.

[0033] Example 1:

[0034] like Figure 1 As shown in FIG. 11 , the present invention provides a flipping mechanism that can be used in an automated production line that assists in vacuum coating, for flipping coated products, enabling the vacuum coating production line to perform vacuum coating on different sides of the coated products. Specifically, the flipping mechanism includes a material-gripping robot 100 and a transfer rack 200 disposed on one side of the material-gripping robot 100. The material-gripping robot 100 is used to transport materials, including products to be coated, products that have been coated once, and products that have been coated twice. The transfer rack 200 is used to place products that have been coated once to assist in flipping the products.

[0035] In this embodiment, if Figure 1 and Figure 2As shown, the transfer rack 200 is provided with a placement position 210 capable of accommodating materials, the clamping robot 100 includes a clamping mechanism 130 for clamping materials, and a first driving device 120 for driving the clamping mechanism 130 to perform multi-degree-of-freedom spatial movement. The clamping mechanism 130 is provided with a clamping position 1300 capable of accommodating materials; the clamping robot 100 performs a material placing action or a flipping action relative to the transfer rack 200, and the clamping mechanism 130 can move relative to the transfer rack through the first driving device 120. The rack 200 performs multi-degree-of-freedom spatial motion, and drives the clamping position 1300 to perform synchronous motion relative to the placement position 210, so that the material is placed in the placement position 210 along the first direction 201 or moves away from the placement position 210 along the second direction 202 to complete the unloading action or the flipping action; the first direction 201 is perpendicular to the placement position 210, and the second direction 202 is opposite to the first direction 201, and the second direction 202 extends in the direction away from the placement position 210. In actual application, when the clamping mechanism 130 performs the unloading action, the clamping position 1300 in the clamping mechanism 130 is clamped with a coated product, and the clamping mechanism 130 performs multi-degree-of-freedom spatial motion relative to the transfer rack 200 through the first drive device 120, so that the clamping position 1300 moves along the first direction 201. Figure 4 The first direction 201 shown is parallel to the upper side of the placement position 210, so that the coated product is aligned with the front of the placement position 210, and the clamping mechanism 130 further moves along the first direction 201 toward the placement position 210 to place the coated product in the placement position 210, and the coated surface of the coated product faces upward and the surface to be coated faces downward. After the clamping mechanism 130 completes the discharge action, it can be moved away from the intermediate transfer rack 200 through the first drive device 120; when the clamping mechanism 130 performs the flipping action, the clamping position 1300 in the clamping mechanism 130 is empty, and the placement position 210 in the intermediate transfer rack 200 accommodates the coated product, and the coated surface of the coated product faces upward and the surface to be coated faces downward. The clamping mechanism 130 performs multi-degree-of-freedom spatial movement through the first drive device 120, so that the clamping position 1300 moves along the direction shown in FIG. Figure 5The second direction 202 shown is parallel to the lower side of the placement position 210, that is, at this time the clamping position 1300 is aligned with the back of the placement position 210, and the clamping mechanism 130 further moves along the second direction 202 toward the placement position 210 to clamp the product from the back of the coated product. Subsequently, the clamping mechanism 130 is driven by the first drive device 120 to move along the second direction 202 away from the placement position 210 to eject the coated product. At the same time, the first drive device 120 moves away from the transfer rack 200 to complete the flipping action, thereby realizing a 180° flip of the coated product. At this time, the surface to be coated in the coated product faces the clamping mechanism 130. When the clamping robot 100 transports the coated product to the vacuum coating production line, the coated product is placed horizontally with the surface to be coated facing upward, so as to facilitate direct vacuum coating processing on the surface to be coated.

[0036] By setting up the intermediate transfer rack 200 to cooperate with the clamping robot 100 to flip the coated product, contamination or damage to the product surface caused by manual operation can be avoided, thereby improving production efficiency and product yield. In addition, the clamping robot 100 can clamp the material through the clamping mechanism 130, and drive the clamping mechanism 130 to move through the first drive device 120, so as to adjust the state of the clamping mechanism 130 according to the placement state of the material, so that the clamping mechanism 130 can achieve precise clamping of the material, thereby improving material transportation efficiency and thus improving production efficiency. It should be noted that the multi-degree-of-freedom spatial movement achieved by the clamping mechanism 130 through the first drive device 120 includes rotation and movement.

[0037] In some embodiments, the placement position 210 is horizontally arranged relative to the transfer rack 200. When the clamping robot 100 completes the unloading action, the coated product is placed horizontally in the placement position 210, with the coated surface of the product facing up and the surface to be coated facing down.

[0038] In some embodiments, as Figure 2 As shown, the placement position 210 is tilted upward relative to the intermediate transfer rack 200. When the clamping robot 100 completes the unloading action, the coated product is placed obliquely in the placement position 210, with the coated surface of the product facing upward, that is, the coated surface facing the outside of the intermediate transfer rack 200, and the surface to be coated of the product facing downward, that is, the surface to be coated facing the inside of the intermediate transfer rack 200; by tilting the placement position 210 upward in the intermediate transfer rack 200, it is beneficial to reduce the moving stroke of the clamping robot 100 relative to the placement position 210, so that the clamping position 1300 in the clamping mechanism 130 is easier to align with the placement position 210, so as to improve the unloading efficiency and turning efficiency of the clamping robot 100.

[0039] In this embodiment, if Figure 2 、4 As shown in Figure 5, the intermediate transfer rack 200 is further provided with a flipping cavity 220 which is connected to the placement position 210 and can accommodate the clamping mechanism 130. The flipping cavity 220 is arranged at the lower side of the placement position 210 along the second direction 202. The flipping cavity 220 is arranged inside the intermediate transfer rack 200. When the clamping robot 100 completes the material discharge action, the coated product is placed in the placement position 210, and the coated surface of the product faces upward, that is, the coated surface faces the outside of the intermediate transfer rack 200, and the surface to be coated of the product faces downward, that is, the surface to be coated faces the inside of the intermediate transfer rack 200. In other words, the surface to be coated of the product faces downward, that is, the surface to be coated faces the flipping cavity 220; when the When the clamping robot 100 performs the flipping action, the clamping mechanism 130 can extend into the flipping cavity 220 and the clamping position 1300 is parallel to the placement position 210 along the second direction 202; in actual application, the clamping mechanism 130 can first be flipped to a direction parallel to the placement position 210 along the second direction 202 through the first driving device 120, and then further extended into the flipping cavity 220, so that the clamping position 1300 is aligned with the back of the placement position 210 along the second direction 202. By setting the clamping mechanism 130 outside the transfer rack 200 for flipping, the flipping space is larger and can be flipped smoothly.

[0040] Furthermore, a clearance opening 230 is provided on the side of the intermediate transfer rack 200 close to the clamping robot 100, and the clearance opening 230 is connected to the flipping chamber 220 and the placement position 210. The clearance opening 230 is used to make way for the first drive device 120. After the clamping mechanism 130 that performs the flipping action clamps the product in the flipping chamber 220, the clamping mechanism 130 is further moved along the second direction 202 away from the placement position 210 through the first drive device 120 to drive the coated product to leave the placement position 210. At this time, the first drive device 120 can rotate relative to the intermediate transfer rack 200, and the first drive device 120 rotates to the outside of the intermediate transfer rack 200 through the clearance opening 230. At this time, the first drive device 120 can drive the clamping mechanism 130 to drive the flipped coated product to move away from the intermediate transfer rack 200, thereby transporting the flipped coated product to the corresponding vacuum coating production line for processing through the clamping robot 100.

[0041] In this embodiment, if Figure 2 and Figure 3As shown, the intermediate transfer rack 200 is further provided with a supporting assembly located on one side of the placement position 210, and the supporting assembly includes a plurality of supporting brackets 241, each of which is arranged at intervals and surrounds the placement position 210, and each of the supporting brackets 241 is provided with a supporting surface 2411; when the clamping robot 100 completes the material discharge action, the coated product can be directly placed on each of the supporting surfaces 2411, and the coated product is supported and fixed by each of the supporting surfaces 2411, so that the clamping robot 100 can grab the coated product in the intermediate transfer rack 200. For example, Figure 2 As shown, the supporting assembly includes an upper supporting assembly 241a and a lower supporting assembly 241b provided on the upper and lower sides of the placement position 210, and a left supporting assembly 241c and a right supporting assembly 241d provided on the left and right sides of the placement position 210. The upper supporting assembly 241a includes three upper supporting brackets 241, and each of the upper supporting brackets 241 is arranged at intervals. The lower supporting assembly 241b includes three lower supporting brackets 241, and each of the lower supporting brackets 241 corresponds to each of the upper supporting brackets 241 one by one. The right supporting assembly 241c includes three upper supporting brackets 241, and each of the upper supporting brackets 241 corresponds to each of the upper supporting brackets 241 one by one. 41d is arranged on the side of the placement position 210 away from the clamping robot 100, the right supporting assembly 241d includes three right supporting brackets 241, and each of the right supporting brackets 241 is arranged at intervals. The left supporting assembly 241c is arranged on the side of the placement position 210 close to the clamping robot 100, and the left supporting assembly 241c includes a left supporting bracket 241, and the left supporting bracket 241 is arranged close to the lower supporting bracket 241, so that the above of the left supporting bracket 241 forms the said clearance opening 230. Furthermore, a hollow opening 242 is formed between two adjacent supporting brackets 241, and the hollow opening 242 extends in the direction away from the placement position 210. Each of the hollow openings 242 is used to make way for the clamping mechanism 130 when clamping the product.

[0042] Furthermore, in this embodiment, the end of the supporting bracket 241 is provided with a step portion 2412 extending toward the placement position 210, and the step portion 2412 is recessed relative to the supporting bracket 241 along the first direction 201, and the supporting surface 2411 is provided in the step portion 2412. The side wall of the supporting bracket 241 perpendicular to the supporting surface 2411 forms a limiting surface 2413, which further enhances the supporting and positioning effect of the supporting component on the coated product to prevent the coated product from slipping.

[0043] In this embodiment, if Figure 6As shown in —10, the clamping mechanism 130 includes a main mounting bracket 131 connected to the first driving device 120, a first clamp assembly 132 and a second clamp assembly 133 relatively arranged on both sides of the main mounting bracket 131, the first clamp assembly 132 and the second clamp assembly 133 are arranged on the side of the main mounting bracket 131 away from the first driving device 120, the first clamp assembly 132 and the second clamp assembly 133 both include a first clamping jaw 1321 and a first moving device 1322 connected to the first clamping jaw 1321, each of the first clamping jaws 1321 is provided with a first clamping groove 1320 facing the clamping position 1300, and the clamping position 1300 is formed between each of the first clamping jaws 1321 through their respective first clamping grooves 1320, and the corresponding first clamping jaws 1321 are driven to move toward or away from each other in the vertical direction by each of the first moving devices 1322, so that the clamping mechanism 130 clamps or releases the material. In actual application, the first clamp component 132 and the second clamp component 133 can be arranged on the upper and lower sides of the main mounting bracket 131, and the first clamping grooves 1320 on the upper and lower sides are adapted to the upper and lower outer contours of the coated product. When the first clamping jaw 1321 in the first clamp component 132 and the first clamping jaw 1321 in the second clamp component 133 move toward each other in the main mounting bracket 131 along the vertical direction, that is, the first clamping jaw 1321 in the first clamp component 132 and the first clamping jaw 1321 in the second clamp component 133 respectively move along the vertical direction close to the clamping position 1300, so that the clamping position 1300 gradually shrinks to a size that matches the coated product, thereby making the first clamp The first clamp assembly 132 and the second clamp assembly 133 are capable of clamping the coated product; when the first clamping jaw 1321 in the first clamp assembly 132 and the first clamping jaw 1321 in the second clamp assembly 133 move away from each other in the vertical direction in the main mounting bracket 131, that is, the first clamping jaw 1321 in the first clamp assembly 132 and the first clamping jaw 1321 in the second clamp assembly 133 respectively move in the vertical direction away from the clamping position 1300, so that the clamping position 1300 gradually increases, thereby causing the first clamp assembly 132 and the second clamp assembly 133 to release the coated product; thereby realizing the action of the clamping mechanism 130 clamping or releasing the coated product; it should be noted that the above-mentioned vertical direction is Figure 7in the Z-axis direction. Optionally, the first moving device 1322 can adopt a driving device that can realize linear movement, such as a cylinder driving device, a slide rail 310 driving device, etc. By moving the first clamp assembly 132 and the second clamp assembly 133 toward or away from each other along the vertical direction, the two are moved toward or away from the clamping position 1300, so that the clamping mechanism 130 can realize the corresponding actions of clamping and releasing the coated product, with a high degree of automation, and the movement rules of the first clamp assembly 132 and the second clamp assembly 133 are simple and easy to implement. Preferably, the first clamp assembly 132 and the second clamp assembly 133 can adopt the same structure to help reduce the production cost of the clamping mechanism 130. During assembly, the first clamping groove 1320 in the first clamping jaw 1321 and the first clamping groove 1320 in the second clamping jaw 1371 can be installed relative to each other.

[0044] In other embodiments, the first clamp assembly 132 is provided in two groups, and the first clamp assembly 132 is spaced apart along the upper side edge of the main mounting bracket 131, and the second clamp assembly 133 is also provided in two groups, and the two second clamp assemblies 133 and the two first clamp assemblies 132 are provided in a one-to-one correspondence to further improve the clamping stability of the clamping mechanism 130 on the material.

[0045] Furthermore, the clamping mechanism 130 further includes a third clamp assembly 137 and a fourth clamp assembly 138 relatively arranged on both sides of the main mounting bracket 131, the third clamp assembly 137 and the fourth clamp assembly 138 are arranged between the first clamp assembly 132 and the second clamp assembly 133, the third clamp assembly 137 and the fourth clamp assembly 138 each include a second clamping jaw 1371, a second moving device 1372 connected to the second clamping jaw 1371, each second clamping jaw 1371 is provided with a second clamping groove 1370 facing the clamping position 1300, and each The clamping position 1300 is formed between the second clamping jaws 1371 through the corresponding second clamping grooves 1370, and the corresponding second clamping jaws 1371 are driven to move toward or away from each other in the horizontal direction by each second moving device 1372, so that the clamping mechanism 130 clamps or loosens the material; in actual application, the third clamping assembly 137 and the fourth clamping assembly 138 can be arranged on the left and right sides of the main mounting bracket 131, and the second clamping grooves 1370 on the left and right sides are adapted to the left and right outer contours of the coated product. When the second clamping jaws 1371 in the third clamping assembly 137 are moved toward or away from each other in the horizontal direction, the material can be clamped or loosened. When the jaw 1371 and the second jaw 1371 of the fourth clamp assembly 138 move toward each other in the vertical direction in the main mounting bracket 131, that is, the second jaw 1371 of the third clamp assembly 137 and the second jaw 1371 of the fourth clamp assembly 138 move respectively in the horizontal direction close to the clamping position 1300, so that the clamping position 1300 gradually shrinks to a size that matches the coated product, so that the third clamp assembly 137 and the fourth clamp assembly 138 can clamp the coated product; when the second jaw 1371 of the third clamp assembly 137 When the second clamping jaw 1371 in the fourth clamping assembly 138 moves away from each other in the vertical direction in the main mounting bracket 131, that is, the second clamping jaw 1371 in the third clamping assembly 137 and the second clamping jaw 1371 in the fourth clamping assembly 138 respectively move in the horizontal direction away from the clamping position 1300, so that the clamping position 1300 gradually increases, thereby causing the third clamping assembly 137 and the fourth clamping assembly 138 to release the coated product; thereby realizing the action of the clamping mechanism 130 clamping or releasing the coated product; it should be noted that the horizontal direction is Figure 7In the X-axis direction. Optionally, the second moving device 1372 can adopt a driving device that can realize linear movement, such as a cylinder driving device, a slide rail 310 driving device, etc., or a combination of a cylinder drive and a slide rail 310 drive. By the third clamp assembly 137 and the fourth clamp assembly 138 moving toward or away from each other along the second moving direction, the two are moved toward or away from the clamping position 1300, and the clamping mechanism 130 can realize the corresponding actions of clamping and releasing the material, with a high degree of automation, and the movement rules of the third clamp assembly 137 and the fourth clamp assembly 138 are simple and easy to implement. By arranging corresponding clamp assemblies on all four sides of the main mounting bracket 131, the clamping stability of the clamping mechanism 130 on the material is improved, the normal material transportation of the clamping robot 100 is guaranteed, and the transportation safety of the material is further protected.

[0046] In addition, when the clamping robot 100 performs the unloading action, the clamping mechanism clamping the coated product moves along the first direction 201 close to the transfer rack 200, and the clamping mechanism moves so that the first clamp assembly 132, the second clamp assembly 133, the third clamp assembly 137 and the fourth clamp assembly 138 are inserted into the corresponding hollow openings 242, so that the first clamp assembly 132 and the second clamp assembly 133, the first clamp assembly 1321, the third clamp assembly 137 and the second clamp assembly 1371 are moved to the outside of the coated product, so as to facilitate the clamping mechanism 130 to grasp the coated product. When the clamping robot 100 performs the flipping action, the clamping mechanism 130 aligns with the back of the coated product along the second direction 202 in the flipping cavity 220, and further moves along the second direction 202 until the first clamp assembly 132, the second clamp assembly 133, the third clamp assembly 137 and the fourth clamp assembly 138 are inserted into the corresponding hollow openings 242, thereby making the first clamp assembly 132 and the second clamp assembly 133, the first clamp assembly 1321, the third clamp assembly 137 and the second clamp assembly 1371 move to the outside of the coated product, so as to facilitate the clamping mechanism 130 to grasp the coated product.

[0047] Furthermore, each second clamping jaw 1371 is connected to the second moving device 1372 via a second adjustment device 1374, and the second adjustment device 1374 drives the second clamping jaw 1371 to further move horizontally toward or away from the clamping position 1300. In this embodiment, the second clamping jaw 1371 is slidably connected to the connecting member 1373 via the second adjustment device 1374, and the connecting member 1373 is slidably connected to the second moving device 1372. Optionally, the second adjustment device 1374 can be a drive device that can achieve linear movement, such as a cylinder drive device, a slide rail 310 drive device, etc. In actual application, the second clamping jaw 1371 in the third clamping assembly 137 and the second clamping jaw 1371 in the fourth clamping assembly 138 both have a first movement stroke and a second movement stroke. The first movement stroke is the synchronous movement of the second clamping jaw 1371 in the horizontal direction with the connecting member 1373 via the second moving device 1372, and the second movement stroke is the horizontal movement of the second clamping jaw 1371 relative to the connecting member 1373 via the second adjusting device 1374. The second adjusting device 1374 drives the second clamping jaw 1371 in the third clamping assembly 137 and the second clamping jaw 1371 in the fourth clamping assembly 138 to further move horizontally toward or away from the material clamping position 1300, which is conducive to further adjusting the positional relationship between the third clamping assembly 137 and the fourth clamping assembly 138 and the material, so that the third clamping assembly 137 and the fourth clamping assembly 138 can achieve more precise material clamping, thereby improving the material clamping efficiency of the material clamping mechanism 130.

[0048] In another embodiment, the third clamp assembly 137 includes two second clamping jaws 1371, the connecting member 1373 is configured as a U-shaped bracket, the U-shaped bracket is installed with its opening facing outward, and the two second clamping jaws 1371 are respectively mounted at both ends of the U-shaped bracket. The second moving device 1372 includes a cylinder drive device and a slide rail 310 drive device. Two spaced extension brackets are provided on one side of the main mounting bracket 131. The two extension brackets are used to mount the slide rail 310 drive device. The cylinder drive device is mounted on the main mounting bracket 131. The cylinder drive device drives the U-shaped bracket to move horizontally toward or away from the clamping position 1300, thereby driving the two second clamping jaws 1371 to move synchronously with the U-shaped bracket. At the same time, the slide rail 310 drive device assists the movement of the U-shaped bracket. The cylinder drive device and the slide rail 310 drive device together constitute the second moving device 1372, which helps to improve the clamping stability of the third clamp assembly 137 on the material. In addition, in this embodiment, the fourth clamp assembly 138 has the same structure as the third clamp assembly 137 and will not be described again here.

[0049] In one embodiment, the clamping mechanism 130 further includes a first auxiliary clamp assembly 134 disposed on the outside of the first clamp assembly 132, and a second auxiliary clamp assembly 135 disposed on the outside of the second clamp assembly 133. The first auxiliary clamp assembly 134 and the second auxiliary clamp assembly 135 are disposed opposite to each other. The first auxiliary clamp assembly 134 and the second auxiliary clamp assembly 135 both include auxiliary clamping jaws 1341, and each of the auxiliary clamping jaws 1341 is connected to the corresponding first clamping jaw 1321 via a connecting bracket 1343. Figure 7 and Figure 8 As shown, the first auxiliary clamp assembly 134 and the second auxiliary clamp assembly 135 have the same structure. Taking the first auxiliary clamp assembly 134 and the first clamp assembly 132 as an example, the left and right sides of the first clamping jaw 1321 of the first clamping assembly 132 are both provided with auxiliary clamping jaws 1341 of the first auxiliary clamp assembly 134, and the two auxiliary clamping jaws 1341 and the first clamping jaw 1321 are connected to the first moving device 1322 through a connecting bracket 1343. The two auxiliary clamping jaws 1341 are driven by the first moving device 1322 to move. 341 and the first clamping jaw 1321 move simultaneously along the vertical direction toward or away from the clamping position 1300; so that the auxiliary clamping jaw 1341 in the first auxiliary clamping assembly 134 and the auxiliary clamping jaw 1341 in the second auxiliary clamping assembly 135 are respectively moved toward or away from each other along the vertical direction through the first moving device 1322 of the first clamping assembly 132 and the first moving device 1322 of the second clamping assembly 133, thereby realizing the first auxiliary clamping jaw 1341 and the second auxiliary clamping jaw 1341 clamping or releasing the material.

[0050] Furthermore, each of the auxiliary clamping jaws 1341 includes a first clamping portion 13411 and a second clamping portion 13412, and the first clamping portion 13411 and the second clamping portion 13412 are connected to the connecting bracket 1343 through a rotating device 136, and the first clamping portion 13411 and the second clamping portion 13412 are driven to rotate toward or away from each other through the rotating device 136, so that the auxiliary clamping jaws 1341 clamp or release the material. In this embodiment, taking the first auxiliary clamping assembly 134 as an example, in the auxiliary clamping jaws 1341 of the first auxiliary clamping assembly 134, the first clamping portion 13411 and the second clamping portion 13412 correspond to the front and rear sides of the material, and one end of the first clamping portion 13411 and the second clamping portion 13412 are both set as connecting ends, and the other ends are both set as movable ends; the connecting end of the first clamping portion 13411 and the connecting end of the second clamping portion 13412 are respectively connected to the rotating device 136, and the rotating device 136 drives the first clamping portion 13411 and the second clamping portion 13412 to rotate around their respective connecting ends, so that the movable end of the first clamping portion 13411 and the movable end of the second clamping portion 13412 rotate toward or away from each other, so as to realize the action of the auxiliary clamping jaws 1341 to clamp or release the material; Figure 8 As shown, the rotatable range of the first clamping portion 13411 and the second clamping portion 13412 is 0° to 90°, and when the first clamping portion 13411 and the second clamping portion 13412 rotate toward each other, a third clamping groove capable of clamping the material is formed between the first clamping portion 13411 and the second clamping portion 13412.

[0051] Optionally, a first adjustment device 1342 is further provided between the rotating device 136 and the connecting bracket 1343. The first adjustment device 1342 is used to drive the auxiliary clamping jaw 1341 to move further vertically toward or away from the material clamping position 1300. Optionally, the first adjustment device 1342 can be a drive device capable of linear movement, such as a cylinder drive device, a slide rail 310 drive device, etc. In this embodiment, the first auxiliary clamping assembly 134 and the second auxiliary clamping assembly 135 are each provided with a first adjustment device 1342 corresponding to their respective auxiliary clamping jaws 1341. In actual use, the auxiliary clamping jaws 1341 have a third and fourth travel ranges. The third travel range is the synchronous movement of the auxiliary clamping jaw 1341 with the first clamping jaw 1321 via the first moving device 1322. The fourth travel range is the vertical movement of the auxiliary clamping jaw 1341 relative to the connecting bracket 1343 via the first adjustment device 1342. The positional relationship of the auxiliary clamping jaw 1341 relative to the material is further adjusted by the first adjusting device 1342 so that the auxiliary clamping jaw 1341 can clamp the material more accurately, thereby improving the transportation efficiency of the material.

[0052] In this embodiment, the flipping mechanism further includes a walking mechanism 300 connected to the material-gripping robot 100, the walking mechanism 300 includes a slide rail 310, a second drive device 320 connected to the slide rail 310, and the material-gripping robot 100 further includes a base 110 connected to the first drive device 120. The material-gripping robot 100 is installed on the second drive device 320 via the base 110, and the material-gripping robot 100 is driven by the second drive device 320 to move along the slide rail 310 relative to the intermediate transfer rack 200. In actual applications, a loading station 600, an unloading station 700, a vacuum coating production line, etc. can be respectively set on both sides of the slide rail 310, for example, Figure 11 As shown, a loading station 600 and an unloading station 700 are arranged at intervals on one side of the slide rail 310, and at least one vacuum coating production line and a transfer rack 200 are arranged on the other side of the slide rail 310. The transfer rack 200 is arranged on one side of the vacuum coating production line, and the turning cavity 220 of the transfer rack 200 faces the slide rail 310, and the turning cavity 220 extends in a direction perpendicular to the slide rail 310, as shown in FIG. Figure 1The arrow L0 shown is the extension direction of the flipping cavity 220. In addition, when the clamping robot 100 performs the flipping action, the clamping mechanism 130 can extend into the flipping cavity 220 in the opposite direction of L0; in actual application, the clamping robot 100 moves back and forth between the loading station 600, the unloading station 700, the vacuum coating production line and the transfer rack 200 along the slide rail 310 through the second drive device 320 to transport the coated products between different stations. In another embodiment, the vacuum coating production line can be set as a double line, and the intermediate transfer rack 200 is set between the two vacuum coating production lines. One vacuum coating production line is used to coat the first side of the coated product, and the other vacuum coating production line is used to coat the second side of the coated product. After the first side of the coated product is coated, the coated product is grabbed by the clamping robot 100 and placed on the placement position 210 in the intermediate transfer rack 200. At this time, the coated side of the coated product faces up and the side to be coated faces down. Subsequently, the clamping mechanism 130 of the clamping robot 100 is flipped by the first drive device 120, so that the clamping position 1300 is aligned with the placement position 210. On the back side, the clamping mechanism 130 is further moved into the flipping cavity 220 of the transfer rack 200 and aligned with the coated product, so that the clamping mechanism 130 can grab the coated product, and the clamping mechanism 130 with the coated product is further moved along the second direction 202 by the first driving device 120, and drives the coated product to separate from the transfer rack 200, thereby completing a 180° flip of the coated product through the clamping robot 100 in combination with the transfer rack 200. Subsequently, the clamping robot 100 transports the flipped coated product to the next vacuum coating production line for second-side coating, which is beneficial to avoid contamination or damage of the coated product during transportation and flipping, and improve coating quality and production efficiency.

[0053] On the other hand, in this embodiment, the first drive device 120 of the clamping robot 100 is used to drive the clamping mechanism 130 to perform multi-degree-of-freedom spatial movement. In actual application, the orientation, position and posture of the clamping mechanism 130 can be adjusted according to the placement of the material at the loading station 600, the production line and the unloading station 700, so that the clamping space of the clamping mechanism 130 is aligned with the material and the material is clamped, thereby improving the flexibility of the clamping robot 100 to adapt to more diverse usage environments. Optionally, the first drive device 120 can be formed by multiple robotic arms, each of which is rotatably connected, or each of which is a combination of rotatable and sliding connections, so that the clamping mechanism 130 can be rotated and moved in space.

[0054] Example 2:

[0055] like Figure 11As shown, the second embodiment is one of the application scenarios of the first embodiment, that is, the above-mentioned flipping mechanism is applied to the vacuum coating production process. Specifically, the utility model further provides a vacuum coating production line, including a first vacuum coating production line 400, a second vacuum coating production line 500 and the flipping mechanism as described above, the intermediate transfer frame 200 is arranged between the first vacuum coating production line 400 and the second vacuum coating production line 500, the clamping robot 100 is arranged on one side of the first vacuum coating production line 400, the intermediate transfer frame 200 and the second vacuum coating production line 500 through the walking mechanism 300, and the clamping robot 100 moves back and forth relative to the first vacuum coating production line 400, the intermediate transfer frame 200 and the second vacuum coating production line 500 through the walking mechanism 300. In this embodiment, the walking mechanism 300 includes a slide rail 310 and a second driving device 320 connected to the slide rail 310. A loading station 600 and an unloading station 700 are arranged at intervals on one side of the slide rail 310. A first vacuum coating production line 400, a transfer rack 200 and a second vacuum coating production line 500 are arranged at intervals on the other side of the slide rail 310. The clamping robot 100 moves back and forth between the loading station 600, the unloading station 700, the first vacuum coating production line 400, the transfer rack 200 and the second vacuum coating production line 500 along the slide rail 310 through the second driving device 320 to transport the coated products between different stations. The first vacuum coating production line 400 is used to process the first side of the coated product, and the second vacuum coating production line 500 is used to process the second side of the coated product. In actual application, when the coated product completes the first side coating in the first vacuum coating production line 400, Afterwards, the coated product is grabbed by the clamping robot 100 and placed on the placement position 210 in the intermediate transfer rack 200. At this time, the coated surface of the coated product faces upward and the surface to be coated faces downward. Subsequently, the clamping mechanism 130 of the clamping robot 100 is flipped by the first drive device 120, so that the clamping position 1300 is aligned with the back of the placement position 210. The clamping mechanism 130 is further moved into the flipping cavity 220 of the intermediate transfer rack 200 and aligned with the back of the coated product, so as to facilitate the clamping mechanism 130 to grab the coated product, and the clamping mechanism 130 with the coated product is further moved along the second direction 202 by the first drive device 120, and drives the coated product to leave the intermediate transfer rack 200, thereby completing a 180° flip of the coated product through the clamping robot 100 in combination with the intermediate transfer rack 200. Subsequently, the clamping robot 100 transports the flipped coated product to the second vacuum coating production line 500 for second-side coating.The clamping robot 100 is used to assist the clamping mechanism 130 to complete the carrying, overturning, feeding and discharging and other actions of products, so that the products can be prevented from being damaged or contaminated in the conveying process, the production efficiency and product yield are improved, one clamping robot 100 can meet multiple production lines, the labor cost can be saved, and the production cost is reduced.

[0056] The above is only used as an example to further illustrate the technical content of the utility model, so that the reader can more easily understand, but does not represent that the embodiment of the utility model is limited to this, any technical extension or re-creation made according to the utility model is protected by the utility model. The protection scope of the utility model is subject to the claims.

Claims

1. A turning mechanism, characterized in that: The turning mechanism includes a material-gripping robot (100), a transfer rack (200) provided on one side of the material-gripping robot (100), a placement position (210) capable of accommodating materials provided in the transfer rack (200), the material-gripping robot (100) includes a material-gripping mechanism (130) for clamping materials, a first driving device (120) for driving the material-gripping mechanism (130) to perform multi-degree-of-freedom spatial motion, and a material-gripping position (1300) capable of accommodating materials provided in the material-gripping mechanism (130); The material clamping robot (100) performs a material unloading action or a flipping action relative to the intermediate transfer rack (200), and the material clamping mechanism (130) can perform multi-degree-of-freedom spatial motion relative to the intermediate transfer rack (200) through the first driving device (120), and drive the material clamping position (1300) to perform synchronous motion relative to the placement position (210), so that the material is placed in the placement position (210) along the first direction (201) or moves away from the placement position (210) along the second direction (202), so as to complete the material unloading action or the flipping action; The first direction (201) is perpendicular to the placement position (210), the second direction (202) is opposite to the first direction (201), and the second direction (202) extends in a direction away from the placement position (210).

2. A turning mechanism according to claim 1, characterized in that: The middle transfer rack (200) is further provided with a flipping cavity (220) which is in communication with the placement position (210) and can accommodate the clamping mechanism (130), and the flipping cavity (220) is arranged on the lower side of the placement position (210) along the second direction (202). When the clamping robot (100) performs the flipping action, the clamping mechanism (130) can extend into the flipping cavity (220) and the clamping position (1300) is parallel to the placement position (210) along the second direction (202); A clearance opening (230) is provided on one side of the middle transfer rack (200) close to the material clamping robot (100), and the clearance opening (230) is connected to the flipping cavity (220) and the placement position (210), and the clearance opening (230) is used to make way for the first driving device (120).

3. A turning mechanism according to claim 1, characterized in that: The intermediate transfer rack (200) is further provided with a supporting assembly located on one side of the placement position (210), the supporting assembly comprising a plurality of supporting brackets (241), each of the supporting brackets (241) being arranged at intervals and surrounding the placement position (210), and each of the supporting brackets (241) being provided with a supporting surface (2411); A hollow opening (242) is formed between two adjacent supporting brackets (241), and the hollow opening (242) extends in a direction away from the placement position (210).

4. A turning mechanism according to claim 3, characterized in that: The end of the supporting bracket (241) is provided with a step portion (2412) extending toward the placement position (210), the step portion (2412) is recessed relative to the supporting bracket (241) along the first direction (201), the supporting surface (2411) is provided in the step portion (2412), and the side wall of the supporting bracket (241) perpendicular to the supporting surface (2411) forms a limiting surface (2413).

5. A turning mechanism according to claim 3, characterized in that: The clamping mechanism (130) includes a main mounting bracket (131) connected to the first driving device (120), a first clamp assembly (132) and a second clamp assembly (133) arranged on both sides of the main mounting bracket (131), the first clamp assembly (132) and the second clamp assembly (133) each including a first clamping jaw (1321) and a first moving device (1322) connected to the first clamping jaw (1321), each of the first clamping jaws (1321) is provided with a first clamping groove (1320) facing the clamping position (1300), and the clamping position (1300) is formed between each of the first clamping jaws (1321) through their respective first clamping grooves (1320), and the corresponding first clamping jaws (1321) are driven by each of the first moving devices (1322) to move toward or away from each other in a vertical direction, so that the clamping mechanism (130) clamps or releases the material.

6. A turning mechanism according to claim 5, characterized in that: The clamping mechanism (130) further comprises a first auxiliary clamp assembly (134) arranged on the outside of the first clamp assembly (132), and a second auxiliary clamp assembly (135) arranged on the outside of the second clamp assembly (133), wherein the first auxiliary clamp assembly (134) and the second auxiliary clamp assembly (135) are arranged opposite to each other, and the first auxiliary clamp assembly (134) and the second auxiliary clamp assembly (135) both comprise auxiliary clamping jaws (1341), and each of the auxiliary clamping jaws (1341) is connected to the corresponding first clamping jaw (1321) via a connecting bracket (1343); Each of the auxiliary clamping jaws (1341) includes a first clamping portion (13411) and a second clamping portion (13412), wherein the first clamping portion (13411) and the second clamping portion (13412) are connected to the connecting bracket (1343) via a rotating device (136), and the first clamping portion (13411) and the second clamping portion (13412) are driven to rotate toward or away from each other via the rotating device (136), so that the auxiliary clamping jaws (1341) clamp or release the material.

7. A turning mechanism according to claim 6, characterized in that: A first adjusting device (1342) is further provided between the rotating device (136) and the connecting bracket (1343), and the first adjusting device (1342) is used to drive the auxiliary clamping jaw (1341) to move further toward or away from the clamping position (1300) in the vertical direction.

8. A turning mechanism according to claim 5, characterized in that: The clamping mechanism (130) further comprises a third clamp assembly (137) and a fourth clamp assembly (138) which are arranged on both sides of the main mounting bracket (131) relative to each other. The third clamp assembly (137) and the fourth clamp assembly (138) are arranged between the first clamp assembly (132) and the second clamp assembly (133). The third clamp assembly (137) and the fourth clamp assembly (138) each comprise a second clamping jaw (1371), a second movable jaw connected to the second clamping jaw (1371), and a movable jaw (1371). A second clamping groove (1370) facing the material clamping position (1300) is provided in each of the second clamping jaws (1371), and the material clamping position (1300) is formed between each of the second clamping jaws (1371) through the corresponding second clamping groove (1370), and each of the second moving devices (1372) drives the corresponding second clamping jaws (1371) to move toward or away from each other in the horizontal direction, so that the clamping mechanism (130) clamps or releases the material; Each of the second clamping jaws (1371) is connected to the second moving device (1372) via a second adjusting device (1374), and the second clamping jaw (1371) is driven by the second adjusting device (1374) to further move closer to or away from the clamping position (1300) in the horizontal direction.

9. The turning mechanism according to claim 1, wherein: The flipping mechanism also includes a walking mechanism (300) connected to the material-gripping robot (100), the walking mechanism (300) includes a slide rail (310) and a second driving device (320) connected to the slide rail (310), and the material-gripping robot (100) also includes a base (110) connected to the first driving device (120), and the material-gripping robot (100) is installed on the second driving device (320) through the base (110), and the material-gripping robot (100) is driven by the second driving device (320) to move along the slide rail (310) relative to the intermediate transfer rack (200).

10. A vacuum coating production line, characterized in that: The invention comprises a first vacuum coating production line (400), a second vacuum coating production line (500) and a turning mechanism as described in any one of claims 1 to 9, wherein the intermediate transfer frame (200) is arranged between the first vacuum coating production line (400) and the second vacuum coating production line (500), and the material clamping robot (100) is arranged on one side of the first vacuum coating production line (400), the intermediate transfer frame (200) and the second vacuum coating production line (500) in a translational manner through a walking mechanism (300), and the material clamping robot (100) moves back and forth relative to the first vacuum coating production line (400), the intermediate transfer frame (200) and the second vacuum coating production line (500) through the walking mechanism (300).

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