Turnover clamping jaw mechanism and automatic equipment

Abstract

The utility model relates to the technical field of clamping jaws, in particular to a turnover clamping jaw mechanism and automatic equipment. The overturning clamping jaw mechanism comprises a fixing frame and clamping jaw devices arranged on the two sides of the fixing frame in a back-to-back mode. The clamping jaw device comprises a linear driver, a connecting rod mechanism, a first guide structure and a plurality of clamping jaw assemblies, and the clamping jaw assemblies are connected with the fixing frame through the first guide structure; the linear driver is connected with the clamping jaw assemblies through the connecting rod mechanism and used for driving the clamping jaw assemblies to move in the clamping direction or the opening direction at the same time. The arrangement direction of the two clamping jaw devices is perpendicular to the moving direction of the clamping jaw assembly, and the two linear drivers are located on the same side of the clamping jaw assembly. The automatic equipment comprises the overturning clamping jaw mechanism. According to the turnover clamping jaw mechanism and the automatic equipment, the turnover action of a product can be achieved in the equipment, the product does not need to be taken out of the equipment to be turned over, time can be saved, and production efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamping jaw, specifically, a kind of turnover clamping jaw mechanism and automation equipment. BACKGROUND

[0002] With the higher and higher degree of automation of workshop, automation equipment replaces traditional manual operation more and more widely, and more and more multi-action operations are completed in limited space.

[0003] The use range of clamping jaw in automation equipment is quite extensive, and in some equipment, the product not only needs to be clamped but also needs to be turned over. However, the space of the equipment is limited, and the existing clamping jaw needs to take out the product to the outside of the equipment first, then turn it over, and then put it back into the equipment. This process wastes time and leads to low production efficiency of the production line. UTILITY MODEL CONTENT

[0004] The utility model aims to provide a kind of turnover clamping jaw mechanism and automation equipment to alleviate the technical problem of low production efficiency of the clamping jaw in the prior art.

[0005] The turnover clamping jaw mechanism provided by the utility model comprises a fixed frame and clamping jaw devices arranged on both sides of the fixed frame back to back.

[0006] The clamping jaw device comprises a linear actuator, a connecting rod mechanism, a first guide structure and a plurality of clamping jaw assemblies. The clamping jaw assemblies are connected to the fixed frame through the first guide structure, and the first guide structure is used to guide the movement of the clamping jaw assemblies in the direction of clamping or loosening. The linear actuator is connected to the clamping jaw assemblies through the connecting rod mechanism, and is used to drive each clamping jaw assembly to move in the direction of clamping or loosening simultaneously.

[0007] The arrangement direction of the two clamping jaw devices is perpendicular to the movement direction of the clamping jaw assemblies, and the two linear actuators are located on the same side of the clamping jaw assemblies.

[0008] Preferably, as an implementable mode, the connecting rod mechanism comprises a driving rod and a plurality of driven rods. The linear actuator is connected to the driving rod, which is used to drive the driving rod to move in a direction perpendicular to the guide direction of the first guide structure. The driven rods correspond one-to-one to the clamping jaw assemblies. One end of the driven rod is hinged to the driving rod, and the other end of the driven rod is hinged to the corresponding clamping jaw assembly.

[0009] Preferably, as an implementable mode, the driving direction of the linear actuator is also perpendicular to the arrangement direction of the two clamping jaw devices.

[0010] And / or, each of the clamping jaw devices comprises two sets of oppositely arranged clamping jaw assemblies, and two driven rods in the same clamping jaw device are symmetrically arranged on two sides of the driving rod.

[0011] Preferably, as an implementable mode, the clamping jaw device further comprises a supporting plate connected with the fixing frame through elastic members; and a second guide structure is arranged between the supporting plate and the fixing frame, and is used for guiding the corresponding supporting plate.

[0012] Preferably, as an implementable mode, a pressure sensor is arranged between the supporting plate and the fixing frame, and is used for sensing the pressure value between the supporting plate and the fixing frame; and the pressure sensor and the linear driver are both in communication connection with the controller.

[0013] Preferably, as an implementable mode, the clamping jaw device further comprises a position sensing assembly, which can be triggered after the supporting plate is pressed to a set position by products; and the position sensing assembly is in communication connection with the controller.

[0014] Preferably, as an implementable mode, the second guide structure comprises a guide rod and a guide hole, the guide rod and the guide hole are in sliding fit, and one of the guide rod and the guide hole is arranged on the fixing frame, and the other is arranged on the supporting plate.

[0015] Preferably, as an implementable mode, the elastic member comprises a spring, and the spring is sleeved on the guide rod.

[0016] And / or, the second guide structure further comprises a linear bearing, one of the guide rod and the linear bearing is arranged on the fixing frame, and the other is arranged on the supporting plate, and the guide rod and the linear bearing are in fit.

[0017] Preferably, as an implementable mode, the clamping jaw assembly comprises a fixing member and a plurality of clamping jaws, the plurality of clamping jaws are fixed on the fixing member, the first guide structure is in fit with the fixing member, and the fixing member is hinged with the corresponding driven rod.

[0018] And / or, the first guide structure is a sliding rail, and is fixedly arranged on the fixing frame; and the clamping jaw assembly is in sliding fit with the sliding rail.

[0019] And / or, the linear driver comprises a pneumatic cylinder.

[0020] The automatic equipment provided by the utility model, comprising a robot and the above-mentioned turnover clamping jaw mechanism, the robot is connected with the fixing frame, and is used for driving the fixing frame to move and turn over.

[0021] Compared with the prior art, the utility model has the beneficial effects that:

[0022] In use, the product to be processed is placed on one of the clamping jaw devices, the clamping jaw device is controlled to clamp the product to be processed, one end of the fixed frame provided with the clamping jaw assembly is directed towards the equipment, the fixed frame is driven to partially extend into the equipment, the product to be processed clamped by the clamping jaw device is sent into the equipment, after the fixed frame extends into position, the fixed frame is driven to move towards the processed product at the processing position, after the fixed frame moves into position, the other idle clamping jaw device is controlled to clamp the processed product, then the fixed frame is reversely driven to move a certain distance to provide space for subsequent overturning, after the fixed frame is in position, the fixed frame is driven to overturn, so that the product to be processed clamped by the clamping jaw device faces the processing position of the equipment, after overturning is completed, the fixed frame is driven to move towards the processing position, after the product to be processed enters the processing position, the clamping jaw device is controlled to release the product to be processed, then the fixed frame is reversely driven to move a certain distance, so that the overturning clamping jaw mechanism can smoothly exit the equipment, after the fixed frame is in position, the fixed frame is driven to exit the equipment, and one loading and unloading action is completed.

[0023] It should be noted that after the clamping jaw device enters the equipment, the linear driver can remain outside the equipment, so that the volume of the part of the overturning clamping jaw mechanism entering the equipment can be reduced, and thus the overturning of the fixed frame and the clamping jaw device in the equipment can be realized.

[0024] Therefore, the overturning clamping jaw mechanism provided by the utility model can realize the overturning action of the product in the equipment, without the need to take out the product to the outside of the equipment for overturning, time can be saved, and production efficiency can be improved.

[0025] The automatic equipment provided by the utility model comprises the overturning clamping jaw mechanism, and thus has all the advantages of the overturning clamping jaw mechanism, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0027] Fig. 1 A front view structural schematic view of the turnover clamping jaw mechanism is provided for the embodiment of the utility model;

[0028] Fig. 2 Another view structural schematic view of the turnover clamping jaw mechanism is provided for the embodiment of the utility model;

[0029] Fig. 3 A plan view of part structure in the turnover clamping jaw mechanism is provided for the embodiment of the utility model.

[0030] Mark explanation:

[0031] 100 - fixed frame; 110 - reinforcing rib;

[0032] 200 - clamping jaw device; 210 - air cylinder; 220 - connecting rod mechanism; 221 - driving rod; 222 - driven rod; 230 - slide rail; 240 - clamping jaw assembly; 241 - fixing piece; 242 - clamping jaw; 250 - supporting plate; 260 - spring; 270 - in-place induction assembly; 271 - inductor; 272 - induction sheet; 280 - product inductor;

[0033] 300 - installation base plate;

[0034] 400 - product. Specific implementation

[0035] The technical scheme of the utility model will be described clearly and completely in combination with the drawings, obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the scope of protection of the utility model.

[0036] The utility model will be described further in detail through specific embodiment and in combination with the drawings.

[0037] Reference Figs. 1-3The embodiment provides a turnover clamp mechanism, which comprises a fixed frame 100 and clamp devices 200 arranged oppositely on both sides of the fixed frame 100; the clamp device 200 comprises a linear actuator, a connecting rod mechanism 220, a first guide structure and a plurality of clamp assemblies 240; the clamp assemblies 240 are connected with the fixed frame 100 through the first guide structure, and the first guide structure is used for guiding the clamp assemblies 240 to move towards the direction of clamping or opening; the linear actuator is connected with the clamp assemblies 240 through the connecting rod mechanism 220, and is used for driving the clamp assemblies 240 to move towards the direction of clamping or opening simultaneously; the arrangement directions of the two clamp devices 200 are perpendicular to the moving directions of the clamp assemblies 240, and the two linear actuators are located on the same side of the clamp assemblies 240.

[0038] In use, a product to be processed is placed on one of the clamp devices 200, and the clamp device 200 is controlled to clamp the product to be processed; one end of the fixed frame 100 provided with the clamp assemblies 240 is driven to face the equipment, and the fixed frame 100 is driven to partially extend into the equipment, so that the product to be processed clamped by the clamp device 200 is sent into the equipment; after the fixed frame 100 extends into position, the fixed frame 100 is driven to move towards the processed product at the processing position; after the fixed frame 100 moves into position, the other idle clamp device 200 is controlled to clamp the processed product; then, the fixed frame 100 is driven to reversely move by a certain distance, so as to provide space for subsequent turnover; after the fixed frame 100 reaches position, the fixed frame 100 is driven to turn over, so that the product to be processed clamped by the clamp device 200 faces the processing position of the equipment; after the turnover is completed, the fixed frame 100 is driven to move towards the processing position; after the product to be processed enters the processing position, the clamp device 200 is controlled to release the product to be processed; then, the fixed frame 100 is driven to reversely move by a certain distance, so that the turnover clamp mechanism can smoothly exit the equipment; after the fixed frame 100 reaches position, the fixed frame 100 is driven to exit the equipment, and one feeding and discharging action is completed.

[0039] It should be noted that, after the clamp device 200 enters the equipment, the linear actuator can remain outside the equipment, so that the volume of the part of the turnover clamp mechanism entering the equipment can be reduced, and thus the turnover of the fixed frame 100 and the clamp device 200 in the equipment can be realized. In work, the linear actuator located outside the equipment can drive the clamp assemblies 240 in the equipment through the connecting rod mechanism 220. Specifically, after the linear actuator is started in the forward direction (or in the reverse direction), the clamp assemblies 240 can be driven to move towards the clamping direction through the connecting rod mechanism 220 under the action of the first guide structure, so that the clamp assemblies 240 are matched to clamp the product. After the linear actuator is started in the reverse direction (or in the forward direction), the clamp assemblies 240 can be driven to move towards the releasing direction through the connecting rod mechanism 220, so as to release the product. The first guide structure matched with the connecting rod mechanism 220 can ensure that the turnover clamp mechanism operates efficiently and stably.

[0040] Therefore, the turnover jaw mechanism provided by the embodiment can realize the turnover action of the product 400 in the device, without the need of taking the product 400 out of the device for turnover, thereby saving time and improving production efficiency.

[0041] In fact, the two jaw devices 200 are arranged on the upper and lower sides of the fixed frame 100 respectively, and the product to be processed can be placed on the jaw device 200 on the upper side; the jaw device 200 can be turned over by 180° in the device, so that the two jaw devices 200 are exchanged in position, so that when the fixed frame 100 enters or exits the device, the product 400 will be clamped by the jaw device 200 on the upper side, and the risk of falling off of the product 400 can be reduced.

[0042] In the specific structure of the connecting rod mechanism 220, the driving rod 221 and a plurality of driven rods 222 can be provided, the driving rod 221 is connected with the linear driver, so that the driving rod 221 is driven to move in a direction perpendicular to the guide of the first guide structure by the linear driver; the driven rod 222 is arranged in one-to-one correspondence with the jaw assembly 240, one end of the driven rod 222 is connected with the driving rod 221, and the other end of the driven rod 222 is hinged with the corresponding jaw assembly 240; when the driving rod 221 moves, the driven rod 222 will move with the driving rod 221, and the driven rod 222 will also swing adaptively under the action of the first guide structure, so that the driven rod 222 drives the jaw assembly 240 to move towards the direction of clamping or loosening. Under the action of the connecting rod mechanism 220, the force of the linear driver can be amplified, so that the size of the linear driver can be reduced under the premise of ensuring the clamping force of the jaw assembly 240 on the product 400, so that the thickness (i.e. the length of the arrangement direction of the two jaw devices 200) of the whole turnover jaw mechanism can be reduced. Specifically, the driving rod 221 and the driven rod 222 can be connected by a pin shaft.

[0043] The driving direction of the linear driver can be arranged to be perpendicular to the arrangement direction of the two jaw devices 200, which is beneficial to further reducing the thickness of the turnover jaw mechanism.

[0044] Preferably, two groups of oppositely arranged jaw assemblies 240 can be arranged in each jaw device 200, and the two driven rods 222 in the same jaw device 200 can be symmetrically arranged on the two sides of the driving rod 221, so that the two groups of jaw assemblies 240 in the same jaw device 200 can move towards each other or away from each other at the same speed, and the clamping effect can be improved.

[0045] Further, the two jaw devices 200 can be symmetrically arranged on the two sides of the fixed frame 100, the structure layout is balanced, and the working stability of the turnover jaw mechanism can be improved.

[0046] The clamping jaw device 200 can further be provided with a supporting plate 250, the supporting plate 250 being connected with the fixing frame 100 through a plurality of elastic members, so that the elastic members can be used to lift the supporting plate 250, and when the supporting plate 250 contacts and presses the product 400, the elastic members can be deformed to a certain extent to absorb part of the collision energy, so as to achieve a buffering effect and reduce the risk of damage to the product 400; a second guide structure can be further arranged between the supporting plate 250 and the fixing frame 100, so that the second guide structure can be used to guide the supporting plate 250 to move in a specific direction, thereby ensuring the stability of the structure.

[0047] Specifically, one of the fixing frame 100 and the supporting plate 250 can be provided with a guide rod, and the other can be provided with a guide hole, the guide rod and the guide hole being in sliding fit, and the guide hole and the guide rod can be used to form the above-mentioned second guide structure, and the guiding effect is better.

[0048] Preferably, the spring 260 can be used as the above-mentioned elastic member, and the spring 260 can be sleeved on the guide rod, so that the buffering requirement can be met, and the spring 260 can be prevented from being bent.

[0049] The above-mentioned second guide structure can further include a linear bearing, one of the guide rod and the linear bearing being arranged on the fixing frame 100, and the other being arranged on the supporting plate 250, and the guide rod and the linear bearing being matched to reduce friction and improve the stability of the movement of the supporting plate 250.

[0050] Preferably, a pressure sensor can be installed between the supporting plate 250 and the fixing frame 100, and when the supporting plate 250 moves towards the fixing frame 100 under the pressing of the product 400, the pressure sensor can sense the pressure value between the supporting plate 250 and the fixing frame 100; the pressure sensor and the linear driver are both in communication connection with the controller, and when the pressure value sensed by the pressure sensor reaches a preset pressure threshold value, it indicates that the product 400 has reached a suitable clamping position, at which time the pressing of the product 400 is stopped, and the controller controls the linear driver to drive the clamping jaw assembly 240 to move in the clamping direction, so as to clamp the product 400 by using a plurality of clamping jaw assemblies 240. It should be noted that the arrangement of the pressure sensor can accurately detect the pressure value between the supporting plate 250 and the fixing frame 100, and can further reduce the risk of damage to the product 400. The pressure sensor can be installed on the side of the supporting plate 250 facing the fixing frame 100, or on the side of the fixing frame 100 facing the supporting plate 250.

[0051] Further, the in-place sensing assembly 270 can be arranged in the specific structure of the clamping jaw device 200, and the in-place sensing assembly 270 is in communication connection with the controller. When the supporting plate 250 is moved to the set position under the extrusion of the product 400, the in-place sensing assembly 270 can be triggered, indicating that the supporting plate 250 has been pressed into place. On this basis, when the pressure value sensed by the pressure sensor reaches the preset pressure threshold, the controller controls the linear driver to drive the clamping jaw assembly 240 to move in the clamping direction. It should be noted that the arrangement of the in-place sensing assembly 270 can identify the situation that the supporting plate 250 is deformed and raised due to being pushed by foreign matter, resulting in that the pressure value sensed by the pressure sensor has reached the preset pressure threshold, while the product has not reached the clamping position, thereby avoiding the error clamping of the clamping jaw assembly 240 and ensuring the clamping effect.

[0052] In the specific structure of the in-place sensing assembly 270, the inductor 271 and the sensing sheet 272 can be arranged. One of the inductor 271 and the sensing sheet 272 is arranged on the fixed frame 100, and the other is arranged on the supporting plate 250. When the supporting plate 250 reaches the set position, the sensing sheet 272 can trigger the inductor 271.

[0053] In the specific structure of the clamping jaw assembly 240, the fixing member 241 and a plurality of clamping jaws 242 can be arranged. The plurality of clamping jaws 242 are fixed to the fixing member 241. The first guide structure is matched with the fixing member 241, and the fixing member 241 is hinged with the corresponding driven rod 222. In this way, the driving of the plurality of clamping jaws 242 in the same clamping jaw assembly 240 can be realized at the same time. The clamping jaw 242 is preferably a rubber-coated clamping jaw.

[0054] The slide rail 230 can be used as the above-mentioned first guide structure. The slide rail 230 is arranged on the fixed frame 100, and the clamping jaw assembly 240 is slidingly matched with the slide rail 230. In this way, the slide rail 230 can be used to guide the clamping jaw assembly 240, which can ensure that the turnover clamping jaw mechanism can operate efficiently and stably, and the structure is simple and easy to assemble.

[0055] Specifically, the cylinder 210 can be used as the above-mentioned linear driver. The extension and retraction of the cylinder 210 can realize the rapid driving of the driving rod 221, and the clamping and releasing speed is relatively fast. The cylinder 210 is controlled by IO. Limiting blocks can be used to limit the stroke of the cylinder 210 to prevent damage to the product 400 caused by excessive extrusion.

[0056] The fixed frame 100 can be fixedly connected to the mounting bottom plate 300. The reinforcing ribs 110 can be arranged on the fixed frame 100 near the mounting bottom plate 400.

[0057] Product sensors 280 can be arranged on both sides of the fixed frame 100 to sense the product 400.

[0058] The turnover clamp mechanism provided by the embodiment adopts a modular design, and when a fault occurs, the whole turnover clamp mechanism can be quickly replaced, thereby facilitating improvement of production efficiency of the production line.

[0059] The embodiment further provides an automatic device, which comprises a robot and the turnover clamp mechanism, and the robot is connected with the fixing frame 100 and used for driving the fixing frame 100 to move and turn over.

[0060] The automatic device provided by the embodiment has all advantages of the turnover clamp mechanism, and can realize the turnover action of the product 400 in the device without taking the product 400 out of the device for turnover, thereby saving time and improving production efficiency.

[0061] In addition, the robot can drive the whole turnover clamp mechanism to move and turn over, so that the turnover clamp mechanism can smoothly clamp and turn over the product and can smoothly place the product 400 in place.

[0062] The automatic device provided by the embodiment can work according to the following process: placing a product to be processed on the upper clamp device 200 of the turnover clamp mechanism, controlling the cylinder 210 of the upper clamp device 200 to contract to clamp the product to be processed; the robot drives the whole turnover clamp mechanism to horizontally move, so that the clamp assembly 240 extends into the inside of the device; when the clamp assembly 240 extends into place, the robot drives the whole turnover clamp mechanism to descend, so that the lower clamp device 200 approaches the lower product that has been processed, after the supporting plate 250 contacts the product 400, the spring 260 starts to compress; when the in-place sensing assembly 270 is triggered and the pressure value sensed by the pressure sensor reaches a preset pressure threshold value, the cylinder 210 retracts, and under the action of the connecting rod mechanism 220, the rubber-coated clamp clamps the product 400; then, the robot drives the whole turnover clamp mechanism to ascend to a certain height, and then drives the whole turnover clamp mechanism to turn over by 180 degrees, so that the upper product to be processed is turned over to the lower side, and the lower product that has been processed is turned over to the upper side; then, the robot drives the whole turnover clamp mechanism to descend and place the product to be processed into a processing position of the device; then, the robot drives the whole turnover clamp mechanism to ascend to a certain height and then horizontally moves to the outside of the device.

[0063] Preferably, the robot is a six-axis robot, which can improve stability and flexibility and realize quick turnover of the turnover clamp mechanism.

[0064] In the description of the utility model, it should be explained that the positions or position relations indicated by the terms "upper", "lower" and the like are the positions or position relations shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated devices or elements must have a particular orientation, a particular orientation and operation, so it cannot be understood as a limitation on the utility model.

[0065] In the description of the utility model, it needs to explain, unless another explicit provision and limitation, term " install " " connection " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be direct connection, also can indirectly connect through intermediate medium, can be two element inside intercommunication. For ordinary skilled person in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0066] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the utility model, but not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A flip jaw mechanism, characterized by, The clamping jaw device comprises a fixed frame and clamping jaw devices arranged opposite to each other on both sides of the fixed frame. The clamping jaw device comprises a linear actuator, a connecting rod mechanism, a first guide structure and a plurality of clamping jaw assemblies, the clamping jaw assemblies are connected to the fixed frame through the first guide structure, the first guide structure is used for guiding the movement of the clamping jaw assemblies in the direction of clamping or loosening; the linear actuator is connected to the clamping jaw assemblies through the connecting rod mechanism, and is used for driving the clamping jaw assemblies to move in the direction of clamping or loosening simultaneously. The arrangement direction of the two clamping jaw devices is perpendicular to the movement direction of the clamping jaw assemblies, and the two linear actuators are located on the same side of the clamping jaw assemblies.

2. The flipper mechanism of claim 1, wherein, The connecting rod mechanism comprises a driving rod and a plurality of driven rods, the linear actuator is connected to the driving rod, and is used for driving the driving rod to move in a direction perpendicular to the guide direction of the first guide structure; the driven rods correspond to the clamping jaw assemblies one by one, one end of the driven rod is hinged to the driving rod, and the other end of the driven rod is hinged to the corresponding clamping jaw assembly.

3. The flipper mechanism of claim 2, wherein, The driving direction of the linear actuator is also perpendicular to the arrangement direction of the two clamping jaw devices. Furthermore, each clamping jaw device comprises two groups of clamping jaw assemblies arranged oppositely, and the two driven rods in the same clamping jaw device are symmetrically arranged on both sides of the driving rod.

4. The flipper mechanism of claim 1, wherein, The clamping jaw device further comprises a supporting plate connected to the fixed frame through a plurality of elastic members; a second guide structure is further arranged between the supporting plate and the fixed frame, and the second guide structure is used for guiding the corresponding supporting plate.

5. The flipper mechanism of claim 4, wherein, A pressure sensor is arranged between the supporting plate and the fixed frame, and the pressure sensor is used for sensing the pressure value between the supporting plate and the fixed frame; the pressure sensor and the linear actuator are both in communication connection with a controller.

6. The flipper mechanism of claim 5, wherein, The clamping jaw device further comprises a position sensing assembly, which can be triggered after the supporting plate is pressed to a set position by a product, and the position sensing assembly is in communication connection with the controller.

7. The flipper mechanism of claim 4 wherein, The second guide structure comprises a guide rod and a guide hole, the guide rod and the guide hole are in sliding fit, one of the guide rod and the guide hole is arranged on the fixed frame, and the other is arranged on the supporting plate.

8. The flipper mechanism of claim 7, wherein, The elastic member comprises a spring, and the spring is sleeved on the guide rod. Furthermore, the second guide structure further comprises a linear bearing, one of the guide rod and the linear bearing is arranged on the fixed frame, and the other is arranged on the supporting plate, and the guide rod is matched with the linear bearing.

9. The flipper mechanism of claim 2 or 3, wherein, The clamping jaw assembly comprises a fixed part and a plurality of clamping jaws, the clamping jaws are fixed to the fixed part, the first guide structure is matched with the fixed part, and the fixed part is hinged to the corresponding driven rod. Furthermore, the first guide structure is a sliding rail and is fixed to the fixed frame; the clamping jaw assembly is in sliding fit with the sliding rail. Furthermore, the linear actuator comprises a pneumatic cylinder.

10. An automated apparatus, characterized by, The clamping jaw device comprises a robot and the turnover clamping jaw mechanism of any one of claims 1-9, the robot is connected to the fixed frame and is used for driving the movement and turnover of the fixed frame.

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