Workpiece clamping and overturning mechanism

Abstract

The utility model belongs to the technical field of turnover mechanisms, and particularly relates to a workpiece clamping turnover mechanism which comprises a three-axis movement assembly, a turnover assembly and a clamping assembly, the turnover assembly is installed on the three-axis movement assembly, the three-axis movement assembly is used for driving the turnover assembly to move, the clamping assembly is installed on the turnover assembly, and the turnover assembly is used for driving the turnover assembly to move. The overturning assembly is used for driving the clamping assembly to rotate so as to overturn the peripheral face of the first workpiece to adjust the assembling angles, each assembling angle corresponds to one assembling face of the first workpiece, and the clamping assembly is used for clamping the first workpiece. Through cooperative work of the three-axis movement assembly, the overturning assembly and the clamping assembly, workpiece picking and overturning operation can be rapidly and accurately completed, and compared with traditional manual overturning, the production efficiency and the overturning angle accuracy are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of flipping mechanism technology, and in particular to a workpiece clamping and flipping mechanism. Background Technology

[0002] In the field of semiconductor packaging and electronic component manufacturing, chip mounting technology is one of the key steps in achieving miniaturization and integration of electronic devices. Among them, chip mounting is a widely used process method, especially suitable for applications that require precise connection between magnets and pins.

[0003] Traditional chip mounting processes typically involve the following key steps: First, multiple magnets are precisely placed on a dedicated carrier designed to maintain their stability and positional accuracy during mounting. Next, an appropriate amount of adhesive is precisely applied to the predetermined positions on the magnets using a dispensing machine. After adhesive application, the next step is to precisely attach the pins to the adhesive-coated magnets; this step is usually achieved using high-precision mounting equipment. For some specific products, pins need to be mounted on all four sides of the magnets, requiring the magnets to be rotated to a specific angle before the next steps of dispensing and pin mounting.

[0004] In existing technologies, magnets are usually flipped manually. However, manual operation makes it difficult to guarantee the accuracy and consistency of each flip, which may lead to deviations in parameters such as the position and angle of the magnet after flipping, thus affecting the accuracy of subsequent dispensing and mounting. On the other hand, compared with automated flipping equipment, manual flipping of magnets is slower and less efficient, which increases production costs and reduces production efficiency. Especially in large-scale production environments, manual magnet flipping can become a bottleneck in the production line. Utility Model Content

[0005] The technical problem to be solved by this utility model is: in order to solve the technical problems of difficulty in ensuring the flipping accuracy and consistency and low efficiency of manual operation in the prior art, this utility model provides a workpiece clamping and flipping mechanism to improve production efficiency and meet the requirements of high precision, stability and reliability.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a workpiece clamping and flipping mechanism, which includes:

[0007] Three-axis motion assembly;

[0008] A flipping component is mounted on the three-axis motion component, and the three-axis motion component is used to drive the flipping component to move.

[0009] A clamping assembly is mounted on the flipping assembly. The flipping assembly is used to drive the clamping assembly to rotate so as to flip the outer peripheral surface of the first workpiece to adjust the assembly angle. Each assembly angle corresponds to an assembly surface of the first workpiece. The clamping assembly is used to clamp the first workpiece.

[0010] The beneficial effects of this utility model are that, through the coordinated work of the three-axis motion assembly, the flipping assembly and the clamping assembly, the workpiece picking and flipping operations can be completed quickly and accurately. Compared with the traditional manual flipping, it greatly improves production efficiency and flipping angle accuracy.

[0011] According to one embodiment of the present invention, the clamping assembly includes grippers and a gripper cylinder. The gripper cylinder is mounted on the flipping assembly and is used to control the opening and closing of the grippers to clamp the assembly surface of the first workpiece. Thus, the gripper cylinder drives the opening and closing action of the grippers, enabling the clamping assembly to clamp the workpiece more precisely and flexibly.

[0012] According to one embodiment of this utility model, the gripper includes two opposing gripping parts, and the gripper cylinder is used to control the two gripping parts to move closer or further apart. This allows for simultaneous gripping of workpieces from both sides, increasing the contact area and thus improving gripping stability. It helps prevent the first workpiece from slipping or being damaged during flipping or moving. Furthermore, by adjusting the distance between the two gripping parts, the gripper can accommodate first workpieces of different sizes, improving its versatility and practicality.

[0013] According to one embodiment of the present invention, a first workpiece is placed on a carrier, and the carrier has a plurality of spaced first storage slots, each of which holds a first workpiece. The three-axis motion assembly drives the flipping assembly and the clamping assembly to move and perform flipping operations on the plurality of first workpieces on the carrier one by one.

[0014] According to one embodiment of this utility model, a second storage slot is provided between two adjacent first storage slots. Each second storage slot has a corresponding and communicating clearance slot on one side, which is used to avoid the gripping part. Thus, even when the lateral dimension L1 and longitudinal dimension of the first workpiece are not equal, the flipping requirement can still be met. When the first workpiece is flipped 90°, the gripper rotates to open and close along the z-axis. The clearance slot ensures that the gripper will not interfere with the carrier during the opening process.

[0015] According to one embodiment of the present invention, the flipping assembly includes a rotary cylinder mounted on the three-axis motion assembly. The rotary cylinder drives the clamping assembly to rotate around the y-axis. Thus, the rotary cylinder provides the clamping assembly with the ability to rotate around the y-axis, enabling the clamping assembly to flip the first workpiece more precisely and flexibly. Furthermore, the rotary cylinder allows for precise control of the rotation of the clamping assembly to adjust the assembly angle, ensuring the positional accuracy of the first workpiece during the flipping process.

[0016] According to one embodiment of this utility model, the three-axis motion assembly includes a z-axis drive module, a y-axis drive module, and an x-axis drive module. The moving end of the z-axis drive module is connected to the clamping assembly and drives the clamping assembly to move along the z-axis. The moving end of the y-axis drive module is connected to the z-axis drive module and drives the z-axis drive module to move along the y-axis. The moving end of the x-axis drive module is connected to the y-axis drive module and drives the y-axis drive module to move along the x-axis. Thus, the coordinated operation of the z-axis drive module, y-axis drive module, and x-axis drive module enables the clamping assembly to move flexibly along the z, y, and x axes in three-dimensional space, improving work efficiency.

[0017] According to one embodiment of the present invention, the z-axis driving module includes:

[0018] The z-axis driving component is mounted on the moving end of the y-axis driving module;

[0019] A z-axis linear guide rail is provided on the z-axis driving component along the z-axis direction, and a z-axis slider is slidably provided on the z-axis linear guide rail.

[0020] The second mounting block is disposed on the z-axis slider and connected to the moving end of the z-axis drive component, and the clamping assembly is disposed on the second mounting block.

[0021] According to one embodiment of the present invention, the y-axis driving module includes:

[0022] A y-axis driving component is mounted on the moving end of the x-axis driving module;

[0023] A linear guide rail in the y-direction is provided on the moving end of the drive module in the x-direction along the y-axis direction, and a slider in the y-direction is slidably provided on the linear guide rail in the y-direction.

[0024] The third mounting block is disposed on the y-axis slider and connected to the moving end of the y-axis drive component, and the z-axis drive module is disposed on the third mounting block.

[0025] According to one embodiment of the present invention, the x-axis driving module includes:

[0026] Base plate;

[0027] The x-axis lead screw motor is mounted on the base plate via a first motor mounting bracket.

[0028] The x-axis lead screw is directly connected to the x-axis lead screw motor;

[0029] An x-axis linear guide rail is provided on the base plate along the x-axis direction, and an x-axis slider is slidably provided on the x-axis linear guide rail.

[0030] A first mounting block is disposed on the x-axis slider and threadedly connected to the x-axis lead screw, and the y-axis drive module is disposed on the first mounting block. Other features and advantages of this invention will be set forth in the following description and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description, claims, and drawings.

[0031] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] Figure 1 This is a three-dimensional structural diagram of the workpiece clamping and flipping mechanism according to Embodiment 1 of this utility model;

[0034] Figure 2 for Figure 1 A three-dimensional structural diagram of the Z-axis drive module;

[0035] Figure 3 for Figure 2 A three-dimensional structural diagram of the Z-axis drive component;

[0036] Figure 4 for Figure 1 A three-dimensional structural diagram of the x-axis drive module;

[0037] Figure 5 for Figure 1 Assembly diagram of the clamping component and the flipping component;

[0038] Figure 6 This is a three-dimensional structural diagram of the workpiece clamping and flipping mechanism according to Embodiment 2 of this utility model;

[0039] Figure 7 for Figure 6 A schematic diagram of the structure of the y-axis drive module;

[0040] Figure 8 This is a schematic diagram of the structure of the first workpiece of this utility model;

[0041] Figure 9 This is a three-dimensional structural diagram of the vehicle according to Embodiment 3 of this utility model;

[0042] Figure 10 for Figure 9 A magnified view of a portion of point A in the middle.

[0043] In the figure: 1. Clamping assembly; 101. Gripper; 102. Gripping part; 1021. Workpiece clamping wall; 1022. Workpiece limiting wall; 103. Gripper cylinder;

[0044] 2. Z-axis drive module; 201. Z-axis drive component; 2011. Second motor mounting base; 2012. Z-axis lead screw motor; 2013. Z-axis lead screw; 2014. Z-axis nut seat; 2015. Adapter block; 202. Z-axis linear guide; 203. Z-axis slider; 204. Second mounting block;

[0045] 3. X-axis drive module; 301. Base plate; 302. X-axis lead screw motor; 303. X-axis lead screw; 304. X-axis linear guide; 305. X-axis slider; 306. First mounting block; 307. First motor mounting base;

[0046] 4. Y-axis drive module; 401. Y-axis drive component; 4011. Y-axis lead screw motor; 4012. Third motor mounting bracket; 4013. Y-axis lead screw; 4014. Y-axis nut seat; 402. Y-axis linear guide; 403. Y-axis slider; 404. Third mounting block;

[0047] 5. Carrier; 501. First workpiece; 502. Clearance groove; 503. Spring; 504. Telescopic block; 505. Limiting block; 506. First storage slot; 507. Second storage slot;

[0048] 6. Tilting assembly; 601. Rotary cylinder. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0050] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0051] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0052] Example 1:

[0053] like Figures 1 to 5 The image shown is a preferred embodiment of the present invention. The first workpiece 501 clamping and flipping mechanism of this embodiment includes: a three-axis motion assembly;

[0054] The flipping component 6 is mounted on a three-axis motion assembly, which drives the flipping component 6 along the x-axis, y-axis, and z-axis (see...). Figure 1 As shown, in this embodiment, the up-down direction is defined as the z-axis, the direction from the upper left to the lower right is defined as the x-axis, and the direction from the upper right to the lower left is defined as the y-axis for ease of explanation, and the movement direction and setting direction of the flipping component 6 are not actually limited;

[0055] Clamping assembly 1 is mounted on flipping assembly 6. Flipping assembly 6 is used to drive clamping assembly 1 to rotate around the y-axis to flip the outer peripheral surface of the first workpiece 501 to adjust the assembly angle. Each assembly angle corresponds to an assembly surface of the first workpiece 501. Clamping assembly 1 is used to clamp the first workpiece 501.

[0056] In this arrangement, the first workpiece 501 is placed on the carrier 5. The carrier 5 (not shown) has multiple first storage slots 506, which are spaced apart along the x-axis. Each first storage slot 506 holds a first workpiece 501. The three-axis motion assembly drives the flipping assembly 6 and the clamping assembly 1 to perform flipping operations on each first workpiece 501 on the carrier 5 one by one along the x-axis.

[0057] In this embodiment, the clamping assembly 1 includes a jaw 101 and a jaw cylinder 103. The jaw cylinder 103 is mounted on the flipping assembly 6 and is used to control the opening and closing of the jaw 101 to clamp the assembly surface of the first workpiece 501. Thus, the jaw cylinder 103 is responsible for driving the opening and closing action of the jaw 101, enabling the clamping assembly 1 to clamp the first workpiece 501 more accurately and flexibly.

[0058] In this embodiment, the gripper 101 includes two opposing gripping portions 102, and the gripper cylinder 103 is used to control the two gripping portions 102 to move closer or further apart. This allows the first workpiece 501 to be gripped simultaneously from both sides, increasing the gripping contact area and thus improving gripping stability. This helps prevent the first workpiece 501 from slipping or being damaged during flipping or moving. Furthermore, by adjusting the distance between the two gripping portions 102, the gripper 101 can accommodate first workpieces 501 of different sizes, improving the versatility and practicality of the gripper 101.

[0059] For details, see Figure 5 As shown, for the first workpiece 501 with a square structure, each clamping part 102 has a clamping groove on the side of its head facing the other clamping part 102 for the first workpiece 501 to be inserted into. The clamping groove includes a workpiece clamping wall 1021 and a workpiece limiting wall 1022. The workpiece clamping wall 1021 is used to clamp the first workpiece 501, and the workpiece limiting wall 1022 is used to prevent the first workpiece 501 from moving in the y-axis direction.

[0060] In this embodiment, the flipping assembly 6 includes a rotary cylinder 601, which is mounted on the three-axis motion assembly. The rotary cylinder 601 is used to drive the clamping assembly 1 to rotate around the y-axis. Thus, the rotary cylinder 601 provides the clamping assembly 1 with the ability to rotate around the y-axis, enabling the clamping assembly to flip the first workpiece 501 more accurately and flexibly. Furthermore, the rotary cylinder 601 can precisely control the rotation of the clamping assembly to adjust the assembly angle, ensuring the positional accuracy of the first workpiece 501 during the flipping process.

[0061] In this embodiment, the three-axis motion assembly includes a z-axis drive module 2 and an x-axis drive module 3. The moving end of the z-axis drive module 2 is connected to the clamping assembly 1 and drives the clamping assembly 1 to move along the z-axis. The moving end of the x-axis drive module 3 is connected to the z-axis drive module 2 and drives the z-axis drive module 2 to move along the x-axis. Thus, the coordinated operation of the z-axis drive module 2 and the x-axis drive module 3 enables the clamping assembly 1 to move flexibly along the z and x directions in three-dimensional space, improving work efficiency.

[0062] In this embodiment, the z-axis driving module 2 includes:

[0063] z-axis drive component 201 is mounted on the moving end of y-axis drive module 4;

[0064] Z-axis linear guide 202 is disposed on z-axis drive component 201 along z-axis direction, and z-axis slider 203 is slidably disposed on z-axis linear guide 202;

[0065] The second mounting block 204 is mounted on the z-axis slider 203 and connected to the moving end of the z-axis drive component 201. The clamping assembly 1 is mounted on the second mounting block 204. Thus, the z-axis drive component 201 provides the driving force along the z-axis, the second mounting block 204 supports the clamping assembly 1, and the sliding engagement between the z-axis linear guide 202 and the z-axis slider 203 provides a stable and low-friction sliding path for the second mounting block 204. This ensures the linear motion of the clamping assembly 1 in the z-axis direction, reduces positional deviations caused by friction and wobbling, improves motion accuracy, and makes the clamping assembly 1 move more smoothly and reliably.

[0066] In this embodiment, the z-axis driving component 201 includes:

[0067] The second motor mounting base 2011 is set on the moving end of the y-direction drive module 4, and the z-direction linear guide rail 202 is set on the second motor mounting base 2011.

[0068] Z-axis lead screw motor 2012 is mounted on the second motor mounting base 2011;

[0069] Z-axis lead screw 2013, Z-axis lead screw 2013 is directly connected to Z-axis lead screw motor 2012;

[0070] Z-direction nut seat 2014 is sleeved on Z-direction screw 2013 and threadedly connected to Z-direction screw 2013;

[0071] The adapter block 2015 is mounted on the Z-axis nut seat 2014 and connected to the second mounting block 204. Thus, the Z-axis lead screw motor 2012, as the drive source, can quickly respond to control signals and achieve rapid lifting and lowering. The Z-axis lead screw motor 2012 is directly connected to the Z-axis lead screw 2013, and precise transmission is achieved through the threaded connection between the Z-axis nut seat 2014 and the Z-axis lead screw 2013. This effectively reduces errors and wobbling during transmission, improves motion accuracy, and by adjusting the stroke and speed of the Z-axis lead screw motor 2012, it can adapt to the processing requirements of the first workpiece 501 with different heights and sizes.

[0072] In this embodiment, the x-direction driving module 3 includes:

[0073] Base plate 301;

[0074] The x-axis lead screw motor 302 is mounted on the base plate 301 via the first motor mounting bracket 307.

[0075] x-direction lead screw 303 is directly connected to x-direction lead screw motor 302;

[0076] x-direction linear guide 304 is set on base plate 301 along x-axis direction, and x-direction slider 305 is slidably set on x-direction linear guide 304;

[0077] The first mounting block 306 is mounted on the x-axis slider 305 and threadedly connected to the x-axis lead screw 303. The y-axis drive module 4 is mounted on the first mounting block 306. Thus, the x-axis lead screw motor 302 is directly connected to the x-axis lead screw 303, achieving precise transmission through the threaded connection between the first mounting block 306 and the x-axis lead screw 303. This ensures that the clamping assembly 1 moves sequentially to the front of each first workpiece 501. The sliding engagement between the x-axis linear guide 304 and the x-axis slider 305 provides a stable and low-friction sliding path for the first mounting block 306, ensuring linear movement of the clamping assembly 1 in the x-axis direction. This reduces positional deviations caused by friction and wobbling, improves motion accuracy, and makes the clamping assembly 1 more stable and reliable during movement.

[0078] The working principle of this embodiment is as follows: Each first placement slot 506 contains a first workpiece 501 to be flipped. The carrier 5 containing multiple first workpieces 501 that need to be flipped 180° is placed on the side near the chuck. The x-axis lead screw motor 302 is started to drive the x-axis lead screw 303 to rotate, which in turn drives the first mounting block 306 to move along the x-axis linear guide rail 304 until the chuck 101 moves above the first or any set first workpiece 501. The chuck cylinder 103 controls the two gripping parts 102 to move away from each other, so that the distance between the two gripping parts 102 is greater than the width of the first workpiece 501.

[0079] The Z-axis lead screw motor 2012 starts, driving the Z-axis lead screw 2013 to rotate. This, in turn, causes the Z-axis nut seat 2014 to descend along the Z-axis lead screw 2013, which in turn causes the second mounting block 204 to descend along the Z-axis linear guide rail 202. This causes the clamping assembly 1 to move closer to the first workpiece 501 until the two clamping parts 102 move to both sides of the first workpiece 501. The gripper cylinder 103 controls the two clamping parts 102 to move closer to each other, clamping both sides of the first workpiece 501. After the first workpiece 501 is in a free state, the second mounting block 2014... 04. The clamping assembly 1 rises along the z-direction linear guide 202. After the clamping assembly 1 rises to a position where it is not interfered with by the carrier 5, the rotary cylinder 601 is activated to control the clamping part 102 to rotate 180°, causing the first workpiece 501 to flip 180°. The second mounting block 204 descends along the z-direction linear guide 202 to place the first workpiece 501 back into the original first storage slot 506. After the first workpiece 501 is in the clamped state, the gripper cylinder 103 controls the two clamping parts 102 to move away from each other, and the second mounting block 204 rises along the z-direction linear guide 202 to return to its original position.

[0080] The x-axis drive module 3 drives the clamping assembly 1 to move sequentially along the x-axis direction, and repeats the above steps to complete the operation of rotating all the first workpieces 501 on the carrier 5 by 180°.

[0081] Example 2:

[0082] Based on Example 1, the following is added:

[0083] A plurality of clearance slots 502 for avoiding the gripping part 102 are provided on a carrier 5 (not shown in the figure). Each clearance slot 502 is connected from one end of the carrier 5 to the corresponding first placement slot 506. Thus, when the first workpiece 501 is rotated 90°, the gripper 101 rotates to open and close along the z-axis. The clearance slots 502 ensure that the gripper 101 will not interfere with the carrier 5 during the opening process.

[0084] like Figures 6 to 8 As shown, in this embodiment, the three-axis motion assembly further includes a y-axis drive module 4. The moving end of the y-axis drive module 4 is connected to the z-axis drive module 2 and drives the z-axis drive module 2 to move along the y-axis direction. The y-axis drive module 4 is disposed on the moving end of the x-axis drive module 3. Thus, this invention can rotate the first workpiece 501 by 90°. After the first workpiece 501 is rotated by 90°, the y-axis drive module 4 can control the clamping assembly 1 to move closer to or further away from the carrier 5 along the y-axis direction. By moving the gripper 101, it can be withdrawn to the outside of the carrier 5 and the first workpiece 501 before subsequent lifting and lowering operations are performed, thereby effectively avoiding interference and improving the flexibility and accuracy of the rotation operation.

[0085] To accommodate different flipping angle requirements, this embodiment is designed so that, since the grippers 101 hold both sides of the first workpiece 501, when the first workpiece 501 is flipped 180°, the grippers 101 do not interfere with the carrier 5 during the lifting and lowering process after opening and closing. Therefore, the gripping assembly 1 does not need to move along the y-axis. When the first workpiece 501 is flipped 90°, the grippers 101 rotate to open and close along the z-axis. After the grippers 101 open and close, they will interfere with the first workpiece 501 or the carrier 5 during the lifting and lowering process. By moving the grippers 101 along the y-axis to exit outside the carrier 5 and the first workpiece 501, and then performing the lifting and lowering operation, the interference phenomenon is effectively avoided, and the flexibility and accuracy of the flipping operation are improved.

[0086] Specifically, the y-direction drive module 4 includes:

[0087] The y-direction drive component 401 is mounted on the moving end of the x-direction drive module 3.

[0088] A linear guide 402 is provided along the y-axis and is located on the moving end of the x-axis drive module 3. A slider 403 is slidably provided on the linear guide 402.

[0089] The third mounting block 404 is mounted on the y-axis slider 403 and connected to the moving end of the y-axis drive component 401. The z-axis drive module 2 is mounted on the third mounting block 404.

[0090] In this embodiment, the y-direction driving component 401 includes:

[0091] The Y-axis lead screw motor 4011 is mounted on the moving end of the X-axis drive module 3 via the third motor mounting bracket 4012.

[0092] Y-axis lead screw 4013, Y-axis lead screw 4013 is directly connected to Y-axis lead screw motor 4011;

[0093] A y-axis nut seat 4014 is fitted onto a y-axis lead screw 4013 and threadedly connected to it. A third mounting block 404 is mounted on the y-axis nut seat 4014. Thus, through the direct connection design between the y-axis lead screw motor 4011 and the y-axis lead screw 4013, the y-axis drive module 4 can provide stable linear motion. The guiding effect of the linear guide rail allows the slider to maintain a fixed trajectory during movement, reducing deviation and wobbling, and ensuring positioning accuracy in the y-axis direction.

[0094] Specifically, the difference between the working principle of Embodiment 2 and Embodiment 1 is as follows: the rotary cylinder 601 is activated, controlling the gripping part 102 to rotate 90°, causing the first workpiece 501 to flip 90° (it should be noted that at this time, the gripping part 102 rotates to open and close along the z-axis direction), the second mounting block 204 descends along the z-axis linear guide rail 202, and places the first workpiece 501 back into the original first storage slot 506. After the first workpiece 501 is in the clamped state, the gripper cylinder 103 controls the two gripping parts 102 to move away from each other (it should be noted that after opening, the gripping part 102 located below the first workpiece 501 is located in the clearance slot 502), the y-axis drive module 4 controls the z-axis drive module 2 to move away from the first workpiece 501 along the y-axis direction. After the gripping part 102 exits to the clearance slot 502 or outside the first workpiece 501, the second mounting block 204 rises along the z-axis linear guide rail 202 to return to its original position, thus completing an operation of flipping the first workpiece 501 90°.

[0095] It should be noted that: Both Embodiment 1 and Embodiment 2 are applicable to the case where the horizontal dimension L1 and vertical dimension L2 of the first workpiece 501 are equal and equal to the size of the first storage slot 506. Regardless of whether the first workpiece 501 is rotated 90° or 180°, the horizontal or vertical dimension of the first workpiece 501 can be adapted to the size of the first storage slot 506. Therefore, after the first workpiece 501 is rotated and assembled, it can still be directly placed into the original slot.

[0096] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0097] Since the first workpiece 501 has a situation where the horizontal dimension L1 and the vertical dimension L2 are not equal, the present invention also has the following implementation method based on the above:

[0098] Example 3:

[0099] The difference from Example 1 is that:

[0100] like Figures 9 to 10As shown, a second storage slot 507 is provided between two adjacent first storage slots 506. Each second storage slot 507 has a corresponding and connected clearance slot 502 on one side. The clearance slot 502 is used to avoid the clamping part 102. Therefore, even if the horizontal dimension L1 and vertical dimension L2 of the first workpiece 501 are not equal, the flipping requirement can still be met. For example, if the horizontal dimension L1 of the first workpiece 501 is equal to the size of the first storage slot 506, and the vertical dimension L2 of the first workpiece 501 is equal to the size of the second storage slot 507, when the first workpiece 501 is flipped 180°, the size of the first storage slot 506 still matches the horizontal dimension L1 of the first workpiece 501. Therefore, after the first workpiece 501 is flipped 180°, it can still be directly placed in the original slot. When the first workpiece 501 is flipped 90°, the size of the second storage slot 507 matches the vertical dimension L2 of the first workpiece 501. Therefore, after the first workpiece 501 is flipped 90°, it needs to be moved to an adjacent slot (that is, the first workpiece 501 is moved from the first storage slot 506 to a second storage slot 507 adjacent to the first storage slot 506).

[0101] Specifically, the difference in the working principle between Example 3 and Example 1 is as follows:

[0102] The rotary cylinder 601 is activated, controlling the gripping part 102 to rotate 90°, causing the first workpiece 501 to flip 90° (it should be noted that at this time, the gripping part 102 rotates to open and close along the z-axis). The x-axis drive module 3 drives the clamping assembly 1 to move along the x-axis by the distance of one storage slot (that is, the first workpiece 501 moves from the first storage slot 506 to a second storage slot 507 adjacent to the first storage slot 506). The second mounting block 204 descends along the z-axis linear guide 202 until the first workpiece 501 is positioned adjacent to the second storage slot 507. In a second storage slot 507 adjacent to the first storage slot 506, after the first workpiece 501 is clamped, the gripper cylinder 103 controls the two gripping parts 102 to move away from each other (it should be noted that after opening, the gripping part 102 located below the first workpiece 501 is located in the clearance slot 502). The y-axis drive module 4 controls the z-axis drive module 2 to move away from the first workpiece 501 along the y-axis direction. After the gripping part 102 is withdrawn to the clearance slot 502 or outside the first workpiece 501, the second mounting block 204 rises and returns to its original position along the z-axis linear guide rail 202.

[0103] The x-axis drive module 3 drives the clamping assembly 1 to move sequentially along the x-axis direction, and repeats the above steps to complete the operation of rotating all the first workpieces 501 on the carrier 5 by 90°.

[0104] Specifically, each of the first storage slots 506 and the second storage slots 507 is provided with a limit stop 505 at one end and a spring 503 and a telescopic block 504 at the other end. One end of the spring 503 abuts against the inner wall of the first / second storage slot 507, and the other end of the spring 503 abuts against one end of the telescopic block 504. The telescopic block 504 can extend and retract within the first / second storage slot 507. A storage space for placing the first workpiece 501 is formed between the other end of the telescopic block 504 and the limit stop 505.

[0105] Specifically, one end of the telescopic block 504 is provided with a hole or boss for attaching external equipment. When the first workpiece 501 needs to be removed, the external equipment is attached to the hole or boss and provides a traction force to the telescopic block 504 away from the first workpiece 501. At this time, the other end of the telescopic block 504 is no longer in contact with the first workpiece 501. At this time, the spring 503 is compressed, the first workpiece 501 is in a free state, and the first workpiece 501 can be removed. When the first workpiece 501 needs to be clamped, the first workpiece 501 is placed in the storage space, the external equipment removes the traction force, and the spring 503 returns to its original state under the action of elastic force, so that the other end of the telescopic block 504 abuts against the first workpiece 501. At this time, the first workpiece 501 is in a clamped state.

[0106] In one embodiment not shown in the figure, the clamping assembly 1 includes a cylinder and a suction cup. The cylinder is mounted on the flipping assembly 6 and is used to drive the suction cup to pick up the non-assembly surface of the first workpiece 501. Therefore, regardless of whether the first workpiece 501 is flipped 180° or 90°, there is no need to open the clearance groove 502 on the carrier 5, and the suction cup will not interfere with the first workpiece 501 and the carrier 5 during the operation.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0108] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A workpiece clamping and flipping mechanism, characterized by, Comprise: A three-axis motion assembly; A turnover assembly (6) mounted on the three-axis motion assembly, the three-axis motion assembly being used to drive the turnover assembly (6) to move; A clamping assembly (1) mounted on the turnover assembly (6), the clamping assembly (1) being used to clamp a first workpiece (501), and the turnover assembly (6) being used to drive the clamping assembly (1) to rotate so as to turn the peripheral surface of the first workpiece (501) to adjust the assembly angle, each assembly angle corresponding to an assembly surface of the first workpiece (501).

2. The workpiece clamping and inverting mechanism of claim 1 wherein, The clamping assembly (1) comprises a clamping jaw (101) and a clamping jaw cylinder (103), the clamping jaw cylinder (103) being mounted on the turnover assembly (6) and being used to control the opening and closing of the clamping jaw (101) to clamp the assembly surface of the first workpiece (501).

3. The workpiece clamping and inverting mechanism of claim 2 wherein, The clamping jaw (101) comprises two oppositely arranged clamping parts (102), and the clamping jaw cylinder (103) is used to control the two clamping parts (102) to move close to or away from each other.

4. The workpiece clamping and inverting mechanism of claim 3 wherein, The first workpiece (501) is placed on a carrier (5), a plurality of first placing grooves (506) are arranged on the carrier (5) at intervals, and one first workpiece (501) is placed on each first placing groove (506), the three-axis motion assembly drives the turnover assembly (6) and the clamping assembly (1) to move and sequentially performs the turnover operation on the plurality of first workpieces (501) on the carrier (5).

5. The workpiece clamping and inverting mechanism of claim 4 wherein, A second placing groove (507) is arranged between two adjacent first placing grooves (506), and an avoidance groove (502) corresponding to each second placing groove (507) is arranged on one side of the second placing groove (507), the avoidance groove (502) being used to avoid the clamping part (102).

6. The workpiece clamping and inverting mechanism of claim 1 wherein, The turnover assembly (6) comprises a rotating cylinder (601), the rotating cylinder (601) being mounted on the three-axis motion assembly and being used to drive the clamping assembly (1) to rotate around the y-axis.

7. The workpiece clamping and inverting mechanism of claim 1 wherein, The three-axis motion assembly comprises a z-direction driving module (2), a y-direction driving module (4), and an x-direction driving module (3), the movement end of the z-direction driving module (2) is connected with the clamping assembly (1) and drives the clamping assembly (1) to move along the z-axis direction, the movement end of the y-direction driving module (4) is connected with the z-direction driving module (2) and drives the z-direction driving module (2) to move along the y-axis direction, and the movement end of the x-direction driving module (3) is connected with the y-direction driving module (4) and drives the y-direction driving module (4) to move along the x-axis direction.

8. The workpiece clamping and inverting mechanism of claim 7 wherein, The z-direction driving module (2) comprises: A z-direction driving component (201) mounted on the movement end of the y-direction driving module (4); A z-direction linear guide rail (202) is arranged on the z-direction driving component (201) along the z-axis direction, and a z-direction sliding block (203) is slidably arranged on the z-direction linear guide rail (202); A second mounting block (204) is arranged on the z-direction sliding block (203) and connected with the moving end of the z-direction driving component (201), and the clamping assembly (1) is arranged on the second mounting block (204).

9. The workpiece clamping and inverting mechanism of claim 7 wherein, The y-direction driving module (4) comprises: A y-direction driving component (401) is mounted on the moving end of the x-direction driving module (3); A y-direction linear guide rail (402) is arranged on the moving end of the x-direction driving module (3) along the y-axis direction, and a y-direction sliding block (403) is slidably arranged on the y-direction linear guide rail (402); A third mounting block (404) is arranged on the y-direction sliding block (403) and connected with the moving end of the y-direction driving component (401), and the z-direction driving module (2) is arranged on the third mounting block (404).

10. The workpiece clamping and inverting mechanism of claim 7 wherein, The x-direction driving module (3) comprises: A bottom plate (301); An x-direction lead screw motor (302) is mounted on the bottom plate (301) through a first motor mounting seat (307); An x-direction lead screw (303) is directly connected with the x-direction lead screw motor (302); An x-direction linear guide rail (304) is arranged on the bottom plate (301) along the x-axis direction, and an x-direction sliding block (305) is slidably arranged on the x-direction linear guide rail (304); A first mounting block (306) is arranged on the x-direction sliding block (305) and threadedly connected with the x-direction lead screw (303), and the y-direction driving module (4) is arranged on the first mounting block (306).

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