Clamping and overturning mechanism
By employing a combination of rigid and elastic pins in the clamping and flipping mechanism, along with an automatic centering component and a single drive structure, the problems of insufficient clamping force and positional offset during substrate flipping are solved, achieving efficient and stable substrate flipping and wafer retrieval operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN ARRAYED MATERIALS TECH CO LTD
- Filing Date
- 2025-05-30
- Publication Date
- 2026-05-05
AI Technical Summary
Existing substrate flipping methods suffer from insufficient clamping force, leading to substrate damage or positional displacement, which affects production capacity and subsequent docking with the wafer-retrieving robot.
The clamping method, which combines rigid and elastic ejector pins, along with an automatic centering component and a single drive structure, enables stable clamping and flipping of the substrate, preventing damage and positional displacement.
It improves the productivity and stability of substrate flipping, ensuring that the substrate is not damaged during the flipping process, while also improving the docking accuracy and efficiency of the wafer picking robot.
Smart Images
Figure CN224205628U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of semiconductor manufacturing equipment technology, and specifically relates to a clamping and flipping mechanism. Background Technology
[0002] In semiconductor panel-level packaging and wafer-level packaging processes, the substrate requires a double-sided process, so a substrate flipping action needs to be achieved during the process.
[0003] In existing technologies, substrate flipping methods include manual flipping and automatic flipping by motors. The former requires removing the substrate from the vacuum chamber before flipping, necessitating repeated disassembly and assembly, which impacts production capacity. The latter uses rigid clamping; excessive clamping force can easily damage the substrate, while insufficient clamping force can cause it to shift, affecting subsequent docking by the robotic arm. Utility Model Content
[0004] This invention aims to at least solve one of the aforementioned technical problems existing in the prior art. To this end, this invention provides a clamping and flipping mechanism that can solve the problems of easy damage or insufficient clamping force on the substrate.
[0005] The clamping and flipping mechanism according to an embodiment of the present invention includes:
[0006] Support section;
[0007] A first pressing part is disposed on the support part, and a plurality of rigid pins are protruding from the upper end of the first pressing part.
[0008] The second pressing part is disposed on the support part and located above the first pressing part. The lower end of the second pressing part is provided with a plurality of elastic pins.
[0009] At least one of the first pressing part and the second pressing part is slidably connected to the support part to adjust the distance between them.
[0010] The clamping and flipping mechanism according to the embodiments of the present invention has at least the following beneficial effects:
[0011] The clamping and flipping mechanism of this utility model, by setting a rigid pin on the first clamping part and an elastic pin on the second clamping part, can effectively clamp the substrate for flipping. It can not only effectively clamp the substrate, but also adapt to expansion and contraction to avoid damage to the substrate. While improving production capacity, it avoids the problem of substrate damage or displacement caused by insufficient clamping force.
[0012] According to some embodiments of the present invention, the first pressing part is provided with a first adjusting part that can be raised and lowered, and the rigid pin is disposed in the first adjusting part.
[0013] According to some embodiments of this utility model, the elastic ejector pin includes:
[0014] Guide sleeve, the guide sleeve being fixedly disposed on the second pressing part;
[0015] A needle bar, which passes through the guide sleeve, with its lower end extending out relative to the guide sleeve;
[0016] An elastic element is disposed between the lower end of the guide sleeve and the lower end of the needle bar;
[0017] The second adjustment part is threadedly connected to the upper end of the needle bar above the guide sleeve;
[0018] The second adjustment part can adjust the up and down movement of the needle bar to adjust the compression of the elastic element.
[0019] According to some embodiments of the present invention, the first pressing part and / or the second pressing part are provided with an automatic centering component, the automatic centering component including a plurality of guide blocks that are linked together, and the plurality of guide blocks can move synchronously toward the center.
[0020] According to some embodiments of this utility model, the automatic alignment component further includes:
[0021] A linkage turntable is rotatably configured and hinged to multiple guide blocks via multiple circumferentially distributed connecting rods;
[0022] The second drive rod has a first end hinged to the linkage turntable and a second end extending close to the support portion.
[0023] A cam follower, wherein the cam follower is disposed at the second end of the second drive rod;
[0024] A reset element, which is used to keep the plurality of guide blocks in an outwardly open posture;
[0025] The support is provided with a driving member on the lifting path of the cam follower. When the cam follower passes by, the driving member pushes the cam follower to move towards the center, thereby driving the linkage turntable to rotate and causing the multiple guide blocks to move towards the center.
[0026] According to some embodiments of the present invention, the guide block is mounted on the first pressing part or the second pressing part via a first linear guide rail.
[0027] According to some embodiments of this utility model, the clamping and flipping mechanism further includes:
[0028] A first driving component is used to drive the first pressing part and the second pressing part to move closer or further apart from each other.
[0029] The second drive assembly is used to drive the support to rotate, so as to change the upper and lower positions of the first pressing part and the second pressing part;
[0030] The drive unit connects the first drive assembly and the second drive assembly via a clutch structure, and is used to provide a power source for the first drive assembly or the second drive assembly.
[0031] According to some embodiments of the present invention, the first driving component includes:
[0032] A drive wheel, which is rotatably mounted on the support portion;
[0033] A first drive shaft, a first end of which is fixedly connected to the drive wheel, and a second end of which extends to the clutch structure;
[0034] A first drive rod, the first end of which is hinged to the periphery of the drive wheel, and the second end of which is hinged to the first clamping part or the second clamping part;
[0035] The drive unit can be connected to the first drive shaft via the clutch structure.
[0036] According to some embodiments of the present invention, the second driving component includes:
[0037] The second drive shaft is concentrically sleeved on the outside of the first drive shaft. The first end of the second drive shaft is fixedly connected to the support part, and the second end of the second drive shaft extends to the clutch structure.
[0038] The drive unit can be connected to the second drive shaft via the clutch structure.
[0039] According to some embodiments of the present invention, the first pressing part and / or the second pressing part are mounted on the support part via a vertically arranged second linear guide rail.
[0040] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and some of these additional aspects and advantages will become apparent from the description or may be learned by practice of the invention. Attached Figure Description
[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:
[0042] Figure 1This is a schematic diagram of a drive installation for the first clamping part and the second clamping part in this application;
[0043] Figure 2 This is a schematic diagram showing one connection between the first clamping part, the second clamping part, and the drive wheel in this application;
[0044] Figure 3 This is a schematic diagram of an axial side structure of the first clamping part and the second clamping part in this application;
[0045] Figure 4 This is a schematic diagram of one structure of the first clamping part in this application;
[0046] Figure 5 This is a schematic diagram of one structure of the second clamping part in this application;
[0047] Figure 6 This is a schematic diagram of one distribution structure of the guide block in this application;
[0048] Figure 7 This is a schematic diagram of one structure of the cam follower and drive component in this application. Detailed Implementation
[0049] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0050] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this utility model.
[0051] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0052] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.
[0053] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. 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.
[0054] Reference Figures 1 to 7 This utility model provides a clamping and flipping mechanism, including a support portion 100 and a first pressing portion 200 and a second pressing portion 300 mounted on the support portion 100. One or both of the first pressing portion 200 and the second pressing portion 300 are slidably connected to the support portion 100 so that they can move closer or further apart to achieve clamping and loosening of the substrate.
[0055] To facilitate the description and understanding of the relevant structural relationships, this embodiment uses the positional relationship of the first pressing part 200 being below and the second pressing part 300 being above for structural explanation.
[0056] The upper end of the first clamping part 200 is provided with a plurality of rigid ejector pins 201. When clamping the substrate, the protruding rigid ejector pins 201 are used to support the substrate. The protrusion distance of the rigid ejector pins 201 can be set according to the actual substrate to be processed to ensure contact with the substrate. Furthermore, the distribution pattern of the rigid ejector pins 201 on the first clamping part 200 can be set according to the size of the actual substrate to be processed and the support requirements to ensure stability when clamping the substrate.
[0057] The lower end of the second clamping part 300 is provided with a plurality of elastic pins 301. When the first clamping part 200 and the second clamping part 300 approach each other to clamp the substrate, the elastic pins 301 cooperate with the rigid pins 201 to clamp the substrate, and after the elastic pins 301 abut against the substrate, they can adaptively retract upward to avoid the problem of damage to the substrate caused by rigidly clamping the substrate.
[0058] When flipping the substrate, the substrate is usually fed in by a wafer picker robot. When the first clamping part 200 is in the downward position, the substrate is supported by a rigid ejector pin 201. When the second clamping part 300 is in the downward position, the substrate is supported by an elastic ejector pin 301. After flipping, the wafer picker robot removes the substrate.
[0059] The clamping and flipping mechanism of this embodiment, by providing a rigid pin 201 on the first pressing part 200 and an elastic pin 301 on the second pressing part 300, can effectively clamp the substrate for flipping. It can effectively clamp the substrate and adapt to expansion and contraction to avoid damage to the substrate. While improving production capacity, it avoids the problem of substrate damage or displacement caused by insufficient clamping force.
[0060] In some embodiments of this utility model, the first pressing part 200 is provided with a first adjusting part that can be raised and lowered, and the rigid pin 201 is provided in the first adjusting part.
[0061] It is understood that in this embodiment, by setting a first adjustment part to install the rigid ejector pin 201, the protrusion height of the rigid ejector pin 201 can be changed by adjusting the lifting of the first adjustment part relative to the first pressing part 200, so that the rigid ejector pin 201 maintains good contact with the substrate. In this way, when the rigid ejector pin 201 and the elastic ejector pin 301 cooperate to clamp the substrate, the force on both sides of the substrate can be effectively balanced, ensuring the clamping force on the substrate while avoiding damage to the substrate.
[0062] Specifically, in one embodiment, the first adjusting part is threadedly connected to the first pressing part 200, and the first pressing part 200 is provided with an adjusting window that exposes the side of the first adjusting part away from the rigid ejector pin 201. An operator can insert a tool through the adjusting window to rotate the first adjusting part, thereby controlling its raising or lowering.
[0063] The rigid ejector pin 201 can also adopt other lifting and adjusting structural forms, which will not be listed in detail here.
[0064] Reference Figure 5 In some embodiments of this utility model, the elastic ejector pin 301 includes:
[0065] Guide sleeve 3011, guide sleeve 3011 is fixedly disposed on the second pressing part 300;
[0066] The needle bar 3012 passes through the guide sleeve 3011, and the lower end of the needle bar 3012 extends out relative to the guide sleeve 3011.
[0067] Elastic element 3013 is disposed between the lower end of guide sleeve 3011 and the lower end of needle bar 3012;
[0068] The second adjustment part 3014 is threadedly connected to the upper end of the needle bar 3012 above the guide sleeve 3011;
[0069] The second adjustment unit 3014 can adjust the needle bar 3012 to move up and down, thereby adjusting the compression of the elastic element 3013.
[0070] Understandably, the needle bar 3012 can move up and down within the guide sleeve 3011 and maintain its downward extension posture through the action of the elastic element 3013. When it abuts against the substrate, the needle bar 3012 compresses the elastic element 3013 and moves upward. The second adjusting part 3014 is used both to engage the upper end of the guide sleeve 3011 to prevent the needle bar 3012 from dislodging from the guide sleeve 3011 under the action of the elastic element 3013, and to adjust the height of the protrusion of the elastic ejector pin 301 by moving the needle bar 3012 up and down through the thread.
[0071] The elastic element 3013 can be a spring or other structural form capable of applying elastic force.
[0072] In some embodiments of this utility model, both the first pressing part 200 and the second pressing part 300 are provided with an automatic centering component. The automatic centering component includes a plurality of guide blocks 303 that are linked together, and the plurality of guide blocks 303 can move synchronously toward the center.
[0073] Since the substrate needs to be fed onto the first clamping part 200 or the second clamping part 300 by the wafer picker when flipping, and then clamped and flipped, this embodiment can use the guide block 303 to move inward to push the substrate to the center, thereby ensuring that the position of the substrate is consistent each time it is flipped, which facilitates docking of the wafer picker.
[0074] Reference Figures 5 to 7 In some embodiments of this utility model, the automatic alignment component further includes:
[0075] The linkage turntable 304 is rotatably mounted on the first pressing part 200 or the second pressing part 300, and is hinged to multiple guide blocks 303 by multiple circumferentially distributed connecting rods 305. In this way, when the linkage turntable 304 rotates, the connecting rods 305 pull the guide blocks 303 to move closer to the center or away from the surrounding areas.
[0076] The second drive rod 306 has a first end hinged to the linkage turntable 304 and a second end extending to the support part 100.
[0077] Cam follower 307, which is disposed at the second end of the second drive rod 306;
[0078] A reset element is used to keep the multiple guide blocks 303 in an outwardly open posture;
[0079] The support 100 is provided with a drive member 308 on the lifting path of the cam follower 307. When the cam follower 307 passes by, the drive member 308 pushes the cam follower 307 to move towards the center, thereby driving the linkage turntable 304 to rotate and causing multiple guide blocks 303 to move towards the center.
[0080] Reference Figure 6 Under normal conditions, the four guide blocks 303 are distributed on the outer sides of the four sides of the corresponding clamping parts under the action of the reset member. When the first clamping part 200 and the second clamping part 300 approach each other to clamp the substrate, the cam follower 307 is pushed by the drive member 308 and moves towards the center of the linkage turntable 304. The second drive rod 306 drives the linkage turntable 304 to rotate. At this time, the linkage turntable 304 drives the guide blocks 303 to move towards the center through the four connecting rods 305, and ensures that the substrate is centered by abutting against the four sides of the substrate. After passing the drive member 308, the guide blocks 303 are reset under the action of the reset member and exit the ejector pin area, so that the rigid ejector pin 201 and the elastic ejector pin 301 can successfully clamp the substrate.
[0081] The automatic centering component in this embodiment does not require additional power. Instead, it uses the opening and closing adjustment of the first pressing part 200 and the second pressing part 300 relative to the support part 100 to perform centering adjustment, which helps to reduce production costs and simplifies the structural composition.
[0082] It is understandable that the drive component 308 only needs to be provided with an inclined surface that abuts against the cam follower 307, so that the cam follower 307 can move towards the center along the inclined surface when it passes through, and it is not set as a power component such as a motor.
[0083] In this embodiment, the reset component can be located between the connecting rod 305 and the pressing part, between the linkage turntable 304 and the pressing part, or in other positions. Since the components of the automatic centering assembly are linked as a whole, it is only necessary to achieve reset. The specific setting position is not limited here.
[0084] In some embodiments of this utility model, the guide block 303 is mounted on the first pressing part 200 or the second pressing part 300 via a first linear guide rail.
[0085] In this embodiment, the guide block 303 is installed by setting a first linear guide rail, which can not only ensure the movement accuracy of the guide block 303, but also reduce the generation of particles. When arranged in a vacuum chamber, it can avoid polluting the environment of the vacuum chamber.
[0086] Understandably, since the overall size of the substrate is not large, the overall size of this mechanism does not need to be too large either; the first linear guide rail can be set as a miniature guide rail structure to meet the requirements.
[0087] Reference Figure 1 In some embodiments of this utility model, the clamping and flipping mechanism further includes:
[0088] A first driving assembly is used to drive the first pressing part 200 and the second pressing part 300 to move closer or further apart from each other.
[0089] The second drive assembly is used to drive the support 100 to rotate, so as to change the upper and lower positions of the first pressing part 200 and the second pressing part 300.
[0090] The drive unit 500 is connected to the first drive assembly and the second drive assembly via the clutch structure 400, and is used to provide a power source for the first drive assembly or the second drive assembly.
[0091] This embodiment uses a single drive unit 500 to simultaneously provide power for the opening and closing adjustment of the first pressing part 200 and the second pressing part 300, as well as the rotation adjustment of the support part 100. This reduces the number of drives, facilitates control, and lowers production costs. Furthermore, it helps control the overall volume and facilitates placement within a vacuum chamber for substrate flipping operations.
[0092] The clutch structure 400 is used to connect the output power of the drive unit 500 to the first drive assembly or the second drive assembly, thereby sequentially performing the clamping action and the flipping action.
[0093] Reference Figure 2 In some embodiments of this utility model, the first driving component includes:
[0094] The drive wheel 202 is rotatably mounted on the support part 100.
[0095] A first drive shaft 102, the first end of which is fixedly connected to the drive wheel 202, and the second end of which extends to the clutch structure 400;
[0096] Two first drive rods 203, the first end of the first drive rod 203 is hinged to the periphery of the drive wheel 202, and the second end of the first drive rod 203 is hinged to the first pressing part 200 or the second pressing part 300.
[0097] The drive unit 500 can be connected to the first drive shaft 102 via the clutch structure 400.
[0098] In this embodiment, the drive wheel 202 is positioned between the first clamping part 200 and the second clamping part 300. Two first drive rods 203 are distributed symmetrically and connected to the first clamping part 200 and the second clamping part 300, respectively. When the first drive shaft 102 rotates clockwise, the drive wheel 202 rotates clockwise simultaneously, pulling the first clamping part 200 and the second clamping part 300 closer together via the first drive rods 203, thus clamping the substrate. When the first drive shaft 102 rotates counterclockwise, the drive wheel 202 rotates counterclockwise simultaneously, pulling the first clamping part 200 and the second clamping part 300 further apart via the first drive rods 203, allowing the substrate to be removed.
[0099] Reference Figure 1 In some embodiments of this utility model, the second driving component includes:
[0100] The second drive shaft 101 is concentrically sleeved on the outside of the first drive shaft 102. The first end of the second drive shaft 101 is fixedly connected to the support part 100, and the second end of the second drive shaft 101 extends to the clutch structure 400.
[0101] The drive unit 500 can be connected to the second drive shaft 101 via the clutch structure 400.
[0102] It is understood that in this embodiment, the second drive shaft 101 is coaxially arranged with the first drive shaft 102 to facilitate the connection of the two with the clutch structure 400 and realize the transmission switching of the power source.
[0103] During operation, the substrate is first placed on the first clamping part 200 or the second clamping part 300. Then, the drive part 500 is connected to the first drive shaft 102 through the clutch structure 400, which pulls the first clamping part 200 and the second clamping part 300 closer together to clamp the substrate. Then, the drive part 500 is connected to the second drive shaft 101 through the clutch structure 400 to control the support part 100 to rotate 180°. After that, the drive part 500 is switched to connect to the first drive shaft 102 again to control the first clamping part 200 and the second clamping part 300 to open, thus completing the flipping of the substrate.
[0104] In this embodiment, the drive unit 500 can be configured as a servo motor structure.
[0105] In one embodiment, in order to achieve power switching, the clutch structure 400 includes a clutch 402 and a brake 401, wherein the first drive shaft 102 is directly connected to the power output end of the drive unit 500, the second drive shaft 101 is connected to the first drive shaft 102 through the clutch 402, and the brake 401 is disposed between the mounting base and the second drive shaft 101.
[0106] During the opening and closing adjustment of the first clamping part 200 and the second clamping part 300, the clutch 402 is in the disengaged state and the brake 401 is in the braking state, at which time the second drive shaft 101 is fixed. When rotating 180°, the clutch 402 is closed, the brake 401 is released, and the first drive shaft 102 and the second drive shaft 101 rotate together 180°.
[0107] In some embodiments of this utility model, the first pressing part 200 and the second pressing part 300 are mounted on the support part 100 by a vertically arranged second linear guide rail 302, thereby improving the installation stability of both and also improving the structural rigidity of the first pressing part 200 and the second pressing part 300.
[0108] In some embodiments of this utility model, the first pressing part 200 and the second pressing part 300 adopt the triangular hollow structure shown in the figure to reduce weight and improve the rigidity of the pressing part.
[0109] It should be noted that, in this utility model, the opening and closing action can be achieved by sliding adjustment of only one of the first pressing part 200 and the second pressing part 300.
[0110] In summary, this application has the following advantages:
[0111] 1. The substrate is clamped by a combination of rigid ejector pin 201 and elastic ejector pin 301, which can maintain the clamping force, prevent the substrate from shifting, and avoid excessive clamping force that could damage the substrate.
[0112] 2. The single-drive structure is used to simultaneously satisfy the flipping, clamping, and centering actions, resulting in better synchronization, higher control precision, and higher efficiency;
[0113] 3. The entire mechanism has no gear structure, thus avoiding the problem of friction generating particles;
[0114] 4. The entire mechanism has high structural stability, which can ensure consistency during each substrate flipping and facilitates docking with the wafer picking robot.
[0115] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.
Claims
1. A clamping and flipping mechanism, characterized in that, include: Support section; A first pressing part is disposed on the support part, and a plurality of rigid pins are protruding from the upper end of the first pressing part. The second pressing part is disposed on the support part and located above the first pressing part. The lower end of the second pressing part is provided with a plurality of elastic pins. At least one of the first pressing part and the second pressing part is slidably connected to the support part to adjust the distance between them.
2. The clamping and flipping mechanism according to claim 1, characterized in that, The first pressing part is provided with a first adjusting part that can be raised and lowered, and the rigid pin is disposed in the first adjusting part.
3. The clamping and flipping mechanism according to claim 1, characterized in that, The elastic ejector pin includes: Guide sleeve, the guide sleeve being fixedly disposed on the second pressing part; A needle bar, which passes through the guide sleeve, with its lower end extending out relative to the guide sleeve; An elastic element is disposed between the lower end of the guide sleeve and the lower end of the needle bar; The second adjustment part is threadedly connected to the upper end of the needle bar above the guide sleeve; The second adjustment part can adjust the up and down movement of the needle bar to adjust the compression of the elastic element.
4. The clamping and flipping mechanism according to claim 1, characterized in that, The first pressing part and / or the second pressing part are provided with an automatic centering component, the automatic centering component including a plurality of guide blocks that are linked together, the plurality of guide blocks being able to move synchronously toward the center.
5. The clamping and flipping mechanism according to claim 4, characterized in that, The automatic alignment component also includes: A linkage turntable is rotatably configured and hinged to multiple guide blocks via multiple circumferentially distributed connecting rods; The second drive rod has a first end hinged to the linkage turntable and a second end extending close to the support portion. A cam follower, wherein the cam follower is disposed at the second end of the second drive rod; A reset element, which is used to keep the plurality of guide blocks in an outwardly open posture; The support is provided with a driving member on the lifting path of the cam follower. When the cam follower passes by, the driving member pushes the cam follower to move towards the center, thereby driving the linkage turntable to rotate and causing the multiple guide blocks to move towards the center.
6. The clamping and flipping mechanism according to claim 4, characterized in that, The guide block is mounted on the first pressing part or the second pressing part via a first linear guide rail.
7. The clamping and flipping mechanism according to claim 1, characterized in that, The clamping and flipping mechanism further includes: A first driving component is used to drive the first pressing part and the second pressing part to move closer or further apart from each other. The second drive assembly is used to drive the support to rotate, so as to change the upper and lower positions of the first pressing part and the second pressing part; The drive unit connects the first drive assembly and the second drive assembly via a clutch structure, and is used to provide a power source for the first drive assembly or the second drive assembly.
8. The clamping and flipping mechanism according to claim 7, characterized in that, The first driving component includes: A drive wheel, which is rotatably mounted on the support portion; A first drive shaft, a first end of which is fixedly connected to the drive wheel, and a second end of which extends to the clutch structure; A first drive rod, the first end of which is hinged to the periphery of the drive wheel, and the second end of which is hinged to the first clamping part or the second clamping part; The drive unit can be connected to the first drive shaft via the clutch structure.
9. The clamping and flipping mechanism according to claim 8, characterized in that, The second driving component includes: The second drive shaft is concentrically sleeved on the outside of the first drive shaft. The first end of the second drive shaft is fixedly connected to the support part, and the second end of the second drive shaft extends to the clutch structure. The drive unit can be connected to the second drive shaft via the clutch structure.
10. The clamping and flipping mechanism according to claim 1, characterized in that, The first clamping part and / or the second clamping part are mounted on the support part via a vertically arranged second linear guide rail.