Turnover device and handling apparatus

Abstract

The application relates to a turnover device and a carrying device. The turnover device comprises a support and a carrying assembly. The carrying assembly is rotatably arranged on the support around a reference axis. The carrying assembly comprises a base plate, a first supporting plate and a second supporting plate. The base plate comprises a first side and a second side arranged oppositely in the circumferential direction of the reference axis. The base plate has a plurality of material containing cavities. The material containing cavities are communicated with the first side and the second side. The first supporting plate is movably arranged on the first side to block and open one end of each material containing cavity. The second supporting plate is movably arranged on the second side to block and open the other end of each material containing cavity. Under the limiting action of the base plate, the first supporting plate and the second supporting plate, the workpiece always keeps fixed relative to the carrying assembly in the posture switching process (i.e. the turnover process), and the opening action of the first supporting plate and the second supporting plate does not involve the position change of the workpiece, so that the workpiece can still keep high position precision after the posture switching. The carrying device comprises the above turnover device.

Description

Technical Field

[0001] This application relates to the field of material conveying technology, and in particular to a tilting device and a handling equipment. Background Technology

[0002] As processing procedures become more complex and precise, products often need to change their orientation at different workstations to meet processing or storage requirements.

[0003] Currently, a flipping device is typically used to adjust the posture of a product: the flipping device first picks up the product, then rotates or flips the product, and finally places the product with the changed posture into the target position.

[0004] However, while traditional flipping devices can change the orientation of products, they are prone to introducing positional errors due to the multiple pick-and-place actions involved. The products may shift before and after flipping, resulting in a decrease in product positional accuracy and affecting the accuracy of subsequent processes. Utility Model Content

[0005] Therefore, it is necessary to provide a flipping device and a handling equipment to address the above problems.

[0006] This application provides a flipping device, which includes a support and a bearing assembly. The bearing assembly is rotatably disposed on the support about a reference axis. The bearing assembly includes a base plate, a first support plate, and a second support plate. The base plate includes a first side and a second side disposed opposite to each other in a circumferential direction about the reference axis. The base plate has a plurality of material-containing cavities, which connect the first side and the second side. The first support plate is movably disposed on the first side to block and open one end of each of the material-containing cavities. The second support plate is movably disposed on the second side to block and open the other end of each of the material-containing cavities.

[0007] This application also provides a conveying device, which includes the flipping device described above.

[0008] In the aforementioned flipping device, the supporting component can rotate relative to the support around a reference axis. Therefore, when a workpiece is loaded onto the supporting component, the supporting component can drive the workpiece to rotate to change the workpiece's posture. The supporting component includes a base plate, a first tray, and a second tray. The base plate has a material cavity for accommodating the workpiece. The first tray and the second tray are respectively located on opposite sides of the base plate (i.e., the first side and the second side) to seal the material cavity. When one of the first tray and the second tray opens the material cavity, the workpiece can be loaded into the material cavity through the opened side. The first tray and the second tray simultaneously seal the material cavity, which can work together to limit the position of the workpiece, so that the workpiece remains fixed relative to the base plate during the rotation of the supporting component. After flipping, the other of the first tray and the second tray can open the material cavity for an external handling device to pick up and transfer the workpiece. In this application, the workpiece always remains fixed relative to the supporting component during the posture switching process (i.e., the flipping process), and the opening action of the first tray and the second tray does not involve a change in the position of the workpiece. Therefore, the workpiece can maintain a high positional accuracy after the posture switching.

[0009] Furthermore, the cavity wall of the material receiving chamber also has a certain positioning function for the workpiece. In other words, the flipping device can not only switch the posture of the workpiece, but also position the workpiece. Therefore, there is no need to configure additional positioning components to position the workpiece, which simplifies the structure. Attached Figure Description

[0010] Figure 1 This is a top view of a conveying device provided in an embodiment of this application.

[0011] Figure 2 This is an isometric view of the flipping device provided in an embodiment of the present application when its supporting component is in a first state.

[0012] Figure 3 for Figure 2 Top view of the load-bearing component in the flipping device shown.

[0013] Figure 4 for Figure 3 The shown is a cross-sectional view of the supporting component along line AA.

[0014] Figure 5 for Figure 2 The diagram shows an isometric view of the flipping device when its supporting component is in the second state.

[0015] Figure 6 for Figure 3 The diagram shows an isometric view of the load-bearing component.

[0016] Figure 7 for Figure 6 The supporting component shown is an isometric view from another perspective.

[0017] Figure 8 This is an isometric schematic diagram of the flipping device and shifting module provided in an embodiment of this application.

[0018] Figure 9 This is a top view of a conveying device provided in another embodiment of this application.

[0019] Reference numerals: 10, conveying equipment; 20, flipping device; 30, conveying device; 31, first conveying device; 32, second conveying device; 40, shifting module; 50, detection device; 100, support; 110, base plate; 120, support column; 200, bearing assembly; 210, base plate; 211, material receiving cavity; 211a, limiting cavity; 211b, extension cavity; 212, first side; 212a, first opening; 213, second side; 213a, second opening; 214, third side; 215, mounting plate; 216, jig plate; 217, receiving groove; 218. First guide rail; 219. Second guide rail; 220. First pallet; 220a. Communicating hole; 221. First plate; 222. First folding plate; 223. First abutment; 230. Second pallet; 231. Second plate; 232. Second folding plate; 233. Second abutment; 240. First driver; 250. Second driver; 260. Buffer; 300. Rotary driver; 310. Output shaft; 400. Sensor; 500. Material box; 600. Support structure; O. Reference axis; S1. First direction; S2. Second direction; S3. Third direction. Detailed Implementation

[0020] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0021] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0022] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0026] See Figure 1 , Figure 1This application illustrates a conveying device 10 provided in one embodiment of the present application. The conveying device 10 is used to transfer workpieces from one workstation to another, realizing continuous conveying of workpieces and facilitating automated processing of the workpieces. The conveying device 10 includes a flipping device 20, which can carry the workpiece and drive the workpiece to rotate, thereby changing the posture of the workpiece and adapting the workpiece to the processing requirements of different workstations.

[0027] Furthermore, the handling equipment 10 also includes a handling device 30, which has the functions of picking up workpieces, transporting workpieces, and filling workpieces. In other words, the handling device 30 can fill workpieces into the fixture at a designated workstation, or the handling device 30 can fill workpieces to be switched into the flipping device 20. The handling device 30 can transport workpieces, moving them from one workstation to another, or moving them between the flipping device 20 and another workstation. The handling device 30 can also pick up workpieces at a designated workstation, or pick up workpieces that have already been switched at the flipping device 20. In short, the flipping device 20 performs the function of switching the posture of the workpiece, while the handling device 30 performs the function of transporting the workpiece.

[0028] Please see Figures 2 to 4 , Figure 2 An isometric schematic diagram of a flipping device provided in an embodiment of this application is shown. Figure 3 for Figure 1 Top view of the load-bearing component in the flipping device shown. Figure 4 for Figure 3 The cross-sectional view of the bearing assembly along line AA is shown. A flipping device 20 provided in one embodiment of this application includes a support 100 and a bearing assembly 200. The bearing assembly 200 is rotatably disposed on the support 100 about a reference axis O. Therefore, when a workpiece is loaded onto the bearing assembly 200, the bearing assembly 200 can drive the workpiece to rotate to change the posture of the workpiece.

[0029] The carrier assembly 200 includes a substrate 210, a first support plate 220, and a second support plate 230. The substrate 210 includes a first side portion 212 and a second side portion 213. The first side portion 212 and the second side portion 213 are disposed opposite to each other in a circumferential direction about a reference axis O. The substrate 210 has a plurality of material-containing cavities 211, which connect the first side portion 212 and the second side portion 213. The first support plate 220 is movably disposed on the first side portion 212 to block and open one end of each material-containing cavity 211. The second support plate 230 is movably disposed on the second side portion 213 to block and open the other end of each material-containing cavity 211.

[0030] In the aforementioned flipping device 20, the first pallet 220 and the second pallet 230 of the carrying assembly 200 are respectively disposed on opposite sides of the substrate 210 (i.e., the first side portion 212 and the second side portion 213) to block the material receiving cavity 211. When one of the first pallet 220 and the second pallet 230 opens the material receiving cavity 211, the workpiece can be loaded into the material receiving cavity 211 through the opened side portion. The first pallet 220 and the second pallet 230 simultaneously block the material receiving cavity 211, which can work together with the material receiving cavity 211 to limit the position of the workpiece, so that the workpiece remains fixed relative to the substrate 210 during the rotation of the carrying assembly 200. After flipping, the other of the first pallet 220 and the second pallet 230 can open the material receiving cavity 211, allowing the external conveying device 30 to pick up and transfer the workpiece. In this application, the workpiece remains fixed relative to the supporting component 200 during the posture switching process (i.e., the flipping process), and the opening action of the first pallet 220 and the second pallet 230 does not involve a change in the position of the workpiece. Therefore, the workpiece can maintain a high positional accuracy after the posture switching. It is easy to understand that the flipping device 20 provided in this embodiment can achieve high-precision position switching of the workpiece through a simple three-plate cooperation, providing a structural basis for high-precision machining.

[0031] Furthermore, the cavity wall of the material receiving cavity 211 also has a certain positioning function for the workpiece. That is to say, the flipping device 20 can not only switch the posture of the workpiece, but also position the workpiece. Therefore, there is no need to configure additional positioning components to position the workpiece, which simplifies the structure.

[0032] Furthermore, since there are multiple material receiving cavities 211, both the first pallet 220 and the second pallet 230 can seal and open multiple material receiving cavities 211. Therefore, the flipping device 20 can simultaneously achieve high-precision posture switching of multiple workpieces, resulting in high efficiency.

[0033] Please see Figure 4 In one embodiment, the material-containing cavity 211 has a first opening 212a and a second opening 213a. The first opening 212a is used to connect to the space on one side where the first side portion 212 is located, and the second opening 213a is used to connect to the space on one side where the second side portion 213 is located. The first tray 220 is capable of opening and sealing the first opening 212a, and the second tray 230 is capable of opening and sealing the second opening 213a.

[0034] Please see Figure 2 and Figure 5 Combined Figure 4 Taking an example where the first opening 212a is used to fill the material cavity 211 with workpieces, and the second opening 213a is used to remove the workpieces from the material cavity 211 by the conveying device 30. The carrying assembly 200 can switch between a first state and a second state around the reference axis O. Figure 2When the supporting assembly 200 is in the first state, the first side portion 212 is positioned upwards, i.e., the first opening 212a faces upwards. At this time, the first support plate 220 opens the first opening 212a, and the second support plate 230 seals the second opening 213a. The workpiece can be filled into the receiving cavity 211 and stably positioned within it by the support of the second support plate 230. Subsequently, the first support plate 220 seals the first opening 212a, completely limiting the workpiece within the receiving cavity 211. The supporting assembly 200 can then switch to the second state around the reference axis O, causing the workpiece within the receiving cavity 211 to rotate accordingly. Figure 5 When the support assembly 200 is in the second state, the second side 213 is located at the top, that is, the second opening 213a faces upward. At this time, the second support plate 230 opens the second opening 213a, and the first support plate 220 remains sealed to block the first opening 212a to support the workpiece in the material cavity 211.

[0035] Please see Figure 2 and Figure 5 In one embodiment, the flipping device 20 further includes a support structure 600, which is disposed on the support 100 and used to support the bearing assembly 200, thereby improving the positional stability of the bearing assembly 200. When the bearing assembly 200 is in a first state, the second side 213 abuts against one of the support structures 600. When the bearing assembly 200 is in a second state, the first side 212 abuts against the other of the support structures 600. It is understood that since the bearing assembly 200 moves above the support 100, the tray that is always located below is used to abut against the support structure 600.

[0036] Of course, the support structure 600 is not limited to being located at the support 100; it can also be arranged at other locations that can support the load-bearing component 200.

[0037] Please combine Figure 1 In one embodiment, the number of conveying devices 30 can be multiple, and the multiple conveying devices 30 are divided into a first conveying device 31 and a second conveying device 32. Both the first conveying device 31 and the second conveying device 32 have the functions of picking up, filling, and transferring workpieces. Figure 4 As one example, the first conveying device 31 can load the workpiece to be switched into the bearing assembly 200 in the first state, that is, load the workpiece into the material receiving cavity 211 through the first opening 212a. The second conveying device 32 can remove the workpiece that has completed the posture switch at the bearing assembly 200 in the second state and transfer it to another location, that is, remove the workpiece from the material receiving cavity 211 through the second opening 213a.

[0038] Please see Figure 3In one embodiment, the material receiving cavity 211 includes a limiting cavity 211a and an epitaxial cavity 211b, which are interconnected. In the direction from the first side 212 to the second side 213, at least one cross-sectional shape of the limiting cavity 211a is adapted to the cross-sectional shape of the workpiece. Therefore, after the workpiece is loaded into the material receiving cavity 211, the cavity wall of the limiting cavity 211a can restrict the position of the workpiece, fixing it relative to the substrate 210. The epitaxial cavity 211b is recessed in the cavity wall of the limiting cavity 211a and extends away from the limiting cavity 211a, allowing external grippers or other components to penetrate into the material receiving cavity 211 to pick up the workpiece. Of course, when the second conveying device 32 is configured to pick up the workpiece by vacuum adsorption or similar methods, the epitaxial cavity 211b may not be configured.

[0039] Please see Figure 5 Combined Figure 2 and Figure 4 In one embodiment, the flipping device 20 further includes a rotary driver 300 connected to the support assembly 200 to drive the support assembly 200 to rotate about a reference axis O. Figure 4 The substrate 210 also includes a third side portion 214, which is connected between the first side portion 212 and the second side portion 213. A rotary actuator 300 is connected to the third side portion 214, or to a region of the substrate 210 near the third side portion 214 (i.e., the region of the first side portion 212 and the second side portion 213 near the third side portion 214), to drive the support assembly 200 to rotate about the reference axis O. This allows most of the structure of the support assembly 200 to move on the side of the reference axis O away from the support 100, thus relatively reducing the distance from the reference axis O to the support 100 and facilitating a compact design for the flipping device 20.

[0040] Please see Figure 3 and Figure 6 In one embodiment, a plurality of material-containing cavities 211 are arranged at intervals along a first direction S1, and a first tray 220 and a second tray 230 are movably disposed along a second direction S2. The second direction S2 intersects the first direction S1, so that the first tray 220 and the second tray 230 can move between positions of opening and closing the plurality of material-containing cavities 211 with a shorter stroke.

[0041] Furthermore, the first direction S1 is perpendicular to the second direction S2.

[0042] Please see Figure 6In one embodiment, the support assembly 200 further includes a first driver 240, which is disposed on the first side portion 212 and connected to the first tray 220 to drive the first tray 220 to move along the second direction S2. Further, the substrate 210 has a first guide rail (not shown, the same below), which extends along the second direction S2 and is disposed on the first side portion 212, and the first tray 220 slides in engagement with the first guide rail.

[0043] Please see Figure 7 In one embodiment, the support assembly 200 further includes a second driver 250, which is disposed on the second side 213 and connected to the second tray 230 to drive the second tray 230 to move along the second direction S2. Further, the substrate 210 has a second guide rail (not shown, the same below), which extends along the second direction S2 and is disposed on the second side 213, and the first tray 220 is slidably engaged with the second guide rail.

[0044] Please see Figure 2 and Figure 5 In one embodiment, the first direction S1 is perpendicular to the reference axis O, so that the multiple material cavities 211 maintain an arrangement along the first direction S1 before and after flipping, which facilitates the filling and picking up by the handling device 30.

[0045] Please see Figure 6 and Figure 7 In one embodiment, the support assembly 200 further includes buffers 260, with multiple buffers 260 respectively disposed on the substrate 210. The first tray 220 abuts against the buffers 260 when in the open and / or closed position. Thus, the buffers 260 can reduce the impact on the substrate 210 that may be caused by the movement of the first tray 220, improving the overall structural stability of the support assembly 200. The second tray 230 abuts against the buffers 260 when in the open and / or closed position. Thus, the buffers 260 can also reduce the impact on the substrate 210 that may be caused by the movement of the second tray 230, improving the overall structural stability of the support assembly 200.

[0046] Please see Figure 4 Combined Figure 6 In one embodiment, the first side 212 and / or the second side 213 are recessed with receiving grooves 217, and at least a portion of the structure of the first support plate 220 and / or at least a portion of the structure of the second support plate 230 is located within the receiving grooves 217. This allows for a relative reduction in the overall thickness of the support assembly 200, reducing torque and improving rotational flexibility.

[0047] Further, the substrate 210 may include a mounting plate 215 and a jig plate 216. A first support plate 220 and a second support plate 230 are disposed on the mounting plate 215, i.e., the mounting plate 215 has the aforementioned first side portion 212 and second side portion 213. A material receiving cavity 211 is formed in the jig plate 216. A receiving groove 217 is formed in the mounting plate 215. The jig plate 216 is disposed on the mounting plate 215, and one side of the jig plate 216 is used to form the bottom wall of the receiving groove 217. The jig plate 216 may be made of a different material than the mounting plate 215. As one example, the mounting plate 215 may be configured as a metal material to improve its support capacity; the jig plate 216 may be configured as a polymer material to reduce potential damage to the workpiece (e.g., scratches).

[0048] Please see Figure 4 In one embodiment, the first pallet 220 and the second pallet 230 may contact the surface of the substrate 210 to improve the smoothness of the movement of the first pallet 220 and the second pallet 230 and to ensure the limiting effect on the workpiece in the material cavity 211.

[0049] Please see Figure 6 In one embodiment, the first support plate 220 may include a first plate body 221 and a first folding plate 222, with the first plate body 221 slidably engaged with the first guide rail 218. Further, the first guide rail 218 may be disposed outside the receiving groove 217, and the first plate body 221 slidably engages with the first guide rail 218 outside the receiving groove 217. The first folding plate 222 is connected to one side of the first plate body 221 in the second direction S2 and bends towards the direction of the bottom wall of the receiving groove 217, such that a portion of the first folding plate 222 can be bent into the receiving groove 217 and contact the bottom wall surface of the receiving groove 217.

[0050] In one embodiment, the first folding plate 222 may extend in the third direction S3 and the fourth direction to form a folded shape.

[0051] Please continue reading. Figure 6In one embodiment, the first pallet 220 further includes a first abutment 223, which is disposed on the first plate body 221 and abuts against the buffer 260 to achieve buffering. Further, at least two buffers 260 can be configured to be disposed on opposite sides of the first abutment 223 in the second direction S2, abutting against the opposite sides of the first abutment 223 to limit the travel of the first pallet 220. Alternatively, multiple first abutments 223 can be configured, with one buffer 260 located in front of one first abutment 223 to abut against the first abutment 223 in front of it, limiting the movement of the first pallet 220; another buffer 260 located behind another first abutment 223 to abut against the first abutment 223 behind it, limiting the movement of the first pallet 220. The aforementioned front and rear sides refer to the front and rear sides in the first direction S1.

[0052] Please see Figure 7 Similarly, the second support plate 230 may include a second plate body 231 and a second folding plate 232, with the second plate body 231 slidably engaged with the second guide rail 219. Further, the second guide rail 219 may be disposed outside the receiving groove 217, and the second plate body 231 slidably engages with the second guide rail 219 outside the receiving groove 217. The second folding plate 232 is connected to one side of the second plate body 231 in the second direction S2 and bends towards the direction of the bottom wall of the receiving groove 217, so that a portion of the second folding plate 232 can be bent into the receiving groove 217 and contact the bottom wall surface of the receiving groove 217.

[0053] In one embodiment, the second folding plate 232 may extend in the third direction S3 and the fourth direction to form a folded shape.

[0054] The second pallet 230 also includes a second abutment 233, which is disposed on the second plate 231. The second abutment 233 abuts against the buffer 260 to achieve buffering. Further, at least two buffers 260 can be configured to be disposed on opposite sides of the second abutment 233 in the second direction S2, abutting against the opposite sides of the second abutment 233 to limit the travel of the second pallet 230. Alternatively, multiple second abutments 233 can be configured, with one buffer 260 located in front of one second abutment 233 to abut against the second abutment 233 in front of it, limiting the movement of the second pallet 230; another buffer 260 located behind another second abutment 233 to abut against the second abutment 233 behind it, limiting the movement of the second pallet 230. The aforementioned front and rear sides refer to the front and rear sides in the first direction S1.

[0055] Please see Figure 5In one embodiment, the support 100 includes a base plate 110 and a support column 120, the support column 120 extending along a third direction S3 onto the base plate 110. The output shaft 310 of the rotary actuator 300 passes through the end of the support column 120 away from the base plate 110 and is rotatably engaged with the support column 120. The base plate 210 is connected to the output shaft 310 of the rotary actuator 300, such that the base plate 210 and the base plate 110 are spaced apart along the third direction S3, for a first support plate 220 or a second support plate 230 to be arranged facing the base plate 110.

[0056] Please see Figure 6 Combined Figure 2 and Figure 5 In one embodiment, the flipping device 20 further includes a sensor 400, which is disposed on the support 100 and used to detect whether the material cavity 211 is filled with a workpiece. It is understood that unexpected material spillage may occur during the transfer and filling of workpieces by the conveying device 30. This unexpected situation will result in some material cavities 211 not being filled with workpieces as expected. In this embodiment, the sensor 400 detects whether there are workpieces in the material cavity 211, which facilitates targeted processing at subsequent workstations.

[0057] Furthermore, the sensor 400 can detect whether a workpiece exists in the material cavity 211 when the support assembly 200 is in the second state. As mentioned above, when the support assembly 200 is in the second state, the first support plate 220 faces the support 100. Therefore, the first support plate 220 can be configured to have a connecting hole 220a. The connecting hole 220a communicates with the material cavity 211 when the first support plate 220 blocks the material cavity 211, allowing the sensing medium of the sensor 400 to pass through the material cavity 211, so as to determine whether a workpiece exists in the material cavity 211 by whether the sensing medium is blocked. It is understood that the size of the connecting hole 220a is smaller than the size of the material cavity 211, so as to provide support for the workpiece in the material cavity 211 while allowing the sensing medium to pass through the material cavity 211. Furthermore, when the sensor 400 senses whether there is a workpiece in the material cavity 211, the second tray 230 can be operated to open the second opening 213a, reducing the risk of misjudgment caused by the second tray 230 blocking the sensing medium.

[0058] Please see Figure 2 and Figure 5In one embodiment, the flipping device 20 further includes a material box 500, which is disposed on the support 100 and is used to hold workpieces. It is understood that when the conveying device 30 fills the workpiece into the receiving cavity 211, there is a possibility that the workpiece may not be accurately placed into the receiving cavity 211. In this case, the workpiece will not be restrained by the supporting component 200, and therefore will fall during the flipping process. In this embodiment, the material box 500 is configured to hold the fallen workpiece, which reduces the risk of the workpiece accidentally entering the active mating area of ​​the flipping device 20 or the conveying device 10, thus affecting the normal operation of the device and equipment.

[0059] Furthermore, when the supporting assembly 200 is in the second posture, the orthographic projection of the area containing the multiple material-containing cavities 211 in the first side portion 212 to the support 100 overlaps with the material box 500. Therefore, workpieces not accurately placed into the material-containing cavities 211 can accurately fall into the material box 500 for collection. It is understood that the aforementioned orthographic projection refers to the orthographic projection along the third direction S3. During normal operation of the flipping device 20, the third direction S3 is parallel to the direction of gravity.

[0060] Furthermore, the number of material boxes 500 can be configured to be multiple, with one material box 500 aligned with the area where the multiple material receiving cavities 211 are located in the second state as described above, and the other material boxes 500 can be distributed on the side of the support component 200 in the second state to fully receive any workpieces that may not be confined.

[0061] Please see Figure 8 In one embodiment, the handling device 10 further includes a shifting module 40 connected to the support 100 to drive the flipping device 20 to move between the first and second regions. The flipping device 20 in the first region is within the range of motion of the first handling device 31, and the flipping device 20 in the second region is within the range of motion of the second handling device 32. This facilitates the interaction of the first and second handling devices 31 and 32 with the flipping device 20, respectively. It is understood that the first and second handling devices 31 are typically configured to correspond to different processing stations (or storage stations), and therefore their activity space is often limited by the devices within their respective stations. They typically do not have overlapping areas (or the overlapping area is small). In this embodiment, the shifting module 40 is configured to drive the flipping device 20 to move actively, enabling the flipping device 20 to not only have a posture switching function but also a workpiece transfer function, facilitating the transport of workpieces to different stations. Figure 1 The range of motion of the first conveying device 31 is shown in reference numeral REF1, and the range of motion of the second conveying device 32 is shown in reference numeral REF2.

[0062] Please see Figure 8 Combined Figure 2 and Figure 5 Furthermore, the direction of motion of the flipping device 20 driven by the shift module 40 can be parallel to the reference axis O. It is understood that the flipping of the supporting component 200 around the reference axis O also involves a change in the shape of the flipping device 20, primarily in the direction perpendicular to the reference axis O. Therefore, configuring the aforementioned direction of motion parallel to the reference axis O ensures that the flipping device 20 experiences almost no shape change in this direction, facilitating position control of the flipping device 20 and reducing the risk of interference or collision with other components during the flipping process. It is understood that the second direction S2 can be parallel to the reference axis O, meaning the shift module 40 can drive the flipping device 20 to move along the second direction S2.

[0063] Please see Figure 9 The conveying device 10 is not limited to having only conveying and posture switching functions. In one embodiment, the conveying device 10 can also be configured to have a detection function. In this case, the conveying device 10 includes a detection device 50, which is located within the active area of ​​the first conveying device 31. The first conveying device 31 is used to convey the workpiece that has been detected to the flipping device 20.

[0064] Furthermore, the handling device 10 may also include a storage device (not shown in the figure, the same below), which is used to store workpieces. The storage device may be located within the active area of ​​the second handling device 32, which is used to pick up the workpiece whose posture has been switched at the flipping device 20 and transfer it into the storage device. It is easy to understand that the original posture of the workpiece corresponds to the posture requirements of the detection device 50 when detecting the workpiece. The posture of the workpiece after being switched by the flipping device 20 corresponds to the posture requirements of the storage device when storing the workpiece.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A flipping device, characterized in that, The flipping device includes: Support, A load-bearing assembly, rotatably mounted on the support about a reference axis, the load-bearing assembly comprising: A substrate, the substrate including a first side portion and a second side portion disposed opposite to each other in a circumferential direction about the reference axis, the substrate having a plurality of material receiving cavities, the material receiving cavities communicating with the first side portion and the second side portion; A first tray is movably disposed on the first side to block and open one end of each of the material cavities; A second tray is movably disposed on the second side to block and open the other end of each of the material cavities.

2. The flipping device according to claim 1, characterized in that, The flipping device also includes a sensor, which is disposed on the support. The first tray has a connecting hole, which is connected to the material cavity when the first tray blocks the material cavity, so that the sensing medium of the sensor can pass into the material cavity.

3. The flipping device according to claim 1, characterized in that, The material-containing cavity includes a limiting cavity and an extension cavity that are interconnected. In the direction from the first side to the second side, at least one cross-sectional shape of the limiting cavity is adapted to the cross-sectional shape of the workpiece. The extension cavity is recessed in the cavity wall of the limiting cavity and extends away from the limiting cavity.

4. The flipping device according to claim 1, characterized in that, The plurality of material-containing cavities are arranged at intervals along a first direction, and the first tray and the second tray are movably disposed along a second direction, which intersects with the first direction.

5. The flipping device according to claim 4, characterized in that, The bearing assembly further includes a first driver, which is disposed on the first side and connected to the first tray to drive the first tray to move in the second direction; and / or The support assembly further includes a second driver, which is located on the second side and connected to the second tray to drive the second tray to move in the second direction.

6. The flipping device according to claim 4, characterized in that, The first direction is perpendicular to the reference axis; and / or The first direction is perpendicular to the second direction.

7. The flipping device according to claim 1, characterized in that, The flipping device further includes a rotary driver, and the substrate further includes a third side portion connected between the first side portion and the second side portion. The rotary driver is connected to the third side portion or a region of the substrate near the third side portion to drive the carrier assembly to rotate about the reference axis.

8. The flipping device according to claim 1, characterized in that, The flipping device also includes a material box, which is disposed on the support, and the bearing component switches between a first posture and a second posture around the reference axis. When the load-bearing component is in the first posture, the second side faces the side where the support is located; When the supporting component is in the second posture, the first side faces the side where the support is located, and the orthographic projection of the multiple material cavities in the first side to the support overlaps with the material box.

9. A handling device, characterized in that, The conveying equipment includes the flipping device as described in any one of claims 1 to 8.

10. The handling equipment according to claim 9, characterized in that, The conveying equipment further includes a shifting module, a first conveying device, and a second conveying device. The shifting module is connected to the support to drive the flipping device to move between the first region and the second region. The flipping device in the first region is within the range of motion of the first conveying device, and the flipping device in the second region is within the range of motion of the second conveying device.

Images