Rotary side-turning device

Abstract

The objective is to provide a rotary side-turning device with reduced manufacturing costs. [Solution] A rotary side-turning device capable of rotating and side-turning a polyhedron workpiece having first and second faces, comprising: an actuator which is a power source; first and second plates which are pivotally connected to each other about a first axis and rotatably supported about a second axis which intersects the first axis, and which pivot or rotate in conjunction with the rotation of the actuator; a first clutch arranged on a first power transmission path which converts and transmits the power of the actuator into the pivot of the first plate; a second clutch arranged on a second power transmission path which converts and transmits the power of the actuator into the pivot of the second plate; and a third clutch arranged on a third power transmission path which converts and transmits the power of the actuator into the rotation of the first and second plates.

Description

Technical Field

[0001] The present invention relates to a rotating and tipping device.

Background Art

[0002] There is a device that can tip a workpiece or the like (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] <8000025>In order to rotate or tip a workpiece, a plurality of power sources such as an actuator and a hydraulic cylinder are required, which may increase the manufacturing cost.

[0005] Therefore, an object of the present invention is to provide a rotating and tipping device with suppressed manufacturing cost.

Means for Solving the Problems

[0006] The above objective is a rotating side-turning device capable of rotating and side-turning a polyhedral workpiece having first and second faces, comprising: an actuator which is a power source; first and second plates which are pivotably connected to each other about a first axis and rotatably supported about a second axis intersecting the first axis, and which pivot or rotate in conjunction with the rotation of the actuator; a first clutch disposed on a first power transmission path which converts and transmits the power of the actuator into pivoting of the first plate; a second clutch disposed on a second power transmission path which converts and transmits the power of the actuator into pivoting of the second plate; and a third clutch disposed on a third power transmission path which converts and transmits the power of the actuator into rotation of the first and second plates, wherein in a first state in which the first and second plates are aligned horizontally and the first plate supports the first face, the first and second clutches are disengaged and the third clutch is engaged, and the actuator moves in a first direction or a second direction. This can be achieved by a rotating side-turning device, in which the first and second plates rotate so that the workpiece rotates, the first and third clutches are disengaged and the second clutch is engaged in the first state and the actuator rotates in the second direction, causing the second plate to pivot and become aligned with the second surface, the third clutch is disengaged and the first and second clutches are engaged in the second state and the actuator rotates in the first direction, causing the workpiece to side-turn, the first and second plates pivot so that the second plate is aligned horizontally and supports the second surface and the first plate stands up and aligns with the first surface, the workpiece to side-turn, the first and second plates pivot so that the workpiece side-turns, the second plate is aligned horizontally and supports the second surface and the first plate stands up and aligns with the first surface, the workpiece to side-turn, the first and third clutches are disengaged and the second clutch is engaged and the actuator rotates in the second direction, causing the first plate to pivot so that the first and second plates are aligned horizontally and the second plate supports the second surface, resulting in a fourth state. [Effects of the Invention]

[0007] We can provide a rotary side-turning device with reduced manufacturing costs. [Brief explanation of the drawing]

[0008] [Figure 1]This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 2] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 3] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 4] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 5] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 6] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 7] This is an explanatory diagram of the structure of the rotating side-turning device in this embodiment. [Figure 8] This is a functional block diagram of the rotating side-turning device in this embodiment. [Figure 9] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 10] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 11] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 12] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 13] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 14] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 15] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 16] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Figure 17] This is a diagram illustrating the operation of the rotating side-turning device in this embodiment. [Modes for carrying out the invention]

[0009] [Structure of a rotating cartwheel device] Figures 1 to 7 are explanatory diagrams of the structure of the rotating and tilting device of this embodiment. Figures 1 and 2 are external perspective views of the rotating and tilting device. Figure 3 is a front view of the rotating and tilting device. Figure 4 is a side view of the rotating and tilting device. Figure 5 is a cross-sectional view taken along the line A-A of Figure 4. Figure 6 is an enlarged view with the illustration of plates 81 and 82 to be described later omitted. Figure 7 is a perspective view of a cross member 65 to be described later shown in Figure 6.

[0010] As shown in Figures 1 to 4, in the rotating and tilting device of this embodiment, a gear case 93, support plates 94 and 95 are installed on a base plate 90. The base plate 90 is substantially rectangular. Between the support plate 94 and the support plate 95, plates 81 and 82, a gear case 93, clutches C1, C2, and C3, etc. are arranged. The plates 81 and 82 are each semi-circular, and are circular as a whole, but are not limited thereto. The plates 81 and 82 are pivotally connected to each other around an axis A1 shown in Figures 1 and 2 by a hinge portion 83. The plates 81 and 82 are rotatably supported around an axis A2. The axis A1 is along the horizontal direction. The axis A2 is along the vertical direction. The gear case 93 is substantially rectangular parallelepiped. The gear case 93 is arranged below the plates 81 and 82. The clutch C1 is provided between the support plate 94 and the gear case 93. The clutch C2 is provided between the support plate 95 and the gear case 93. The plates 81 and 82 are each an example of a first plate and a second plate. The axis A1 is an example of a first axis. The axis A2 is an example of a second axis. The clutches C1, C2, and C3 are each an example of a first, a second, and a third clutch.

[0011] The actuator AC is fixed to a fixing plate 91. The fixing plate 91 is fixed to the gear case 93 at a predetermined interval via a rod-shaped support member 92. The actuator AC is, for example, a stepping motor capable of adjusting the rotation angle. The rotation axis A3 of the actuator AC shown in Figures 1 and 2 is substantially parallel to the horizontal direction. A coupling CP connected to the output shaft of the actuator AC is arranged between the actuator AC and the gear case 93.

[0012] On the inner surface of the support plate 94, the drive pulley 21, the tension pulley 22, and the driven pulley 23 are rotatably supported. On the inner surface of the support plate 95, the drive pulley 31, the tension pulley 32, and the driven pulley 33 are rotatably supported. Although not shown in FIGS. 1 to 3, as shown in FIG. 4, a belt B is wound around the drive pulley 21, the tension pulley 22, and the driven pulley 23. The same applies to the drive pulley 31, the tension pulley 32, and the driven pulley 33.

[0013] Inside the driven pulley 23, an arm 40 that pivots coaxially with the driven pulley 23 is attached. Similarly, inside the driven pulley 33, an arm 50 that pivots coaxially with the driven pulley 33 is attached. The arms 40 and 50 are each L-shaped and made of thin metal. The arms 40 and 50 each have a notch 42 and 52 formed at their tips. Therefore, these tips are bifurcated. Protruding pieces 85 and 86 are attached to the respective back surfaces of the plates 81 and 82. Although described in detail later, when the plates 81 and 82 rotate around the axis A 2 in a state along the horizontal, the protruding pieces 85 and 86 pass through the notches 42 and 52. With the protruding pieces 85 and 86 positioned within the notches 42 and 52 respectively, when the arm 40 pivots, the plate 81 pivots, and when the arm 50 pivots, the plate 82 pivots. The arms 40 and 50 are each an example of a first and a second arm. The notches 42 and 52 are each an example of a first and a second notch. The protruding pieces 85 and 86 are each an example of a first and a second protruding piece.

[0014] As shown in Figure 5, the gear case 93 houses a worm gear 12, a worm wheel 13, part of the main shaft 14, miter gears 15 and 16, and part of the sub-shaft 17. The rotation of the actuator AC is transmitted to the worm gear 12 via the coupling CP. The worm gear 12 meshes with the worm wheel 13, which is mounted on the main shaft 14. The main shaft 14 is positioned along the vertical direction. A miter gear 15 is mounted on the base end of the main shaft 14. The miter gear 15 meshes with a miter gear 16, which is mounted on the sub-shaft 17. Therefore, the rotation of the actuator AC causes the coupling CP, worm gear 12, worm wheel 13, main shaft 14, miter gears 15 and 16, and sub-shaft 17 to rotate. The sub-shaft 17 is positioned along the horizontal direction. A drive pulley 21 is mounted to one end of the sub-shaft 17 so as to be able to rotate freely. A drive pulley 31 is mounted on the other end of the sub-shaft 17 so as to be able to rotate freely.

[0015] The clutch C3 is mounted on the tip side of the main spindle 14 and is installed between the gear case 93 and the rotating member 63. As shown in Figures 1 to 3 and Figures 5 to 7, in addition to the clutch C3, a disc-shaped fixing plate 60 is fixed to the upper surface of the gear case 93 via a rod-shaped support member 98. The clutch C3 is located between the gear case 93 and the fixing plate 60. The inner ring of a substantially annular ball bearing 61 is fitted to the outer circumference of the fixing plate 60. A substantially cross-shaped cross member 65 is fitted to the outer ring of the ball bearing 61. The rotating member 63 is also mounted on the tip of the main spindle 14 so as to be able to rotate freely. The rotating member 63 is located between the clutch C3 and the cross member 65. As shown in Figures 5 and 7, the rotating member 63 is provided with two pins 64. The pins 64 are fitted into holes in the cross member 65. Plates 81 and 82 are attached to the cross member 65 via a hinge portion 83. As the rotating member 63 rotates, the cross member 65, plates 81 and 82 rotate together as a single unit. Figures 6 and 7 also show the projections 85 and 86 attached to plates 81 and 82, respectively.

[0016] When the clutch C3 is de-energized, the main shaft 14 rotates freely relative to the rotating member 63, and the power of the actuator AC is not transmitted to the plates 81 and 82. When the clutch C3 is de-energized, the rotating member 63 rotates together with the main shaft 14, and the plates 81 and 82 rotate around the axis A2 shown in Figures 1 and 2 via the cross member 65. In this way, the rotation of the actuator AC is converted into power that rotates the plates 81 and 82 around the axis A2 and transmitted. Therefore, the coupling CP, worm gear 12, main shaft 14, clutch C3, rotating member 63, and cross member 65 correspond to components arranged on a third power transmission path that converts the power of the actuator AC into rotation and transmits it to the plates 81 and 82. Furthermore, the rotating member 63 and the cross member 65 correspond to a rotation mechanism that rotates the plates 81 and 82.

[0017] Clutch C1 is mounted between the gear case 93 and the drive pulley 21. Clutch C2 is mounted between the gear case 93 and the drive pulley 31. When clutch C1 is de-energized, the sub-shaft 17 rotates freely relative to the drive pulley 21, and the power of actuator AC is not transmitted to arm 40. When clutch C1 is de-energized, the drive pulley 21 rotates together with the sub-shaft 17. As a result, the driven pulley 23 rotates via belt B, and arm 40 pivots around axis A1 as shown in Figures 1 and 2. In this way, the rotation of actuator AC is converted into power that pivots arm 40 around axis A1 and transmitted. Therefore, the coupling CP, worm gear 12, main shaft 14, miter gears 15 and 16, sub-shaft 17, drive pulley 21, tension pulley 22, driven pulley 23, belt B, and arm 40 correspond to components arranged on the first power transmission path that converts and transmits the power of actuator AC into pivotal movement of plate 81. Furthermore, the drive pulley 21, tension pulley 22, driven pulley 23, belt B, and arm 40 are an example of a first pivot mechanism that pivots plate 81.

[0018] Similarly, when the clutch C2 is de-energized, the sub-shaft 17 rotates freely relative to the drive pulley 31, and the power of the actuator AC is not transmitted to the arm 50. When the clutch C2 is de-energized, the drive pulley 31 rotates together with the sub-shaft 17. As a result, the driven pulley 33 rotates via the belt B, and the arm 50 pivots around the axis A1. In this way, the rotation of the actuator AC is converted into power that pivots the arm 50 around the axis A1 and transmitted. Therefore, the coupling CP, worm gear 12, main shaft 14, miter gears 15 and 16, sub-shaft 17, drive pulley 31, tension pulley 32, driven pulley 33, belt B, and arm 50 correspond to components arranged on a second power transmission path that converts and transmits the power of the actuator AC into pivoting power to the plate 82. Furthermore, the drive pulley 31, tension pulley 32, driven pulley 33, belt B, and arm 50 are an example of a second pivot mechanism that pivots the plate 82.

[0019] As described above, the coupling CP, worm gear 12, and main shaft 14 are commonly arranged on the first to third power transmission paths, and the sub-shaft 17 is commonly arranged on the first and second power transmission paths. In this way, a single component is arranged and shared across multiple power transmission paths. This suppresses the increase in the number of power sources such as actuators and hydraulic cylinders, and thus reduces manufacturing costs.

[0020] The clutch C1 comprises a stator and coil fixed to one side of the gear case 93, a rotor that rotates with the sub-shaft 17, and an armature fixed to the drive pulley 21 via a leaf spring, with a predetermined gap between it and the rotor. When the clutch C1 is de-energized, only the rotor rotates and the drive pulley 21 does not rotate. When the clutch C1 is de-energized, the armature is attracted to the rotor by the magnetic force of the stator and coil, and the drive pulley 21 rotates together with the rotor. In this way, the clutch C1 is engaged.

[0021] Similarly, clutch C2 comprises a stator and coil fixed to the other side of the gear case 93, a rotor that rotates with the sub-shaft 17, and an armature fixed to the drive pulley 31 via a leaf spring with a predetermined gap between it and the rotor. Clutch C3 comprises a stator and coil fixed to the upper surface of the gear case 93, a rotor that rotates with the main shaft 14, and an armature fixed to the rotating member 63 via a leaf spring with a predetermined gap between it and the rotor. Note that clutches C1, C2, and C3 may be other known structures.

[0022] The rotary damper D contacts the outer circumferential surface of the outer ring of the ball bearing 61, generating a load corresponding to the rotational speed of the ball bearing 61. This prevents the rotational member 64 from rotating when the clutch C3 is de-energized, by slightly transmitting the rotational power of the main shaft 14 to the rotating member 64 via the ball bearing between the main shaft 14 and the rotating member 64. Therefore, the rotary damper D suppresses the rotation of plates 81 and 82 when the clutch C3 is disengaged. As shown in Figures 1 and 4, the rotary damper D is fixed to the upper surface of the tip of the support plate DS, which is fixed to the bottom surface of the fixed plate 60.

[0023] The stopper rods 96 and 97 are each provided at the corners of the base plate 90 that are approximately diagonally opposite each other. The stopper rods 96 and 97 are in contact with the underside of the arms 40 and 50, which are in a horizontal position. This restricts the position of the arms 40 and 50, preventing them from tilting downwards from the horizontal. In addition, weights 44 and 54 are provided in the middle of the arms 40 and 50, respectively. The weight 44 is made of a material with a greater mass than the thin plate-shaped arm 40. The same applies to the weight 54. As a result, when the clutch C1 is turned off, the rotational power of the sub-shaft 17 is slightly transmitted to the drive pulley 21 via the ball bearing between the sub-shaft 17 and the drive pulley 21, preventing the arm 40 from separating from the stopper rod 96. That is, when the clutch C1 is disengaged, the weight of the weight 44 maintains the position of the arm 40 restricted by the stopper rod 96. Similarly, with the clutch C2 de-energized, the rotational power of the sub-shaft 17 is slightly transmitted to the drive pulley 31 via the ball bearing between the sub-shaft 17 and the drive pulley 31, preventing the arm 50 from separating from the stopper rod 97. In other words, with the clutch C2 disengaged, the weight of the weight 54 maintains the position of the arm 50 restricted by the stopper rod 97.

[0024] The diameters of the driven pulleys 23 and 33 are larger than the diameters of the drive pulleys 21 and 31. This reduces the pivoting speed of the arms 40 and 50 relative to the rotational speed of the actuator AC. Consequently, the positional accuracy of the arms 40 and 50 is improved.

[0025] Figure 8 is a functional block diagram of the rotary side-turning device of this embodiment. The controller 100 is electrically connected to the actuator AC, position sensor P, clutch C1, clutch C2, and clutch C3. The controller 100 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and storage device. The controller 100 controls the operation of the rotary side-turning device by executing programs stored in the ROM and storage device. Specifically, the controller 100 controls the operation of plates 81 and 82 by controlling the rotation direction of actuator AC and the energized state of clutches C1, C2, and C3. Furthermore, as will be described in more detail later, the controller 100 controls actuator AC and clutches C1, C2, and C3 based on the output value of position sensor P. Position sensor P is used to detect the positions of projections 85 and 86.

[0026] [Operation of the rotating side-turning device] Next, the operation of the rotary side-turning device of this embodiment will be described. Figures 9 to 16 are explanatory diagrams of the operation of the rotary side-turning device of this embodiment. Figure 9 shows the workpiece 200 placed on the plate 81. The workpiece 200 is a hexahedron having faces 201 to 206. Faces 201 to 206 of the workpiece 200 are photographed by a single camera installed in the front direction of face 201 of the rotary side-turning device. Based on the captured images, faces 201 to 206 are inspected.

[0027] In Figure 9, the surface 206 of the workpiece 200 is supported by the plate 81. In Figure 9, plates 81 and 82 are positioned in their initial positions. The initial position is when plates 81 and 82 are aligned horizontally, and the axis A1 shown in Figures 1 and 2 approximately coincides with the rotational axes of the driven pulleys 23 and 33. In the initial position, the projections 85 and 86 are located within the notches 42 of arm 40 and 52 of arm 50, respectively. Unintended stopping of clutches C1, C2, and C3 may cause plates 81 and 82 to stop in positions other than their initial positions. Therefore, when the rotating side-turning device is started, an operation is performed to return plates 81 and 82 to their initial positions. When clutches C1 and C2 are energized and actuator AC rotates, arms 40 and 50, respectively, abut against stopper rods 96 and 97 and return to their initial positions. Next, when the clutch C3 is energized and the actuator AC rotates, the rotating member 63 and the cross member 65 rotate. During rotation, the position sensor P detects the position of the projection 85 or 86, and the controller 100 reads this position to detect the origin. By rotating the rotating member 63 and the cross member 65 around the axis A2 by a certain angle from the origin, the plates 81 and 82 return to their initial positions.

[0028] In the state shown in Figure 9, the controller 100 turns off the power to clutches C1 and C2, turns on the power to clutch C3, and rotates actuator AC in the first direction. As a result, clutches C1 and C2 are disengaged and clutch C3 is engaged, causing plates 81 and 82 to rotate counterclockwise as shown in Figures 10 to 12, and then stop again at the initial position shown in Figure 9. While the workpiece 200 is rotating in this manner, surfaces 201 to 204 are photographed by the camera.

[0029] Furthermore, while plates 81 and 82 are rotating 360 degrees, projection 86 passes through the notch 42 of arm 40, and projection 85 passes through the notch 52 of arm 50. This allows plates 81 and 82 to rotate 360 ​​degrees. Figures 10 to 12 show the first state.

[0030] When plates 81 and 82 return to their initial positions as shown in Figure 9, actuator AC stops. Next, controller 100 turns off the power to clutches C1 and C3, turns on the power to clutch C2, and rotates actuator AC in the second direction. This disengages clutches C1 and C3, engages clutch C2, and pivots arm 50 to raise plate 82. When plate 82 rises approximately perpendicular to plate 81 so that it aligns with the surface 203 of workpiece 200, as shown in Figure 13, actuator AC stops. Figure 13 shows the second state.

[0031] Next, the controller 100 turns off the power to clutch C3, turns on the power to clutches C1 and C2, and rotates actuator AC in the first direction. As a result, clutch C3 is disengaged and clutches C1 and C2 are engaged, and as shown in Figure 14, while the angle between plate 81 and plate 82 remains approximately right angle, arm 40 pivots to raise plate 81 and arm 50 pivots to lower plate 82. As shown in Figure 15, when plate 82 is horizontal and plate 81 is raised approximately perpendicular to plate 82, actuator AC stops. Figure 15 shows the third state.

[0032] Next, the controller 100 turns off the power to clutches C2 and C3, turns on the power to clutch C1, and rotates actuator AC in the second direction. As a result, clutches C2 and C3 are disengaged, clutch C1 is engaged, and arm 40 pivots to lower plate 81. When plate 81 is horizontal, as shown in Figure 16, actuator AC stops. In Figure 16, surface 203 of workpiece 200 is supported by plate 82, and surface 206 is exposed. Figure 16 shows the fourth state. In this way, workpiece 200 rotates sideways. In this state, surface 206 can be photographed by the camera. Figure 17 shows the state in which surface 205 can be photographed by the camera by rotating plates 81 and 82 from the state in Figure 16. In this way, it is possible to photograph all surfaces 201 to 206 with a single camera.

[0033] As described above, the actuator AC and clutches C1, C2, and C3 allow the workpiece 200 to be rotated and tumbled. Since the power source is only the actuator AC, the manufacturing cost of the rotation and tumble device in this embodiment is reduced. Furthermore, since the actuator AC is a stepping motor, the rotation angle from the start of rotation to the stop of rotation is controlled with high precision. In addition, even if stepping motor loss occurs or a drive source other than a stepping motor is used, the rotation angle can be detected with high precision by providing an encoder, and the rotation and tumble of the workpiece 200 can be controlled with high precision.

[0034] Furthermore, in Figures 13 to 15, when clutches C1 and C2 are engaged, the sub-shaft 17 rotates, causing arms 40 and 50 to pivot together. Therefore, synchronization of the pivot of arm 40 and arm 50 is unnecessary, and the pivot can be performed while maintaining a constant angle between plate 81 and plate 82.

[0035] Next, the detection of the initial positions of plates 81 and 82 will be described. The position sensor P detects the position of the projection 85 and 86 when either of them enters the slit of the position sensor P and the light ray is blocked. The position sensor P is, for example, a photoelectric sensor. In the operation to return to the initial position, plates 81 and 82 are rotated to detect the position of either projection 85 or 86, and then plates 81 and 82 are moved to the initial position by rotating them by a certain angle around the axis A2 so that projections 85 and 86 are in a predetermined position. For example, if projections 85 and 86 have different shapes, and only one of them enters the slit of the position sensor P, the position sensor P may detect the position of only one of them. The position sensor P may also be a magnetic sensor.

[0036] As described above, in the initial position, the projections 85 and 86 are located within the notches 42 and 52, respectively. That is, the initial position is the position in which the plates 81 and 82 can be pivoted by the arms 40 and 50, respectively. The controller 100 pivots at least one of the arms 40 and 50 only when the plates 81 and 82 are in the initial position. This prevents at least one of the arms 40 and 50 from pivoting if the projections 85 and 86 are not located within the notches 42 of the arm 40 and 52 of the arm 50, respectively. The position sensor P is fixed to the upper surface of the tip of the support plate PS, which is fixed to the bottom surface of the fixed plate 60, as shown in Figures 2 and 4.

[0037] The workpiece 200 is a rectangular prism, but it can be any polyhedron, such as a tetrahedron, octahedron, or dodecahedron. For example, when rotating a tetrahedron, with the first face of the tetrahedron placed on a horizontally aligned plate 81, plate 82 is raised along the second face of the tetrahedron, and while maintaining the angle between plates 81 and 82, plate 82 is pivoted so that it is horizontal and plate 81 is raised. As a result, the second face of the tetrahedron is placed on plate 82 and the first face is exposed. Plates 81 and 82 can also pivot from an angle of 180 degrees to approximately 0 degrees. Therefore, by adjusting the amount of rotation of actuator AC, the angle between plates 81 and 82 can be maintained at a desired angle, and as described above, it is possible to rotate tetrahedrons and octahedrons as well.

[0038] The drive pulley 21, tension pulley 22, driven pulley 23, and belt B described above are examples of the first pivot mechanism, but the first pivot mechanism is not limited to these. For example, the first pivot mechanism may be a mechanism that pivots the plate 81 using multiple gears. The same applies to the second pivot mechanism.

[0039] Although preferred embodiments of the present invention have been described in detail above, the present invention is not limited to these specific embodiments, and modifications and changes are possible within the scope of the gist of the present invention as described in the claims. [Explanation of Symbols]

[0040] A1 axis center (1st axis center) A2 axis center (second axis center) AC Actuator C1 Clutch (First Clutch) C2 Clutch (Second Clutch) C3 Clutch (Third Clutch) D Rotary Damper P Position Sensor 14 Spindle 17 Sub-axis 40. Arm (First Arm, First Pivot Mechanism) 42 Notch (First notch) 44, 54 weights 50. Arm (Second arm, second pivot mechanism) 52 Notch (Second Notch) 81 Board (1st board) 82 board (2nd board) 83 Hinge section 85 Projection (First projection) 86 Projection (Second projection) 96 Stopper rod 200 work 201~206 sides

Claims

1. A rotating and side-turning device capable of rotating and side-turning a polyhedron workpiece having first and second faces, The actuator is the power source, First and second plates are pivotably connected to each other around a first axis, rotatably supported around a second axis intersecting the first axis, and pivot or rotate in conjunction with the rotation of the actuator. A first clutch is positioned on a first power transmission path that converts the power of the actuator into pivotal motion of the first plate and transmits it; A second clutch is positioned on a second power transmission path that converts the power of the actuator into pivotal motion of the second plate and transmits it; The system includes a third clutch positioned on a third power transmission path that converts the power of the actuator into rotation of the first and second plates and transmits it, In the first state in which the first and second plates are aligned horizontally and the first plate supports the first surface, the first and second clutches are disengaged and the third clutch is engaged, causing the actuator to rotate in the first or second direction, thereby rotating the first and second plates so that the workpiece rotates. In the first state, the first and third clutches are disengaged and the second clutch is engaged, and the actuator rotates in the second direction, causing the second plate to pivot and enter a second state along the second surface. In the second state, the third clutch is disengaged and the first and second clutches are engaged, and the actuator rotates in the first direction, causing the workpiece to rotate sideways. The first and second plates pivot so that the second plate lies horizontally and supports the second surface, and the first plate rises up and lies along the first surface, resulting in a third state. A rotating side-turning device in which, in the third state, the first and third clutches are disengaged and the second clutch is engaged, and the actuator rotates in the second direction, causing the first plate to pivot and resulting in a fourth state in which the first and second plates are aligned horizontally and the second plate supports the second surface.

2. A first arm is positioned between the first clutch and the first plate on the first power transmission path and pivots in conjunction with the actuator, The device comprises a second arm positioned between the second clutch and the second plate on the second power transmission path, and pivoting in conjunction with the actuator, The first and second arms each have a first and second notch at their tip, The first and second plates each have first and second projections, As the first and second plates rotate in the first or fourth state, the first and second projections pass through the first and second notches. As the first arm pivots with the first projection positioned within the first notch, the first plate pivots. The rotational side-turning device according to claim 1, wherein the second plate pivots when the second arm pivots with the second projection positioned within the second notch.

3. The rotary side-turning device according to claim 2, further comprising a position sensor for detecting the position of at least one of the first and second projections.

4. The first arm is provided with a stopper member that contacts the first arm and restricts the position of the first arm, The stopper member is located below the first arm, The first arm has a weight, The rotary side-turning device according to claim 2, wherein, with the first clutch disengaged, the first arm is maintained in a position restricted by the stopper member due to the weight of the counterweight.

5. A rotary side-turning device according to any one of claims 1 to 4, comprising a rotary damper that prevents the first and second plates from rotating when the third clutch is disengaged.

6. A main shaft that rotates in conjunction with the rotation of the actuator and is commonly arranged on the first, second, and third power transmission paths, A sub-shaft rotates in conjunction with the rotation of the main shaft and is commonly arranged on the first and second power transmission paths, Displaced between the sub-shaft and the first plate on the first power transmission path, and including the first arm, a first pivot mechanism that pivots the first plate, Displaced between the sub-shaft and the second plate on the second power transmission path, and including the second arm, a second pivot mechanism that pivots the second plate, The device comprises a rotating mechanism positioned between the main shaft and the first and second plates on the third power transmission path, which rotates the first and second plates, The first clutch is positioned between the sub-shaft and the first pivot mechanism on the first power transmission path. The second clutch is positioned between the sub-shaft and the second pivot mechanism on the second power transmission path. The third clutch is positioned between the main shaft and the rotating mechanism on the third power transmission path, according to any one of claims 1 to 4.

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