CN114800008A

CN114800008A - Turning device

Info

Publication number: CN114800008A
Application number: CN202210589315.9A
Authority: CN
Inventors: 孙丰; 张宝峰; 吴斌; 刘斌
Original assignee: Suzhou Secote Precision Electronic Co Ltd
Current assignee: Suzhou Secote Precision Electronic Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-07-29

Abstract

This specification discloses a turning device, including supporting seat, rotating assembly, first driving piece and a plurality of subassembly of snatching. The supporting seat comprises two supporting plates arranged in the first direction at intervals. The rotating assembly comprises a rotating shaft and a rotating bracket which are fixedly connected. The rotation axis extends in a first direction. The rotating bracket is positioned between the two supporting plates. The rotating shaft can drive the rotating bracket to rotate. And the plurality of grabbing components are fixedly arranged on the rotating bracket. The plurality of grabbing components are arranged at intervals in the first direction. The grabbing component is used for grabbing the workpiece. The first driving member is used for driving the rotating shaft to rotate 180 degrees. The turnover device provided by the specification can turn over a workpiece by 180 degrees, and is high in turnover efficiency and reliability.

Description

Turning device

Technical Field

The specification relates to the technical field of automation equipment, in particular to a turnover device.

Background

The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

With the development of society, the human cost rises gradually, and the automation industry is rising day by day, and automation equipment is widely used, can save a large amount of manpower, material resources and financial resources for each trade.

In the process of processing and manufacturing products, various parts are often required to be matched through various operations such as moving, overturning, loading and unloading and the like to realize final product assembly.

It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions in the present specification and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present specification.

Disclosure of Invention

In view of the shortcomings of the prior art, it is an object of the present specification to provide a turnover device that can turn a workpiece 180 ° and has high turnover efficiency and reliability.

To achieve the above object, an embodiment of the present disclosure provides a turnover device, including:

the supporting seat comprises two supporting plates arranged at intervals in a first direction;

the rotating assembly comprises a rotating shaft and a rotating bracket which are fixedly connected, the rotating shaft extends along the first direction, the rotating bracket is positioned between the two supporting plates, and the rotating shaft can drive the rotating bracket to rotate;

the plurality of grabbing components are fixedly arranged on the rotating bracket, are arranged at intervals in the first direction and are used for grabbing workpieces;

a first driving member for driving the rotation shaft to rotate 180 °.

As a preferred embodiment, the turning device further includes:

the limiting assembly is fixedly arranged on the supporting plate and can be abutted against the rotating bracket; the two opposite sides of the supporting plate in the second direction are provided with the limiting assemblies; the second direction, the first direction and the vertical direction are mutually perpendicular in pairs.

As a preferred embodiment, the stopper assembly includes:

the limiting block is fixedly connected with the supporting plate;

the oil buffer is fixedly arranged on the limiting block and extends in the vertical direction, the moving end of the oil buffer is located above the fixed end, and the moving end of the oil buffer is used for being abutted to the rotating support.

As a preferred embodiment, the rotating bracket includes:

a roll-over plate extending in the first direction; the turnover plate is fixedly connected with the rotating shaft;

a plurality of support arms, follow first direction interval evenly set up and with the returning face plate is fixed continuous, the support arm is kept away from the one end of returning face plate is used for fixed connection snatch the subassembly.

As a preferred embodiment, the plane of the support arm is perpendicular to the first direction, the support arm includes a connecting portion and a mounting portion, the connecting portion is used for being fixedly connected with the turnover plate, and the mounting portion is used for mounting the grabbing assembly; after the workpiece is rotated by 180 degrees, the support arm is positioned below the rotating shaft; the two limiting blocks are arranged on two opposite sides of the supporting plate in the second direction and have different heights.

As a preferred embodiment, the first driving element includes a servo motor and a hollow speed reducer, an input end of the hollow speed reducer is fixedly connected with an output shaft of the servo motor, and an output end of the hollow speed reducer is fixedly connected with the rotating shaft.

As a preferred embodiment, the servo motor is located on a side of one of the support plates facing away from the other support plate in the first direction;

a bearing is arranged between the rotating shaft and the supporting plate far away from the servo motor; the distance servo motor is far away the backup pad is equipped with and is used for holding the first through-hole of bearing, the outer lane of bearing with the laminating of the internal surface of first through-hole, the inner circle of bearing with the laminating of the surface of rotation axis.

As a preferred embodiment, a first opening is arranged at the upper end of the supporting plate which is closer to the servo motor, and the first opening is used for accommodating at least part of the hollow speed reducer.

As a preferred embodiment, the turning device further includes:

the induction sheet is fixedly sleeved outside the rotating shaft and rotates along with the rotating shaft; the induction sheet is provided with a bulge;

the two photoelectric sensors are respectively arranged on two opposite sides of the supporting plate in the second direction; the photoelectric sensor is provided with a groove for accommodating the protrusion; when the rotating shaft rotates 180 degrees in a reciprocating mode, the protrusion switches positions between the two grooves; the second direction, the first direction and the vertical direction are mutually perpendicular in pairs.

As a preferred embodiment, the grasping assembly includes:

the two clamping jaws are oppositely arranged and used for grabbing the workpiece;

the second driving piece is used for driving the two clamping jaws to move along the vertical direction;

and the third driving piece is used for driving the two clamping jaws to move towards or away from each other so as to clamp or loosen the workpiece.

Has the advantages that: the turning device provided by the embodiment drives the rotating shaft extending along the first direction to rotate 180 degrees by arranging the first driving piece, so that the rotating bracket fixedly connected with the rotating shaft drives the grabbing component grabbing the target workpiece to rotate 180 degrees, and the workpiece is turned 180 degrees. A plurality of grabbing assemblies are fixedly mounted on the rotating support, so that a plurality of workpieces can be grabbed and overturned simultaneously, and the overturning efficiency is improved. Support and rotation space are provided for the rotating assembly and the grabbing assembly through setting up the supporting seat, and the reliability is improved.

Specific embodiments of the present specification are disclosed in detail with reference to the following description and the accompanying drawings, which specify the manner in which the principles of the specification may be employed. It should be understood that the embodiments of the present description are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present specification, and other drawings can be obtained by those skilled in the art without inventive exercise.

Fig. 1 is a schematic structural diagram of a turning device according to the present embodiment;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 3 is a schematic structural view of a support base according to the present embodiment;

FIG. 4 is a schematic structural diagram of a rotary assembly provided in the present embodiment;

FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective;

fig. 6 is a schematic structural diagram of a grasping assembly according to this embodiment.

Description of reference numerals:

1. a workpiece;

2. a supporting seat; 21. a support plate; 211. a first support plate; 212. a second support plate; 213. a first through hole; 214. a first opening; 22. a base plate; 23. a reinforcing plate;

3. a rotating assembly; 31. a rotating shaft; 311. a driving rotating shaft; 312. a passive rotating shaft; 32. rotating the bracket; 33. a turnover plate; 34. a support arm; 341. a connecting portion; 342. an installation part; 343. a long side; 344. a short side; 345. a centerline; 35. a connecting plate;

4. a first driving member; 41. a servo motor; 42. a hollow speed reducer;

5. a grasping assembly; 51. a clamping jaw; 52. a second driving member; 53. a third driving member; 54. an electromagnetic valve;

6. a limiting component; 61. a limiting block; 62. a hydraulic buffer;

7. a seal member; 8. an induction sheet; 81. a protrusion; 9. a photosensor; 91. a groove;

x, a first direction; y, a second direction; z, vertical direction.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort shall fall within the protection scope of the present specification.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used in the description of the specification herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the specification. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to fig. 1 and fig. 2. The embodiment of the application provides a turnover device, including supporting seat 2, rotating assembly 3, first driving piece 4 and a plurality of subassembly 5 of snatching.

Wherein, the support base 2 includes two support plates 21 disposed at an interval in the first direction X. The rotating assembly 3 comprises a rotating shaft 31 and a rotating bracket 32 which are fixedly connected. The rotation shaft 31 extends in the first direction X. The rotating bracket 32 is located between the two support plates 21. The rotating shaft 31 can drive the rotating bracket 32 to rotate. A plurality of gripper assemblies 5 are each fixedly mounted to the rotating bracket 32. A plurality of gripper assemblies 5 are arranged at intervals in the first direction X. The gripping assembly 5 is used for gripping the workpiece 1. The first driver 4 is used to drive the rotation shaft 31 to rotate 180 °.

In the turnover device provided by the present embodiment, the first driving element 4 is arranged to drive the rotating shaft 31 extending along the first direction X to rotate 180 °, so that the rotating bracket 32 fixedly connected to the rotating shaft 31 drives the grabbing component 5 grabbing the target workpiece 1 to rotate 180 °, thereby turning the workpiece 1 180 °. The rotary support 32 is fixedly provided with a plurality of grabbing components 5, so that a plurality of workpieces 1 can be grabbed and overturned at the same time, and the overturning efficiency is improved. Support and rotation space are provided for the rotating component 3 and the grabbing component 5 through the support seat 2, and reliability is improved.

In the present embodiment, the first driver 4 may include a servo motor 41 and a hollow speed reducer 42. The input end of the hollow speed reducer 42 is fixedly connected with the output shaft of the servo motor 41, and the output end of the hollow speed reducer 42 is fixedly connected with the rotating shaft 31. The servo motor 41 has high precision and can improve the overturning precision. The hollow speed reducer 42 has a simple structure and high positioning accuracy, and can further improve the overturning accuracy and simplify the structure of the overturning device.

In the present embodiment, as shown in fig. 3, the support base 2 further includes a bottom plate 22 for connecting the two support plates 21. Preferably, the plane of the bottom plate 22 is a horizontal plane, and the plane of the two support plates 21 is perpendicular to the first direction X, and the first direction X is parallel to the horizontal plane. The base plate 22 may be fixedly mounted to a floor or other work surface.

In order to improve the supporting force and reliability of the supporting seat 2, a reinforcing plate 23 is arranged at the corner between the supporting plate 21 and the bottom plate 22, and the reinforcing plate 23 is fixedly connected with the inner side surface of the supporting plate 21 and the upper surface of the bottom plate 22 respectively. The two support plates 21 and the bottom plate 22 form a substantially U-shaped space that can provide a partial rotation space for the rotating unit 3 and the grasping unit 5.

As shown in fig. 1, the servo motor 41 is located on a side of one of the support plates 21 facing away from the other support plate 21 in the first direction X, that is, the servo motor 41, the one of the support plates 21, and the other support plate 21 are sequentially provided in the first direction X. For convenience of description, it may be defined that the support plate 21 near the servo motor 41 is the first support plate 211, and the support plate 21 far from the servo motor 41 is the second support plate 212.

Specifically, a bearing may be provided between the rotating shaft 31 and the second support plate 212, so that the rotating shaft 31 may be allowed to rotate with respect to the second support plate 212. The second support plate 212 is provided with a first through hole 213 for receiving a bearing. The outer ring of the bearing is fitted to the inner surface of the first through hole 213, and the inner ring of the bearing is fitted to the outer surface of the rotary shaft 31. The bearing may be a single row deep groove ball bearing. The inner side and the outer side of the second support plate 212 where the first through hole 213 is provided may be provided with a sealing member 7 for preventing the bearing from being loosened and falling.

As shown in fig. 3, the upper end of the first supporting plate 211 is provided with a first opening 214, and the first opening 214 is used for accommodating at least part of the hollow speed reducer 42. Preferably, the rotation shaft 31 may include an active rotation shaft 311 and a passive rotation shaft 312. The driving rotation shaft 311 and the driven rotation shaft 312 are respectively fixed to two opposite ends of the rotation bracket 32 along the first direction X. The driving rotation shaft 311 is connected to an output end of the hollow speed reducer 42 and is fixedly connected to an end of the rotating bracket 32 close to the first support plate 211. The passive rotating shaft 312 is fixedly connected to one end of the rotating bracket 32 close to the second supporting plate 212, and the outer surface of the passive rotating shaft 312 is attached to the inner ring of the bearing. The driving rotation shaft 311 and the driven rotation shaft 312 may be fixedly connected to the rotation bracket 32 by a positioning pin, respectively.

In a specific application scenario, the first driving element 4 drives the driving rotation shaft 311 to rotate, the driving rotation shaft 311 drives the rotation bracket 32 to rotate, and the rotation bracket 32 drives the driven rotation shaft 312 to rotate. The active rotating shaft 311 and the passive rotating shaft 312 are arranged, the length of the rotating shaft 31 can be reduced, alignment is easier to achieve when the turnover device is assembled, assembly precision is improved, turnover precision can be improved, materials can be saved under the condition that the turnover effect is achieved, and production cost is reduced.

In this embodiment, the turnover device may further include a limiting component 6, so that after the first driving component 4 fails, the rotating component 3 and the grabbing component 5 are prevented from shaking, and the reliability of the turnover device is improved. As shown in fig. 1, the stopper member 6 is fixedly provided on the support plate 21 and can abut against the rotary bracket 32 to prevent the rotary bracket 32 from falling. The two opposite sides of the support plate 21 in the second direction Y are provided with the limiting assemblies 6, so that the rotating bracket 32 can be limited before or after the rotating bracket 32 rotates 180 °. The first direction X, the second direction Y and the vertical direction Z are mutually perpendicular in pairs.

As shown in fig. 1, the stopper assembly 6 may include a stopper 61 and a hydraulic buffer 62. The limiting block 61 is fixedly connected with the support plate 21. The limiting block 61 may be substantially L-shaped, and the plane of the limiting block 61 is a horizontal plane. One branch of the L-shaped limiting block 61 extends along the second direction Y and is fixed on the outer side surface of the supporting plate 21, the other branch extends along the first direction X and is used for installing the hydraulic buffer 62, the structure is simple and firm, and the space is effectively utilized to ensure that the overall layout of the turnover device is more reasonable.

In the present embodiment, the inner side surface of the support plate 21 represents the facing surface of the two support plates 21, and the outer side surface of the support plate 21 represents the facing surface of the two support plates 21. Of course, the stopper 61 may have other shapes, which is not limited in this application.

As shown in fig. 1 to 3, the hydraulic buffer 62 is fixedly disposed on the stopper 61, and the hydraulic buffer 62 extends in the vertical direction Z. The movable end of the hydraulic buffer 62 is located above the fixed end, and the movable end of the hydraulic buffer 62 is located above the stopper 61. The moving end of the hydraulic buffer 62 is used for abutting against the rotating bracket 32, so that vibration and noise can be reduced, the rotating bracket 32 is effectively stopped in a balanced manner after rotating, the overturning efficiency can be improved, the productivity is increased, the service life of the overturning device is prolonged, the maintenance cost is reduced, the safety of overturning operation is improved, and accidents can be avoided.

In the present embodiment, as shown in fig. 4, the rotating bracket 32 may include a flipping plate 33 and a plurality of arms 34. The flipping panel 33 extends in the first direction X. Two ends of the turning plate 33 are fixedly connected with the driving rotating shaft 311 and the driven rotating shaft 312 respectively. The plurality of support arms 34 are uniformly arranged along the first direction X at intervals and fixedly connected with the turnover plate 33. The end of the arm 34 remote from the flap 33 serves for the fixed attachment of the gripper assembly 5. Through the structure that a plurality of support arms 34 are added to a returning face plate 33, a plurality of grabbing components 5 can be fixed on the rotating support 32, so that grabbing and turning of a plurality of workpieces 1 can be achieved, and the turning efficiency is improved.

In particular, the plane of the arm 34 is perpendicular to the first direction X. As shown in fig. 5, the arm 34 includes a connecting portion 341 and a mounting portion 342. The connecting portion 341 is used for being fixedly connected with the turnover plate 33, and the mounting portion 342 is used for mounting the grabbing component 5. In a plane perpendicular to the first direction X, the arm 34 may be rectangular with a notch located at one corner of the rectangle. The rectangle has a long side 343 and a short side 344, and the short side 344 without the notch is located at one end as a mounting portion 342 and at the other end as a connecting portion 341. In the direction perpendicular to the plane of the turning plate 33, the size of the connecting portion 341 is smaller than that of the mounting portion 342, so that the connecting portion 341 is conveniently mounted and fixed on the turning plate 33, and the grabbing component 5 is ensured to be stably mounted on the mounting portion 342. As shown in fig. 5, the rotating bracket 32 may further include a connecting plate 35 extending along the first direction X, the connecting plate 35 may connect the support arms 34, and the connecting plate 35 is disposed at the notch of each support arm 34, so that the supporting arms 34 may be synchronized better, and the efficiency and yield of synchronized turning may be improved.

Also, in view of the feasibility of assembly, the centerline 345 of the arm 34 does not intersect the rotational centerline 345 of the rotary shaft 31. The centerline 345 of the arm 34 is a line passing through the midpoint of its short side 344 and parallel to the long side 343. In the present embodiment, after the workpiece 1 is rotated by 180 °, the arm 34 is positioned below the rotary shaft 31, and the connecting portion 341 of the arm 34 is positioned below the flipping plate 33; before the workpiece 1 is rotated by 180 °, the arm 34 is positioned above the rotary shaft 31, and the connecting portion 341 of the arm 34 is positioned above the flipping plate 33.

Accordingly, the two stoppers 61 disposed on the opposite sides of the support plate 21 in the second direction Y are different in height. Before the workpiece 1 is rotated by 180 degrees, the position of the limiting block 61 of the limiting component 6 on one side contacting with the rotating bracket 32 is higher than the position of the limiting block 61 of the limiting component 6 on the other side. Stagger and set up the high position of two relative stopper 61 on the second direction Y, enable each stopper 61 and backup pad 21 and be connected more firmly, avoid the interference between the stopper 61, the rational utilization space.

The plurality of support arms 34 are uniformly arranged along the first direction X at intervals, the support arm 34 closest to the first support plate 211 can be contacted with the oil buffers 62 arranged at both sides of the first support plate 211, and the support arm 34 closest to the second support plate 212 can be contacted with the oil buffers 62 arranged at both sides of the second support plate 212, so that the rotation of the rotating bracket 32 by the limiting component 6 is limited.

In this embodiment, the flipping device may further include a sensing sheet 8 and two photosensors 9. The sensing plate 8 is fixedly sleeved outside the driving rotation shaft 311 and rotates together with the rotation shaft 31. The sensing piece 8 is provided with a protrusion 81. The plane of the sensing plate 8 is perpendicular to the first direction X. The two photosensors 9 are respectively disposed on two opposite sides of the first support plate 211 in the second direction Y. The photosensor 9 is provided with a recess 91 for receiving the projection 81. When the rotary shaft 31 is reciprocally rotated by 180 °, the projection 81 switches the position between the two grooves 91, so that the photosensor 9 can sense whether the workpiece 1 has been turned over.

As shown in fig. 6, the grasping assembly 5 may include a jaw 51, a second drive 52, and a third drive 53. Two oppositely arranged gripping jaws 51 are used for gripping the workpiece 1. The second driver 52 is used to drive the two jaws 51 to move in the vertical direction Z. The third driving member 53 is used for driving the two clamping jaws 51 to move towards or away from each other so as to clamp or unclamp the workpiece 1.

Specifically, the second driving member 52 is fixedly mounted on the mounting portion 342 of the arm 34, the third driving member 53 is fixedly mounted on the moving end of the second driving member 52, and the two clamping jaws 51 are fixedly mounted on the moving portion of the third driving member 53. The second and

third drivers

52, 53 may be air cylinders. The second and

third drivers

52, 53 may be controlled by solenoid valves 54, and the solenoid valves 54 may be fixedly mounted to the flipping panel 33.

In the embodiment, considering the feasibility of the turnover and the problem of efficiency maximization, the four grabbing assemblies 5 are arranged most suitably, the multiple workpieces 1 can be turned over simultaneously, the efficiency is high, the final product yield can be improved, and the capacity is improved.

In a specific application scenario, the turnover device provided in this embodiment is in an initial state, in which the clamping jaw 51 faces downward, and when a workpiece 1 to be turned comes, the clamping jaw 51 descends, and then, after simultaneously gripping a plurality of workpieces 1, ascends. After the first driving element 4 drives the rotating shaft 31 to drive the rotating bracket 32 and the grabbing assembly 5 to turn 180 degrees, the clamping jaw 51 faces upwards, and at this time, the clamping jaw 51 can descend to wait for the blanking mechanism to clamp and take the turned workpieces 1. The gripper assembly 5 may be provided with sensors for sensing whether the workpiece 1 on the gripper 51 is gripped by other means. When the workpiece 1 on the clamping jaw 51 is clamped by the blanking mechanism, the sensor can send a signal to the control system, and the control system controls the clamping jaw 51 to be loosened, so that the blanking mechanism can take the overturned workpiece 1 away.

It should be noted that, in the description of the present specification, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no order is present therebetween, and no indication or suggestion of relative importance is to be made. Further, in the description of the present specification, "a plurality" means two or more unless otherwise specified.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.

A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the inventors be construed as having contemplated such subject matter as being part of the disclosed subject matter.

Claims

1. A turnover device, comprising:

a first driving member for driving the rotation shaft to rotate 180 °.

2. The flipping mechanism of claim 1, further comprising:

3. The flipping mechanism of claim 2, wherein the stop assembly comprises:

the limiting block is fixedly connected with the supporting plate;

4. The flipping mechanism of claim 3, wherein the rotating bracket comprises:

5. The turnover device of claim 4, wherein the plane of the support arm is perpendicular to the first direction, the support arm comprises a connecting part and a mounting part, the connecting part is used for being fixedly connected with the turnover plate, and the mounting part is used for mounting the grabbing component; after the workpiece is rotated by 180 degrees, the support arm is positioned below the rotating shaft; the two limiting blocks are arranged on two opposite sides of the supporting plate in the second direction and have different heights.

6. The turnover device of claim 1, wherein the first driving member includes a servo motor and a hollow speed reducer, an input end of the hollow speed reducer is fixedly connected with an output shaft of the servo motor, and an output end of the hollow speed reducer is fixedly connected with the rotating shaft.

7. The flipping mechanism of claim 6, wherein the servo motor is located on a side of one of the support plates facing away from the other support plate in the first direction;

8. The turnover device of claim 6, wherein a first opening is provided at an upper end of the support plate closer to the servo motor, and the first opening is used for accommodating at least part of the hollow speed reducer.

9. The flipping mechanism of claim 1, further comprising:

10. The flipping mechanism of claim 1, wherein the grasping assembly comprises: