CN115231282A

CN115231282A - Overturning device

Info

Publication number: CN115231282A
Application number: CN202110444546.6A
Authority: CN
Inventors: 刘剑秋; 徐龙; 张建雄; 郭崇; 王荣荣
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2022-10-25

Abstract

The present invention provides a flipping apparatus, comprising: a first clamping mechanism; the first clamping mechanism and the second clamping mechanism are oppositely arranged, and a clamping space for clamping a workpiece is formed between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism and the second clamping mechanism are both rotatably arranged around a first preset axis; the supporting mechanism is arranged below the clamping space and used for supporting the workpiece in the clamping space, the supporting mechanism is provided with a supporting position and an avoiding position, and the supporting mechanism is movably arranged between the supporting position and the avoiding position. The invention solves the problem of low building efficiency of the brick in the prior art.

Description

Turnover equipment

Technical Field

The invention relates to the field of workpiece overturning, in particular to overturning equipment.

Background

At present, a brick laying process is one of core processes in the building industry, mortar needs to be coated on bricks for bonding the bricks, and a firm wall body can be formed after the mortar is solidified. In the masonry process, mortar coating is divided into two conditions: firstly, mortar is smeared on bricks on a built wall, and then new bricks are built to corresponding positions to finish building; secondly, mortar is smeared on the bricks which are not built, and then the bricks smeared with the mortar are placed on corresponding positions to be fixed, so that the building is completed.

However, in the second masonry method, in order to ensure that mortar can be adhered to the surfaces of the bricks, the mortar is generally applied to the upward surfaces of the bricks, the mortar is placed and dropped to ensure that the mortar can be adhered to the upper surfaces of the bricks, and then the surfaces of the bricks with the mortar are faced to the corresponding positions for masonry. When the existing robot builds bricks, if the brick blocks coated with mortar are built directly by the robot, a turnover mechanism needs to be added to realize the action of loading the bricks.

The existing mechanism for overturning the bricks can only overturn bricks with fixed sizes generally, and only clamp the two sides of the bricks, so that the stability is low, the bricks are easy to fall off in the overturning process, the working process of a robot is blocked, and the masonry efficiency of the bricks is reduced.

Disclosure of Invention

The invention mainly aims to provide turnover equipment to solve the problem of low building efficiency of bricks in the prior art.

In order to achieve the above object, the present invention provides a flipping apparatus comprising: a first clamping mechanism; the first clamping mechanism and the second clamping mechanism are oppositely arranged, and a clamping space for clamping a workpiece is formed between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism and the second clamping mechanism are both rotatably arranged around a first preset axis; the supporting mechanism is arranged below the clamping space and used for supporting the workpiece in the clamping space, the supporting mechanism is provided with a supporting position and an avoiding position, and the supporting mechanism is movably arranged between the supporting position and the avoiding position.

Further, the support mechanism includes: the first support structure comprises a swing arm support, the swing arm support is provided with a first support end face, the swing arm support is rotatably arranged around a second preset axis to move between a support position and an avoidance position, and the first preset axis and the second preset axis are perpendicular to each other.

Further, the first support structure further comprises: the swing arm support piece is hinged with the fixed shaft seat through a first rotating shaft; the first driving part is positioned below the fixed shaft seat and provided with a first push rod in telescopic arrangement, the first push rod is connected with the swing arm supporting piece, and the swing arm supporting piece is pushed to rotate around the first rotating shaft through the first push rod.

Furthermore, a first rotating shaft hole and a second rotating shaft hole are formed in the swing arm supporting piece, the first rotating shaft hole and the second rotating shaft hole are arranged at intervals in the vertical direction, and the first rotating shaft penetrates through the first rotating shaft hole; the first support structure further comprises: the pushing joint is arranged at the pushing end of the first pushing rod, a second rotating shaft is arranged on the pushing joint, and at least part of the second rotating shaft penetrates through the second rotating shaft hole.

Further, the swing arm support comprises: the first rotating shaft hole and the second rotating shaft hole are both arranged on the connecting body; the supporting body is connected with the connecting body, an included angle is formed between the supporting body and the connecting body, and the first supporting end face is arranged on the supporting body.

Further, the first support structure further comprises: the first limiting block is arranged on the fixed shaft seat, and at least part of the swing arm support piece is in contact with the first limiting block so as to limit the rotating limit position of the swing arm support piece.

Further, the support mechanism further includes: and the second supporting structure comprises a supporting plate, a second supporting end surface is arranged on the supporting plate, and the supporting plate is movably arranged along the vertical direction.

Further, the second support structure further comprises: the second driving part is provided with a second push rod which can stretch along the vertical direction, and the supporting plate is arranged at the push end of the second push rod; and the second limiting block is arranged above the supporting plate, and at least part of the supporting plate is in contact with the second limiting block so as to enable the supporting plate to be in a supporting position.

Further, the first clamping mechanism includes: the first clamping plate is arranged opposite to the second clamping mechanism and can rotate around a preset axis; the first fixing seat is arranged on the first clamping plate; the first movable seat is arranged on the first clamping plate and movably arranged towards the direction close to or far away from the first fixed seat so as to form a first clamping space between the first fixed seat and the first movable seat, and the first clamping space forms part of the clamping space.

Further, the first clamping mechanism further comprises: the first buffer blocks are installed on the first clamping plate and located in the first clamping space, the first buffer blocks protrude towards the direction far away from the first clamping plate, the first buffer blocks are multiple, and the multiple first buffer blocks are all in contact with the workpiece.

Further, the second clamping mechanism includes: the second clamping plate is arranged opposite to the first clamping mechanism and can rotate around a preset axis; the second fixing seat is arranged on the second clamping plate; the second moving seat is arranged on the second clamping plate and movably arranged towards the direction close to or far away from the second fixed seat so as to form a second clamping space between the second fixed seat and the second moving seat, and the second clamping space forms part of the clamping space.

Further, the second clamping mechanism further comprises: the second buffer blocks are installed on the second clamping plate and located in the second clamping space, the second buffer blocks protrude towards the direction far away from the second clamping plate, the second buffer blocks are multiple, and the multiple second buffer blocks are all in contact with the workpiece.

Further, the flipping apparatus further comprises: the overturning driving assembly is in driving connection with the first clamping mechanism and/or the second clamping mechanism, at least part of the overturning driving assembly is rotatably arranged around a first preset axis, and the overturning driving assembly drives the first clamping mechanism and/or the second clamping mechanism to rotate.

Further, the tumble drive assembly includes: the driving shaft of the third driving part is provided with an output synchronizing wheel; the input synchronizing wheel is connected with the output synchronizing wheel through a synchronous belt, and the input synchronizing wheel is connected with the first clamping mechanism and/or the second clamping mechanism.

Further, the flipping apparatus further comprises: the first clamping mechanism, the second clamping mechanism and the supporting mechanism are all arranged on the base; the sliding assembly is arranged on the base, the first clamping mechanism and/or the second clamping mechanism are/is connected with the sliding assembly, and the sliding assembly drives the first clamping mechanism and/or the second clamping mechanism to move.

Further, the slide assembly includes: the first clamping mechanism and/or the second clamping mechanism are/is connected with the screw rod assembly and driven to move through the screw rod assembly; the guide rail assembly is located on the side of the screw rod assembly, the first clamping mechanism and/or the second clamping mechanism are/is installed on the guide rail assembly, and the first clamping mechanism and/or the second clamping mechanism move along the extending direction of the guide rail assembly.

By applying the technical scheme of the invention, the turnover equipment comprises a first clamping mechanism, a second clamping mechanism and a supporting mechanism, wherein the first clamping mechanism and the second clamping mechanism are oppositely arranged, and a clamping space for clamping a workpiece is formed between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism and the second clamping mechanism are both rotatably arranged around a first preset axis; the supporting mechanism is arranged below the clamping space and used for supporting the workpiece in the clamping space, the supporting mechanism is provided with a supporting position and an avoiding position, and the supporting mechanism is movably arranged between the supporting position and the avoiding position. The workpiece in the clamping space can be supported through the supporting mechanism, so that the clamping stability is guaranteed, the clamping force of the first clamping mechanism and the second clamping mechanism is reduced, the surface of the workpiece is prevented from being damaged, meanwhile, the workpiece can be driven to overturn by the aid of rotation of the first clamping mechanism and the second clamping mechanism, and the masonry efficiency of the workpiece is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a state diagram of the use of an embodiment of the turning apparatus according to the invention;

fig. 2 shows a schematic structural view of an embodiment of the turning device according to the present invention;

fig. 3 shows a schematic structural view of a first clamping mechanism of the turning device according to the present invention;

fig. 4 shows an exploded view of a first support structure of the roundabout according to the present invention;

figure 5 shows a first state diagram of a first support structure of the roundabout according to the invention;

figure 6 shows a second state diagram of the first support structure of the roundabout according to the invention;

fig. 7 shows a schematic structural view of a second clamping mechanism of the turning device according to the present invention;

figure 8 shows a schematic structural view of a second support structure of the roundabout according to the invention; and

fig. 9 shows a schematic configuration of the flipping drive assembly of the flipping apparatus according to the present invention.

Wherein the figures include the following reference numerals:

100. a workpiece; 1. a first clamping mechanism; 2. a second clamping mechanism; 3. a support mechanism; 4. a clamping space; 30. a first support structure; 301. a swing arm support; 302. fixing the shaft seat; 303. a first rotating shaft; 304. a first drive member; 305. pushing the joint; 3010. a connecting body; 3011. a support body; 306. a first stopper; 32. a second support structure; 320. a pallet; 321. a second drive member; 322. a second limiting block; 10. a first clamping plate; 11. a first fixed seat; 12. a first movable base; 13. a first buffer block; 20. a second clamping plate; 21. a second fixed seat; 22. a second movable base; 23. a second buffer block; 5. a turnover drive assembly; 50. a third drive member; 51. an output synchronizing wheel; 52. inputting a synchronous wheel; 53. a synchronous belt; 6. a base; 7. a sliding assembly; 70. a screw assembly; 71. a guide rail assembly; 14. a limiting adsorption component; 15. a first detection switch; 16. a base; 24. a second detection switch; 25. a third limiting block; 26. and a third detection switch.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The present invention provides a flipping apparatus, please refer to fig. 1 to 9, including: a first clamping mechanism 1; the first clamping mechanism 1 and the second clamping mechanism 2 are oppositely arranged, and a clamping space 4 for clamping a workpiece is formed between the first clamping mechanism 1 and the second clamping mechanism 2; the first clamping mechanism 1 and the second clamping mechanism 2 are both arranged around a first preset axis in a rotatable mode; the supporting mechanism 3 is arranged below the clamping space 4, the supporting mechanism 3 is used for supporting the workpiece in the clamping space 4, the supporting mechanism 3 is provided with a supporting position and an avoiding position, and the supporting mechanism 3 is movably arranged between the supporting position and the avoiding position.

The turnover equipment provided by the invention comprises a first clamping mechanism 1, a second clamping mechanism 2 and a supporting mechanism 3, wherein the first clamping mechanism 1 and the second clamping mechanism 2 are oppositely arranged, and a clamping space 4 for clamping a workpiece is formed between the first clamping mechanism 1 and the second clamping mechanism 2; the first clamping mechanism 1 and the second clamping mechanism 2 are both arranged around a first preset axis in a rotatable mode; the supporting mechanism is arranged below the clamping space 4, the supporting mechanism 3 is used for supporting the workpiece in the clamping space 4, the supporting mechanism 3 is provided with a supporting position and an avoiding position, and the supporting mechanism 3 is movably arranged between the supporting position and the avoiding position. The workpiece 100 in the clamping space 4 can be supported through the supporting mechanism 3, so that the clamping stability is guaranteed, the clamping force of the first clamping mechanism 1 and the second clamping mechanism 2 is reduced, the surface of the workpiece 100 is prevented from being damaged, meanwhile, the workpiece 100 can be driven to overturn by utilizing the rotation of the first clamping mechanism 1 and the second clamping mechanism 2, and the masonry efficiency of the workpiece 100 is improved.

According to the invention, a brick is clamped and fixed in the clamping space 4 through the first clamping mechanism 1 and the second clamping mechanism 2, the brick is supported through the supporting mechanism 3, acting force acting on the brick is effectively dispersed, mortar is coated on the brick, the added supporting mechanism 3 can prevent the mortar from being rubbed off by overlarge acting force of the first clamping mechanism 1 and the second clamping mechanism 2 to influence the masonry effect of the brick, and the brick coated with the mortar can be directly masonry through the overturning of the first clamping mechanism 1 and the second clamping mechanism 2, so that the masonry efficiency of the brick is improved.

Specifically, as shown in fig. 4 to 6, the support mechanism 3 includes: the first support structure 30, the first support structure 30 includes a swing arm support 301, the swing arm support 301 has a first support end surface, the swing arm support 301 is rotatably disposed about a second predetermined axis to move between a support position and an avoidance position, the first predetermined axis and the second predetermined axis are perpendicular to each other. As shown in fig. 1, the first predetermined axis is a rotation direction between the Z axis and the Y axis, and the second predetermined axis is a rotation direction between the Z axis and the X axis.

In a specific implementation, the first supporting structure 30 further includes: a fixed shaft seat 302, wherein the swing arm support 301 is hinged with the fixed shaft seat 302 through a first rotating shaft 303; the first driving component 304 is located below the fixed shaft seat 302, the first driving component 304 is provided with a first pushing rod which is telescopically arranged, the first pushing rod is connected with the swing arm supporting piece 301, and the swing arm supporting piece 301 is pushed to rotate around the first rotating shaft 303 through the first pushing rod. The structure is simple, the installation space is saved, and the first driving part 304, the swing arm support 301 and the fixed shaft seat 302 are integrated, so that the installation space is saved.

In order to facilitate the connection of the swing arm support 301 with the fixed shaft seat 302 and the first driving component 304, the swing arm support 301 is provided with a first rotating shaft hole and a second rotating shaft hole, the first rotating shaft hole and the second rotating shaft hole are arranged at intervals along the vertical direction, and the first rotating shaft 303 penetrates through the first rotating shaft hole; the first support structure 30 further comprises: the pushing joint 305 is arranged at the pushing end of the first pushing rod, a second rotating shaft is arranged on the pushing joint 305, and at least part of the second rotating shaft penetrates through the second rotating shaft hole. Thus, when the first push rod pushes the push joint 305 to move, the swing arm support 301 can rotate around the first rotating shaft 303 due to the hinged fit of the first rotating shaft 303 and the fixed shaft seat 302.

In the embodiment provided by the present invention, the swing arm support 301 includes: the connecting body 3010, the first rotating shaft hole and the second rotating shaft hole are both arranged on the connecting body 3010; the supporting body 3011 is connected to the connecting body 3010, an included angle is formed between the supporting body 3011 and the connecting body 3010, and the first supporting end face is disposed on the supporting body 3011. This arrangement enables the contact area of the first support end face with the workpiece 100 to be increased by the support body 3011 to provide more stable support to the workpiece 100.

In order to limit the swing arm support 301, the first support structure 30 further comprises: and a first limit block 306 disposed on the fixed shaft seat 302, wherein at least a portion of the swing arm support 301 contacts the first limit block 306 to limit a limit position of the swing arm support 301. It should be noted here that the extreme position of the swing arm support 301 means that the swing arm support 301 moves to a position where the contact area of the first support end surface with the workpiece 100 is the largest, so as to provide more stable support to the workpiece 100.

As shown in fig. 8, the support mechanism 3 further includes: and the second support structure 32, the second support structure 32 includes a support plate 320, the support plate 320 has a second support end surface, and the support plate 320 is movably disposed along the vertical direction. The workpiece 100 is supported or retracted by the pallet 320.

In particular, the second support structure 32 further comprises: a second driving part 321, the second driving part 321 having a second push rod which is retractable in a vertical direction, the pallet 320 being provided at a push end of the second push rod; and a second stopper 322 disposed above the pallet 320, at least a portion of the pallet 320 contacting the second stopper 322 to hold the pallet 320 in the supporting position. Wherein, the tipping arrangement still includes third detection switch 26, and third detection switch 26 is connected with layer board 320, and layer board 320 drives third detection switch 26 and removes, detects whether there is work piece 100 in the centre gripping space 4 through third detection switch 26, simultaneously because third detection switch 26 can follow layer board 320 and remove, can also guarantee whether layer board 320 gives the dodging to the required space of upset when the work piece overturns and give, guarantees that layer board 320 is in the dodging position. Preferably, the third detection switch 26 is an infrared sensor or a pressure sensor or a distance sensor.

In the embodiment provided by the present invention, as shown in fig. 2, the first clamping mechanism 1 includes: a first clamping plate 10 arranged opposite to the second clamping mechanism 2, the first clamping plate 10 being rotatably arranged around a predetermined axis; a first fixing seat 11 mounted on the first clamping plate 10; and a first movable seat 12 installed on the first clamping plate 10, wherein the first movable seat 12 is movably disposed toward a direction approaching or departing from the first fixed seat 11 to form a first clamping space between the first fixed seat 11 and the first movable seat 12, and the first clamping space forms part of the clamping space 4. The size of first centre gripping space can be adjusted according to the not unidimensional of work piece to the setting like this, and then has improved tipping arrangement's suitability.

In order to avoid damaging the surface of the workpiece 100, the first clamping mechanism 1 further includes: first buffer 13 is installed on first grip block 10 and is located first centre gripping space, and first buffer 13 is towards the direction protrusion of keeping away from first grip block 10, and first buffer 13 is a plurality of, and a plurality of first buffers 13 all contact with work piece 100. Taking clamping of the bricks as an example, mortar is smeared on the surfaces of the bricks in the clamping process, and the contact area between the bricks and the bricks can be reduced by using the first buffer block 13, so that excessive mortar is prevented from being squeezed or the mortar is prevented from falling.

In the specific implementation process, the first clamping mechanism 1 further includes a limiting absorption component 14, a first detection switch 15 and a base 16, the first clamping plate 10 is mounted on the base 16 through a first support, and at least a part of the first supporting structure 30 is mounted on the base 16, so that the first supporting structure 30 and the first clamping plate 10 are integrated, and the first supporting structure 30 and the first clamping plate 10 can move simultaneously. The first detection switch 15 is installed on the first bracket and located on the side of the first clamping plate 10, and the first detection switch 15 is used for detecting the position of the first clamping plate 10 to detect whether the first clamping plate 10 rotates. Preferably, the first detection switch 15 is a first position sensor. The limiting adsorption part 14 comprises a magnet and can adsorb the first clamping plate 10, the number of the limiting adsorption parts 14 is two, and the two limiting adsorption parts 14 are respectively arranged on two sides of the first clamping plate 10, so that when the first clamping mechanism 1 is in an inoperative state, the first clamping plate 10 is ensured to be kept in an initial state through the two limiting adsorption parts 14.

As shown in fig. 2 and 7, the second clamping mechanism 2 includes: a second holding plate 20 disposed opposite to the first holding mechanism 1, the second holding plate 20 being rotatably disposed around a predetermined axis; a second fixing seat 21 mounted on the second clamping plate 20; and a second movable seat 22 installed on the second clamping plate 20, wherein the second movable seat 22 is movably disposed toward a direction approaching or departing from the second fixed seat 21 to form a second clamping space between the second fixed seat 21 and the second movable seat 22, and the second clamping space forms part of the clamping space 4. The arrangement is such that the first clamping space and the second clamping space are mutually matched to clamp workpieces of different sizes.

In order to avoid damaging the surface of the workpiece 100, the second clamping mechanism 2 further comprises: the second buffer block 23 is installed on the second clamping plate 20 and located in the second clamping space, the second buffer block 23 protrudes towards the direction far away from the second clamping plate 20, the second buffer blocks 23 are multiple, and the second buffer blocks 23 are all in contact with the workpiece 100. Taking clamping bricks as an example, mortar is smeared on the surfaces of the bricks in the clamping process, and the contact area between the bricks and the bricks can be reduced by utilizing the first buffer block 13, so that excessive mortar is prevented from being squeezed or the mortar is prevented from falling. Specifically, the second clamping mechanism 2 further includes a second detection switch 24 and a third limiting block 25, the second clamping plate 20 is mounted on the second support, the third limiting block 25 is disposed on the second support, and the third limiting block 25 is located on the side of the second clamping plate 20, so that when the second clamping plate 20 is turned to a predetermined position, the third clamping plate contacts with the second clamping plate 20, and the turning stroke of the second clamping plate 20 is limited. The second detection switch 24 is mounted on the second bracket and located at a side of the second clamping plate 20, the second detection switch 24 is used for detecting the position of the second clamping plate 20, and preferably, the second detection switch 24 is a second position sensor.

As shown in fig. 9, in order to facilitate driving the first clamping mechanism 1 and/or the second clamping mechanism 2 to rotate, the turnover device further comprises: the overturning mechanism comprises an overturning driving assembly 5, the overturning driving assembly 5 is in driving connection with the first clamping mechanism 1 and/or the second clamping mechanism 2, at least part of the overturning driving assembly 5 is rotatably arranged around a first preset axis, and the overturning driving assembly 5 drives the first clamping mechanism 1 and/or the second clamping mechanism 2 to rotate.

In a specific implementation, the tumble drive assembly 5 includes: a third driving part 50, wherein an output synchronous wheel 51 is arranged on a driving shaft of the third driving part 50; the input synchronizing wheel 52 is connected to the output synchronizing wheel 51 via a timing belt 53, and the input synchronizing wheel 52 is connected to the first gripping mechanism 1 and/or the second gripping mechanism 2. A tensioning wheel is further arranged on the side of the synchronous belt 53, the whole synchronous belt is tensioned, and the conditions that tooth jumping is loose and the like in the transmission process of the synchronous wheel are avoided.

In the embodiment provided by the invention, the third driving component 50 is positioned at the side of the second clamping plate 20 close to the clamping space 4, and the driving shaft of the third driving component 50 extends out to be connected with the output synchronizing wheel 51, so that the second clamping mechanism 2 is used as an active rotation, and the first clamping mechanism 1 is used as a passive rotation, thereby ensuring the synchronous operation of the first clamping mechanism 1 and the second clamping mechanism 2, simplifying the structure of the turnover device, and simultaneously enabling the structure of the turnover device to be more compact.

As shown in fig. 2 and 7, the flipping apparatus further includes: the base 6, the first clamping mechanism 1, the second clamping mechanism 2 and the supporting mechanism 3 are all arranged on the base 6; the sliding assembly 7 is arranged on the base 6, the first clamping mechanism 1 and/or the second clamping mechanism 2 are/is connected with the sliding assembly 7, and the sliding assembly 7 drives the first clamping mechanism 1 and/or the second clamping mechanism 2 to move. Preferably, the first clamping mechanism 1 is movably arranged along the extending direction of the sliding component 7 so as to adjust the size between the first clamping mechanism 1 and the second clamping mechanism 2.

Specifically, the slide module 7 includes: the first clamping mechanism 1 and/or the second clamping mechanism 2 are/is connected with the screw rod assembly 70, and the screw rod assembly 70 drives the first clamping mechanism 1 and/or the second clamping mechanism 2 to move; and the guide rail assembly 71 is positioned on the side of the screw rod assembly 70, the first clamping mechanism 1 and/or the second clamping mechanism 2 are/is installed on the guide rail assembly 71, and the first clamping mechanism 1 and/or the second clamping mechanism 2 move along the extension direction of the guide rail assembly 71. The base 16 of the first clamping mechanism 1 is connected with the screw rod assembly 70, and the first clamping mechanism 1 is driven by the screw rod assembly 70 to move in a direction close to or away from the second clamping mechanism 2, so that workpieces with different sizes can be clamped, and the sizes of the clamping space 4 in the X-axis direction and the Y-axis direction can be adjusted by combining the first clamping space and the second clamping space.

In the actual working process, firstly, the first clamping mechanism 1 and the second clamping mechanism 2 are both in an initial state, and the supporting mechanism 3 is in a supporting state, so that when a workpiece is placed, the workpiece is accurately positioned in the Z-axis direction; when bricks need to be laid, the brick laying system conveys the lengths of the laid bricks planned in advance to a controller of turnover equipment through an instruction, and at the moment, the first clamping mechanism 1 moves along the X-axis direction and leaves enough space for placing a workpiece; after the workpiece is placed, the third detection switch 26 detects that the workpiece is in the clamping space 4, at this time, the first clamping mechanism 1 continues to move along the X-axis direction until the first clamping plate 10 and the second clamping plate 20 clamp the workpiece together, and then the first movable seat 12 and the second movable seat 22 are used for positioning the workpiece on the Y-axis, so that the positioning and clamping of the workpiece are completed. Secondly, between the upset work piece, make supporting mechanism remove to dodging the position, for the work piece provides sufficient dodge space, guarantee that the upset of work piece goes on smoothly, later drive second grip block 20 and overturn at the plane between Z axle to the Y axle, because second gripper mechanism 2 has the relation of connection through work piece and first gripper mechanism 1 this moment, so the three can rotate in step, repeats the sustainable function of accomplishing the upset work piece of above-mentioned step.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flipping apparatus, comprising:

a first clamping mechanism;

the first clamping mechanism and the second clamping mechanism are oppositely arranged, and a clamping space for clamping a workpiece is formed between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism and the second clamping mechanism are both rotatably arranged around a first preset axis;

the supporting mechanism is arranged below the clamping space and used for supporting the workpiece in the clamping space, the supporting mechanism is provided with a supporting position and an avoiding position, and the supporting mechanism is movably arranged between the supporting position and the avoiding position.

2. The flipping apparatus of claim 1, wherein the support mechanism comprises:

a first support structure including a swing arm support having a first support end surface, the swing arm support being rotatably disposed about a second predetermined axis for movement between the support position and the avoidance position, the first predetermined axis and the second predetermined axis being mutually perpendicular.

3. The flipping apparatus of claim 2, wherein the first support structure further comprises:

the swing arm support piece is hinged with the fixed shaft seat through a first rotating shaft;

the first driving part is positioned below the fixed shaft seat and provided with a first push rod which is arranged in a telescopic mode, the first push rod is connected with the swing arm supporting piece, and the swing arm supporting piece is pushed to rotate around the first rotating shaft through the first push rod.

4. The turnover device of claim 3, wherein the swing arm support is provided with a first rotating shaft hole and a second rotating shaft hole, the first rotating shaft hole and the second rotating shaft hole are arranged at intervals along a vertical direction, and the first rotating shaft penetrates through the first rotating shaft hole; the first support structure further comprises:

the pushing joint is arranged at the pushing end of the first pushing rod, a second rotating shaft is arranged on the pushing joint, and at least part of the second rotating shaft penetrates through the second rotating shaft hole.

5. The flipping apparatus of claim 4, wherein the swing arm support comprises:

the first rotating shaft hole and the second rotating shaft hole are both arranged on the connecting body;

the supporting body is connected with the connecting body, an included angle is formed between the supporting body and the connecting body, and the first supporting end face is arranged on the supporting body.

6. The flipping apparatus of claim 3, wherein the first support structure further comprises:

the first limiting block is arranged on the fixed shaft seat, and at least part of the swing arm supporting piece is in contact with the first limiting block so as to limit the rotating limit position of the swing arm supporting piece.

7. The flipping apparatus of any one of claims 1 to 6, wherein the support mechanism further comprises:

and the second supporting structure comprises a supporting plate, a second supporting end surface is arranged on the supporting plate, and the supporting plate is movably arranged along the vertical direction.

8. The flipping apparatus of claim 7, wherein the second support structure further comprises:

the second driving part is provided with a second pushing rod which can stretch along the vertical direction, and the supporting plate is arranged at the pushing end of the second pushing rod;

the second limiting block is arranged above the supporting plate, and at least part of the supporting plate is in contact with the second limiting block so that the supporting plate is located at a supporting position.

9. The flipping apparatus of any one of claims 1 to 6, wherein the first clamping mechanism comprises:

the first clamping plate is arranged opposite to the second clamping mechanism and can rotate around a preset axis;

the first fixing seat is arranged on the first clamping plate;

the first movable seat is arranged on the first clamping plate and movably arranged towards the direction close to or far away from the first fixed seat so as to form a first clamping space between the first fixed seat and the first movable seat, and the first clamping space forms part of the clamping space.

10. The flipping apparatus of claim 9, wherein the first clamping mechanism further comprises:

first buffer block installs on the first grip block and be located in the first centre gripping space, first buffer block orientation is kept away from the direction protrusion of first grip block, first buffer block is a plurality of, and is a plurality of first buffer block all contacts with the work piece.

11. The flipping apparatus of any one of claims 1 to 6, wherein the second clamping mechanism comprises:

the second clamping plate is arranged opposite to the first clamping mechanism and can rotate around a preset axis;

the second fixing seat is arranged on the second clamping plate;

the second moving seat is movably arranged towards the direction close to or far away from the second fixed seat so as to form a second clamping space between the second fixed seat and the second moving seat, and the second clamping space forms part of the clamping space.

12. The flipping apparatus of claim 11, wherein the second clamping mechanism further comprises:

the second buffer block is installed on the second clamping plate and located in the second clamping space, the second buffer block faces away from the direction of the second clamping plate and protrudes, the second buffer blocks are multiple and multiple, and the second buffer blocks are all in contact with the workpiece.

13. The flipping apparatus of any one of claims 1 to 6, further comprising:

the turnover driving assembly is in driving connection with the first clamping mechanism and/or the second clamping mechanism, at least part of the turnover driving assembly is rotatably arranged around a first preset axis, and the turnover driving assembly drives the first clamping mechanism and/or the second clamping mechanism to rotate.

14. The flipping apparatus of claim 13, wherein the flipping drive assembly comprises:

a third driving part, wherein an output synchronizing wheel is arranged on a driving shaft of the third driving part;

the input synchronizing wheel is connected with the output synchronizing wheel through a synchronous belt, and the input synchronizing wheel is connected with the first clamping mechanism and/or the second clamping mechanism.

15. The flipping apparatus of any one of claims 1 to 6, further comprising:

the first clamping mechanism, the second clamping mechanism and the supporting mechanism are all arranged on the base;

the sliding assembly is arranged on the base, the first clamping mechanism and/or the second clamping mechanism are/is connected with the sliding assembly, and the sliding assembly drives the first clamping mechanism and/or the second clamping mechanism to move.

16. The flipping apparatus of claim 15, wherein the sliding assembly comprises:

the first clamping mechanism and/or the second clamping mechanism are/is connected with the screw rod assembly, and the first clamping mechanism and/or the second clamping mechanism are/is driven to move through the screw rod assembly;

the guide rail assembly is located on the side of the screw rod assembly, the first clamping mechanism and/or the second clamping mechanism are/is installed on the guide rail assembly, and the first clamping mechanism and/or the second clamping mechanism move along the extending direction of the guide rail assembly.