CN215394726U - Clamp module and turnover device - Google Patents

Abstract

The utility model provides a clamp module and a turnover device, and belongs to the technical field of automation equipment. The clamp module comprises at least one pair of rotating seats, at least one pair of clamping jaw assemblies and a third driving assembly. At least one pair of rotating seats are arranged at intervals in the first direction or the opposite direction of the first direction. Each clamping jaw assembly is respectively connected with at least one pair of rotating seats. At least one clamping jaw assembly is movably connected with at least one pair of rotating bases so as to be close to or far away from the other clamping jaw assembly. At least one pair of jaw assemblies is capable of gripping a plurality of articles aligned in the first direction or an opposite direction to the first direction under the drive of the third drive assembly. The automatic clamping device can automatically clamp a plurality of articles, and further drive the articles to turn over, so that the labor intensity is reduced, and the production efficiency is improved.

Description

Clamp module and turnover device

Technical Field

The utility model belongs to the technical field of automation equipment, and particularly relates to a clamp module and a turnover device.

Background

Along with the rapid development of automobile energy and electric automobile industries, the application of lithium batteries in new energy automobiles is more and more extensive, and under the ordinary condition, a plurality of battery cores are adopted and assembled into a battery module to serve as a power source of the whole automobile. In battery module production process, before a plurality of electric cores that will pile up encapsulate in the casing, need the whole predetermined angle of overturning of a plurality of electric cores that pile up. The stacked plurality of cells are not adhered to each other, and the total length after stacking is large, for example, the length can reach 1.8m, and the total weight is large.

In the prior art, a plurality of battery cores are clamped and turned over by manual operation, so that the labor intensity is high and the production efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem of providing a clamp module and a turnover device, which can automatically clamp a plurality of articles, further drive the articles to turn over, reduce labor intensity and improve production efficiency.

In order to solve the technical problems, the utility model adopts a technical scheme that: there is provided a clamp module comprising: at least one pair of rotating seats, wherein the at least one pair of rotating seats are arranged at intervals in the first direction or the opposite direction of the first direction; at least one pair of clamping jaw assemblies, each clamping jaw assembly is respectively connected with at least one pair of rotating bases, and at least one clamping jaw assembly is movably connected with at least one pair of rotating bases so as to be close to or far away from the other clamping jaw assembly; and the third driving assembly is used for driving at least one clamping jaw assembly to move so as to match with another clamping jaw assembly to clamp a plurality of objects in the second direction or the direction opposite to the second direction, the plurality of objects are arranged along the first direction or the direction opposite to the first direction, and the first direction and the second direction are intersected.

Further, the jig module includes: at least one pair of lateral clamping blocks, which are arranged at intervals in the first direction or the opposite direction of the first direction and can approach or depart from each other; and the fourth driving assembly is used for driving the at least one pair of lateral clamping blocks to move relatively so as to clamp the plurality of articles in the first direction or the direction opposite to the first direction.

Further, the fourth drive assembly includes: the clamping jaw assembly comprises at least one pair of fourth driving cylinders, the at least one pair of fourth driving cylinders are arranged on the clamping jaw assembly at intervals in the first direction or the opposite direction of the first direction, the at least one pair of lateral clamping blocks correspond to the at least one pair of fourth driving cylinders one to one, and each lateral clamping block is arranged at the driving end of the corresponding fourth driving cylinder and used for moving back and forth in the opposite direction of the first direction and the first direction under the driving of the fourth driving cylinder.

Furthermore, at least one pair of clamping jaw assemblies are movably connected to at least one pair of rotating bases, and the third driving assembly is used for driving the at least one pair of clamping jaw assemblies to move respectively.

Further, the number of the clamping jaw assemblies is one pair; the third drive assembly includes: the second driving cylinder and the third driving cylinder are respectively used for driving the pair of clamping jaw assemblies to move, and the driving forces of the second driving cylinder and the third driving cylinder are different in size.

Further, the at least one pair of jaw assemblies includes a first jaw assembly and a second jaw assembly; the first jaw assembly includes: the elastic propping unit is arranged on the first moving plate, is positioned on one side of the first moving plate, which faces the second clamping jaw assembly, and has elasticity in the second direction or the direction opposite to the second direction; the second jaw assembly includes: the fixed clamping block is arranged on the second moving plate and is positioned on one side, facing the first clamping jaw assembly, of the second moving plate; at least one of the first moving plate and the second moving plate is movably connected with at least one pair of rotating seats, the third driving assembly is used for driving the first moving plate and the second moving plate to move relatively, and the elastic abutting unit and the fixed clamping block are respectively used for abutting against an object.

Further, the first jaw assembly comprises: the first clamping block is arranged on the first moving plate and is positioned on one side, facing the second clamping jaw assembly, of the first moving plate, a first groove is formed in one side, facing the second clamping jaw assembly, of the first clamping block, and the first groove penetrates through the first clamping block in the first direction or the direction opposite to the first direction; the second jaw assembly includes: the second clamping block is arranged on the second moving plate and is positioned on one side, facing the first clamping jaw assembly, of the second moving plate, a second groove is formed in one side, facing the first clamping jaw assembly, of the second clamping block, and the second groove penetrates through the second clamping block in the first direction or the direction opposite to the first direction; when the distance between the first moving plate and the second moving plate is smaller than or equal to a preset value, the first groove and the second groove are respectively used for accommodating articles.

Further, when the elastic abutting unit does not abut against the object, the bottom surface of the first groove is closer to the first moving plate in the second direction or the direction opposite to the second direction than the portion of the elastic abutting unit for abutting against the object.

Furthermore, the first clamping block corresponds to the second clamping block, and the first groove and the second groove are used for accommodating the same object respectively.

Furthermore, the number of the first clamping blocks is multiple, and the multiple first clamping blocks are uniformly distributed along the first direction or the direction opposite to the first direction; the number of the second clamping blocks is multiple, and the second clamping blocks are uniformly distributed along the first direction or the direction opposite to the first direction; an elastic propping unit is arranged between any two adjacent first clamping blocks; and a fixed clamping block is arranged between any two adjacent second clamping blocks.

In order to solve the above technical problem, the present application further provides a turnover device, which includes: a frame; the clamp module is the clamp module, and at least one pair of rotating seats in the clamp module can be rotatably arranged relative to the rack; and the second driving assembly is used for driving the at least one pair of rotary seats to rotate.

Further, the turning device includes: the mounting seat assemblies are arranged at intervals in the first direction or the opposite direction of the first direction, and each mounting seat assembly is movably arranged on the rack and can reciprocate in the third direction and the opposite direction of the third direction relative to the rack; the first driving assembly is used for driving the at least one pair of mounting seat assemblies to move; the at least one pair of rotating seats is in one-to-one correspondence with the at least one pair of mounting seat assemblies, each rotating seat is rotatably connected to the corresponding mounting seat assembly, and rotating shafts of the at least one pair of rotating seats are coaxial.

Further, the turning device includes: the driving ends of the first driving cylinders can reciprocate in the third direction and the opposite direction of the third direction and are fixedly connected to the corresponding mounting seat assemblies.

Further, each mount assembly includes: the mounting seat is movably arranged on the rack and can reciprocate relative to the rack in the third direction and the opposite direction of the third direction, and the first driving assembly is used for driving the mounting seat to move; the rotary fixing seat is movably arranged on the mounting seat and can reciprocate relative to the mounting seat in the opposite direction of the third direction and the third direction, and the rotary seat corresponding to the mounting seat component is rotatably connected to the rotary fixing seat; the adjusting unit is arranged on the mounting seat and can adjust the position of the rotary fixing seat relative to the mounting seat.

Further, each mount assembly includes: the rack is arranged on the mounting seat and extends in a third direction or the direction opposite to the third direction; the first drive assembly includes: the transmission shaft is rotatably connected to the rack; the power source is used for driving the transmission shaft to rotate; the at least one pair of gears are respectively sleeved on the transmission shaft and correspond to the racks in the at least one pair of mounting seat assemblies one by one, and each gear is meshed with the corresponding rack.

The utility model has the beneficial effects that:

in contrast to the prior art, in the present invention, the gripper module comprises at least one pair of rotary seats, at least one pair of gripper assemblies and a third drive assembly. At least one pair of rotating seats are arranged at intervals in the first direction or the opposite direction of the first direction. Each clamping jaw assembly is respectively connected with at least one pair of rotating seats. At least one clamping jaw assembly is movably connected with at least one pair of rotating bases so as to be close to or far away from the other clamping jaw assembly. At least one pair of jaw assemblies is capable of gripping a plurality of articles aligned in the first direction or an opposite direction to the first direction under the drive of the third drive assembly. The automatic clamping device can automatically clamp a plurality of articles, and further drive the articles to turn over, so that the labor intensity is reduced, and the production efficiency is improved.

Drawings

FIG. 1 is a front view of an embodiment of the flipping mechanism of the present application;

FIG. 2 is a left side view of the flipping mechanism of FIG. 1;

FIG. 3 is a top view of the flipping mechanism of FIG. 1;

FIG. 4 is a schematic view of the construction of a gripper module in the flipping mechanism of FIG. 3;

FIG. 5 is an enlarged view of detail A of FIG. 4;

FIG. 6 is a cross-sectional view B-B of FIG. 4, with portions of the structure not shown;

FIG. 7 is a cross-sectional view C-C of FIG. 4;

FIG. 8 is a schematic view of the fixture module of FIG. 4 holding a stack of multiple articles 1;

fig. 9 is a cross-sectional view D-D in fig. 8, showing only a part of the structure.

In the figure, 100 turning device, 1 article, 2 conveyor, 11 frame, 12 mounting seat assembly, 13 first driving cylinder, 14 clamp module, 15 first driving assembly, 16 second driving assembly, 17 support seat, 18 cross beam, 181 rear side surface, 19 fixing seat assembly, 20 first support, 21 second support, 22 first slide block, 23 mounting seat, 24 first wire rail, 25 rack, 26 second wire rail, 27 second slide block, 28 rotating fixing seat, 29 adjusting seat, 30 adjusting screw rod, 31 motor mounting seat, 32 first motor, 33 reducer, 34 transmission shaft, 35 gear, 36 second motor, 37 driving sprocket wheel, 38 driven sprocket wheel, 39 transmission chain, 40 rotating seat, 401 first motor, 402 second hole, 41 third wire rail, 42 first clamping jaw assembly, 43 second clamping jaw assembly, 44 third slide block, 45 second driving cylinder, 451 connecting piece, 46 third driving cylinder, the device comprises a 47 limiting assembly, a 48 first moving plate, a 481 limiting hole, a 49 first clamping block, a 491 first groove, a 50 elastic abutting unit, a 51 lateral clamping assembly, a 52 guide rod, a 53 elastic piece, a 54 floating abutting block, a 55 fourth driving cylinder, a 56 lateral clamping block, a 57 second moving plate, a 58 second clamping block, a 581 second groove, a 59 fixed clamping block, a 61 fifth driving cylinder and a 62 limiting shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a front view of an embodiment of the flipping mechanism 100 of the present application. Fig. 2 is a left side view of the turning device 100 shown in fig. 1. Fig. 3 is a top view of the flipping unit 100 shown in fig. 1.

As shown in fig. 1 to 3, the turnover device 100 includes a frame 11, a pair of mount assemblies 12, a pair of first driving cylinders 13, a clamp module 14, a first driving assembly 15, and a second driving assembly 16.

The frame 11 is fixedly disposed, for example, fixed to the ground. The pair of mount assemblies 12 are provided on the frame 11 at a left-right interval, and are located on the rear side of the frame 11. The left-right direction is one example of the first direction or an opposite direction of the first direction. Each mount assembly 12 is provided movably in the vertical direction on the frame 11 and is capable of reciprocating relative to the frame 11. The up-down direction is one example of the third direction or a direction opposite to the third direction. The clamp module 14 is rotatably disposed between the pair of mount assemblies 12. The gripper module 14 is used for gripping or releasing a plurality of articles 1. The plurality of articles 1 are arranged in the left-right direction at an interval of L1. Since a plurality of articles 1 are stacked in the left-right direction, the arrangement interval L1 is also the thickness of each article 1 in the left-right direction. The first driving assembly 15 is used for driving the pair of mounting assemblies 12 to move up and down so as to drive the clamp module 14 to move up and down. The second drive assembly 16 is used to drive the gripper module 14 in rotation about its own axis.

The article 1 may be a battery cell in the lithium battery industry. A plurality of electric cores are piled up at the pile station, are encapsulated in the casing at the assembly station, form battery module. Turning device 100 in this application can set up in the assembly station, and a plurality of electric cores that the centre gripping was piled up to drive a plurality of electric cores that pile up and reciprocate, the upset, so that pack a plurality of electric cores that pile up into in the casing. The object 1 is not limited to a battery cell, and may be other products, for example, the object 1 may be a tray for carrying products, and a plurality of trays are stacked at a stacking station, and then bundled and packaged at an assembly station for storage and transportation.

(frame 11)

As shown in fig. 1 and 2, the frame 11 includes a pair of support bases 17, a cross member 18, and a pair of mount assemblies 19.

The pair of support bases 17 are provided at a left-right interval, and are fixed to, for example, the ground. The cross beam 18 is disposed at the top ends of a pair of supporting seats 17, which are substantially in a shape of a 'door'. The pair of fixing seat assemblies 19 are disposed on the rear side surface 181 of the cross beam 18 at intervals in the left-right direction, and correspond to the pair of supporting seats 17 one by one.

The pair of mount assemblies 19 have the same structure, and the mount assembly 19 on the left side in fig. 1 will be described as an example. The holder assembly 19 includes a first bracket 20, a second bracket 21, and four first sliders 22. The first bracket 20 and the second bracket 21 are provided on the rear side 181 of the cross member 18 at a distance in the left-right direction. The first bracket 20 and the second bracket 21 are in the shape of angle irons. Two first sliding blocks 22 are respectively arranged on opposite sides of the first bracket 20 and the second bracket 21, and the two first sliding blocks 22 on the first bracket 20 or the second bracket 21 are arranged at intervals in the vertical direction.

(mounting base assembly 12)

As shown in fig. 1, a pair of mount assemblies 12 correspond one-to-one to a pair of mount assemblies 19. The mounting seat assembly 12 is slidably engaged with the corresponding fixing seat assembly 19 in the vertical direction.

The pair of mount assemblies 12 have the same structure, and the left mount assembly 19 in fig. 1 will be described as an example.

As shown in fig. 1 and 2, the mounting seat assembly 12 includes a mounting seat 23, a pair of first wire rails 24, a rack 25, a second wire rail 26, a second sliding block 27, a rotary fixing seat 28, an adjusting seat 29, and an adjusting screw 30.

As shown in fig. 1, the mount 23 is substantially elongated, extends in the up-down direction, and has a rectangular cross section. The mounting seat 23 is disposed at the rear side of the cross beam 18 and penetrates through a space between the first bracket 20 and the second bracket 21 in the fixing seat assembly 19.

The pair of first wire rails 24 are respectively disposed on the mounting base 23 and located on the left and right sides of the mounting base 23. Each first wire track 24 extends in the vertical direction. Each first wire track 24 is slidably engaged with the first slider 22 in the holder assembly 19. Thereby, the mount 23 can reciprocate in the vertical direction with respect to the frame 11.

The rack 25 is provided on the mount 23 at the rear side of the mount 23. The rack 25 extends in the up-down direction.

As shown in fig. 2, the second wire rail 26 is disposed on the mounting seat 23, and is located at the rear side of the mounting seat 23 and at the bottom of the mounting seat 23. The second wire 26 extends in the up-down direction.

The second slider 27 is engaged with the second rail 26 and slidably engaged with the second rail 26 to reciprocate relative to the second rail 26 in the up-down direction.

The rotary fixing seat 28 is disposed at the rear side of the mounting seat 23 and is fixedly connected with the second sliding block 27.

The adjusting seat 29 is disposed on the mounting seat 23, located at the rear side of the mounting seat 23, and located at the bottom of the mounting seat 23. The mounting seat 23 is located below the rotary fixing seat 28. The adjustment seat 29 is provided with a through-threaded hole (not visible in the drawings) extending in the vertical direction.

The adjusting screw 30 is in threaded connection with the adjusting seat 29 through the internal threaded hole, is located below the rotating fixed seat 28, and abuts against the rotating fixed seat 28. The position of the rotary holder 28 relative to the mounting seat 23 can be adjusted in the vertical direction by screwing in and out the adjusting screw 30.

(first drive assembly 15)

As shown in fig. 1, the first driving assembly 15 includes a motor mounting base 31, a first motor 32, a reducer 33, a transmission shaft 34, and a pair of gears 35.

The motor mount 31 is disposed on the rear side 181 of the cross member 18 and is located in the middle of the cross member 18.

The first motor 32 is disposed on the motor mounting base 31 and can rotate forward and backward.

The transmission shaft 34 is disposed at the rear side of the cross member 18, extends in the left-right direction, and is in transmission connection with the output shaft of the first motor 32 through the speed reducer 33 to rotate under the driving of the first motor 32.

The pair of gears 35 are respectively sleeved on the transmission shafts 34 and respectively correspond to the pair of mounting seat assemblies 12 one by one. Each gear 35 is engaged with a corresponding rack 25 in the mount assembly 12.

Since the first motor 32 can rotate forward and backward, the first motor 32 can drive the pair of mount assemblies 12 to reciprocate in the vertical direction.

(second drive assembly 16)

The second drive assembly 16 is used to drive the rotation of the gripper module 14. As shown in fig. 3, the second drive assembly 16 is disposed on the right mount assembly 12. The second drive assembly 16 includes a second motor 36, drive sprocket 37, driven sprocket 38 and drive chain 39.

The second motor 36 is disposed on the rotary fixing base 28 and can rotate forward and backward. The driving sprocket 37 is sleeved on the output shaft of the second motor 36. The driven sprocket 38 is rotatably disposed on the rotary holder 28 about its own axis. A drive chain 39 is wound around the drive sprocket 37 and the driven sprocket 38. When the second motor 36 rotates, the driven sprocket 38 can be driven to rotate by the transmission of the transmission chain 39.

(Clamp module 14)

Fig. 4 is a schematic structural view of the gripper module 14 in the flipping unit 100 shown in fig. 3. As shown in fig. 4, the gripper module 14 includes a pair of rotary bases 40, a pair of third wire rails 41 (only one on the left is visible), a first jaw assembly 42, a second jaw assembly 43, two pairs of third sliders 44 (only one on the left is visible), a pair of second drive cylinders 45 (only one on the right is visible), a pair of third drive cylinders 46 (only one on the right is visible), four lateral gripping assemblies 51, and a pair of limit assemblies 47.

Since the right side of fig. 4 is partially cut away, one of the third wire rails 41 and one of the pair of third sliders 44 are not visible. In addition, one of the second drive cylinders 45 and one of the third drive cylinders 46 are located in the swivel base 40 on the left side and are not visible.

As shown in fig. 3, the pair of rotary seats 40 are disposed in the space between the pair of rotary fixing seats 28 at intervals in the left-right direction, and correspond to the pair of rotary fixing seats 28 one by one. Each rotary seat 40 is rotatably disposed on its corresponding rotary holder 28 about its own axis. The right rotary seat 40 is also fixedly connected to the rotating shaft of the driven sprocket 38 in the second driving assembly 16, and the rotating shafts of the pair of rotary seats 40 and the rotating shaft of the driven sprocket 38 are coaxially disposed. When the second motor 36 rotates, the right rotary base 40 can be driven to rotate, so as to drive the clamp module 14 to rotate. Each of the rotary bases 40 has a hollow structure.

A pair of third wire rails 41 are respectively disposed at opposite sides of the pair of rotating bases 40.

As shown in fig. 4, the first jaw assembly 42 includes a first moving plate 48, a plurality of first clamping blocks 49, and a plurality of elastic propping units 50.

The first moving plate 48 extends in the left-right direction. The left and right ends of the first moving plate 48 are respectively fixedly connected with a third slider 44, and are in sliding fit with the third linear rails 41 on the left and right rotating bases 40 through the third sliders 44. The first moving plate 48 is capable of reciprocating with respect to the left and right rotary bases 40 under the guidance of the third linear rail 41.

The first clamping blocks 49 are uniformly distributed on the first moving plate 48 in the left-right direction, and are located at the rear side (facing the second clamping jaw assembly 43 side) of the first moving plate 48. The arrangement pitch L2 of the first blocks 49 coincides with the arrangement pitch L1 (see fig. 1) of the articles 1.

An elastic abutting unit 50 is arranged between any two adjacent first clamping blocks 49. Fig. 5 is an enlarged view of a partial view a in fig. 4. As shown in fig. 5, each elastic abutting unit 50 includes two guide rods 52, two elastic members 53, and a floating abutting block 54. One end of each guide rod 52 is fixed on the first moving plate 48 and located at the rear side of the first moving plate 48, and the other end extends backwards. The floating abutting block 54 is slidably fitted on the two guide rods 52, and is capable of reciprocating in the extending direction of the guide rods 52 (the front-rear direction, which is one example of the second direction or the opposite direction of the second direction). The two elastic members 53 correspond to the two guide rods 52 one by one. Each elastic member 53 is sleeved on the corresponding guide rod 52 and elastically abuts against between the first moving plate 48 and the floating abutting block 54. The elastic member 53 may be a spring.

As shown in fig. 4, the second jaw assembly 43 includes a second moving plate 57, a plurality of second clamp blocks 58, and a plurality of fixed clamp blocks 59.

The second moving plate 57 extends in the left-right direction. As shown in fig. 3 and 4, the left and right ends of the second moving plate 57 are respectively fixedly connected with a third slider 44, and are slidably engaged with the third linear rails 41 on the left and right rotating bases 40 through the third sliders 44. The second moving plate 57 is capable of reciprocating in the front-rear direction with respect to the left and right rotary bases 40 under the guidance of the third linear rail 41.

As shown in fig. 4, the second moving plate 57 is provided on the rear side of the first moving plate 48. The first moving plate 48, the second moving plate 57, and the pair of rotary bases 40 are enclosed to form a closed ring shape, specifically, the closed ring shape is a rectangle.

As shown in fig. 4, the second clamping blocks 58 are uniformly distributed on the second moving plate 57 in the left-right direction, and are located on the front side (toward the first clamping jaw assembly 42 side) of the second moving plate 57. The arrangement pitch L3 of the first blocks 49 coincides with the arrangement pitch L1 (see fig. 1) of the articles 1. The second plurality of clamp blocks 58 correspond one-to-one with the first plurality of clamp blocks 49 in the first jaw assembly 42.

A fixed clamping block 59 is arranged between any two adjacent second clamping blocks 58. The fixed clamp block 59 is disposed on the second moving plate 57 and is located at the front side of the second moving plate 57. The plurality of fixed clamp blocks 59 correspond one-to-one with the plurality of floating abutment blocks 54 (see fig. 5) in the first jaw assembly 42.

Fig. 6 is a sectional view B-B in fig. 4, with a portion of the structure not shown. As shown in fig. 6, the first clamp block 49 is provided with a first groove 491 on a side facing the second jaw assembly 43. The first groove 491 penetrates the first clamping blocks 49 in the arrangement direction of the plurality of first clamping blocks 49. When the elastic abutting unit 50 does not abut against the object 1, the bottom surface of the first groove 491 is closer to the first moving plate 48 in the second direction or the opposite direction of the second direction than the portion of the elastic abutting unit 50 for abutting against the object 1. Specifically, the floating abutment block 54 protrudes from the bottom surface of the first recess 491 in the direction toward the second jaw assembly 43 in the free state. The second clamp block 58 is provided with a second recess 581 on the side facing the first jaw assembly 42. The second groove 581 penetrates the second clamping blocks 58 in the arrangement direction of the plurality of second clamping blocks 58. The fixed clamp block 59 protrudes from the bottom surface of the second groove 581 in a direction toward the first jaw assembly 42.

As shown in fig. 4, the first jaw assembly 42 and the second jaw assembly 43 are each provided with a pair of lateral clamp assemblies 51. Taking the example of a pair of lateral clamp assemblies 51 on the first jaw assembly 42 as an example, a pair of lateral clamp assemblies 51 on the second jaw assembly 43 may be referred to as an implement.

As shown in fig. 4 and 5, a pair of lateral clamp assemblies 51 are provided on the first jaw assembly 42, spaced apart in the left-right direction, for clamping the stacked plurality of articles 1 in the left-right direction. Each lateral clamping assembly 51 comprises: a fourth drive cylinder 55 and a lateral clamping block 56. The fourth driving cylinder 55 is disposed on the first moving plate 48 and located on a side of the first moving plate 48 facing the second jaw assembly 43. Fourth drive cylinder 55 may be a pneumatic cylinder. The lateral clamp block 56 is fixedly provided at a driving end of the fourth driving cylinder 55 for reciprocating in the left-right direction by the driving of the fourth driving cylinder 55.

As shown in fig. 4, the pair of second driving cylinders 45 correspond to the pair of rotary bases 40 one to one, respectively. Each second driving cylinder 45 is disposed in the cavity of the corresponding swivel 40. The second drive cylinder 45 may be a pneumatic cylinder. The driving ends of the pair of second driving cylinders 45 are fixedly connected to both ends of the first moving plate 48 in the first jaw assembly 42, respectively. Specifically, a first hole 401 is formed through a side wall of the rotary base 40 facing the first jaw assembly 42. The first hole 401 extends in the front-rear direction. The driving end of the second driving cylinder 45 is fixedly connected to the end of the first moving plate 48 through a link 451. The connector 451 extends through the first hole 401. The length of the first hole 401 in the front-rear direction should correspond to the movement stroke of the first moving plate 48. The second drive cylinder 45 is actuated to move the first jaw assembly 42 along the third wire track 41.

As shown in fig. 4, a pair of third driving cylinders 46 corresponds one-to-one to the pair of rotary bases 40, respectively. Each third driving cylinder 46 is provided on the corresponding swivel base 40. The third drive cylinder 46 may be a pneumatic cylinder. The driving ends of the pair of third driving cylinders 46 are fixedly connected to both ends of the second moving plate 57 in the second jaw assembly 43, respectively. The connection between the third driving cylinder 46 and the second moving plate 57 can refer to the connection between the second driving cylinder 45 and the first moving plate 48, and will not be described herein. A pair of third drive cylinders 46 are actuated to move the second jaw assembly 43 along the third line rail 41.

The pair of second drive cylinders 45 and/or the pair of third drive cylinders 46 are operable to drive the first jaw assembly 42 toward and away from the second jaw assembly 43. When the first jaw assembly 42 and the second jaw assembly 43 are brought into proximity to a predetermined spacing, a stack of a plurality of articles 1 can be gripped. Wherein the third drive cylinder 46 has a greater drive force than the second drive cylinder 45 so that the second jaw assembly 43 can be a positioning base. If the first jaw assembly 42 is to be a positioning base, the driving force of the second driving cylinder 45 may be made larger than that of the third driving cylinder 46.

As shown in fig. 4, a pair of limiting assemblies 47 are disposed in the right rotary base 40 and respectively correspond to the first clamping jaw assembly 42 and the second clamping jaw assembly 43. The position limiting assembly 47 is used for fixing the position of the first clamping jaw assembly 42 or the second clamping jaw assembly 43 when the first clamping jaw assembly or the second clamping jaw assembly moves to a preset position relative to the rotating base 40.

Fig. 7 is a cross-sectional view taken along line C-C of fig. 4. The swivel base 40 is cut away to more visually see the stop assembly 47 within the swivel base 40. How one of the stop assemblies 47 limits the position of the first jaw assembly 42 will now be described with reference to figure 7. Another stop assembly 47 may be referenced to limit the position of the second jaw assembly 43.

As shown in fig. 7, a through second hole 402 is formed on a side wall of the rotary base 40 facing the first jaw assembly 42. The first moving plate 48 of the first jaw assembly 42 is provided with a limiting hole 481 facing the rotating base 40. When the first jaw assembly 42 moves to a predetermined position relative to the rotary base 40, the position-limiting hole 481 corresponds to the second hole 402.

The limiting assembly 47 includes a fifth driving cylinder 61 and a limiting shaft 62. The fifth driving cylinder 61 may be a pneumatic cylinder. The fifth driving cylinder 61 is provided in the rotary base 40. The limit shaft 62 is fixedly disposed at the driving end of the fifth driving cylinder 61, penetrates through the second hole 402, and can reciprocate in the left-right direction under the driving of the fifth driving cylinder 61, so as to approach or be far away from the first moving plate 48. When the first moving plate 48 moves to the predetermined position, the fifth driving cylinder 61 is operated to drive the stopper shaft 62 to move toward the first moving plate 48 so as to be inserted into the stopper hole 481, and after the insertion, the first moving plate 48 is fixed relative to the rotary base 40.

Fig. 8 is a schematic structural view of the clamp module 14 shown in fig. 4 clamping a plurality of stacked articles 1. Fig. 9 is a cross-sectional view D-D in fig. 8, showing only a part of the structure.

Referring now to fig. 8 and 9, the operation of the various components on the gripper module 14 when the gripper module 14 is in the gripping position will be described.

As shown in fig. 8 and 9, the front end of each object 1 is accommodated in the first groove 491 of the first clamping block 49, and abuts against the elastic abutting unit 50, and a gap exists between the front end of each object and the bottom surface of the first groove 491. The rear end of each object 1 is accommodated in the second groove 581 of the second clamping block 58 and abuts against the fixed clamping block 59, and a gap is reserved between the rear end of each object and the bottom surface of the second groove 581. Each article 1 is clamped immovably in the front-rear direction by the elastic abutting unit 50 and the fixed clamp block 59. Each object 1 is limited by the sidewalls of the first groove 491 and the second groove 581 in the vertical direction, and cannot be separated from the clamp module 14 in the vertical direction. A pair of lateral clamp assemblies 51 on the first jaw assembly 42 clamp the front ends of a plurality of articles 1 in a left-right direction. A pair of lateral clamp assemblies 51 on the second jaw assembly 43 clamp the rear ends of the plurality of articles 1 in a left-right direction.

(working Process)

The operation of the turning device 100 is as follows:

s101: as shown in fig. 1, the first driving assembly 15 is actuated to drive the pair of mounting assemblies 12 to move downward, thereby moving the clamp module 14 downward to a first predetermined height. At the first predetermined height, the clamp module 14 is sleeved on the periphery of the plurality of objects 1 stacked in the left-right direction. A plurality of articles 1 stacked in the left-right direction can be conveyed by the conveyor 2 to the corresponding carrier assembly 100 position.

S102: as shown in fig. 4 and 8, a pair of second drive cylinders 45 in the gripper module 14 drive the first jaw assembly 42 to move rearwardly, and a pair of third drive cylinders 46 in the gripper module 14 drive the second jaw assembly 43 to move forwardly, so that the first jaw assembly 42 and the second jaw assembly 43 are brought together in the front-to-rear direction to grip the stacked plurality of articles 1 in the front-to-rear direction.

S103: as shown in fig. 4 and 7, the pair of limiting assemblies 47 in the clamp module 14 act to insert the respective limiting shafts 62 into the limiting holes 481 of the first moving plate 48 of the first jaw assembly 42 and the limiting holes (not shown) of the second moving plate 57 of the second jaw assembly 43, respectively, so as to fix the positions of the first jaw assembly 42 and the second jaw assembly 43, respectively.

S104: as shown in fig. 4, the lateral clamp assemblies 51 are actuated to clamp the stacked plurality of articles 1 from both the left and right sides.

S105: as shown in fig. 1, the first driving assembly 15 is actuated to drive the pair of mount assemblies 12 to move upward to a second predetermined height. At the second predetermined height, the gripper module 14 is free from interference when rotated about its own axis.

S106: as shown in fig. 3, the second driving assembly 16 is actuated to drive the gripper module 14 to rotate by a predetermined angle, so that the gripper module 14 rotates from the first posture to the second posture. For example, the gripper module 14 is driven to rotate 180 °. The attitude shown in fig. 3 is a first attitude.

S107: as shown in fig. 1, the first driving assembly 15 is actuated to drive the pair of mounting assemblies 12 to move down to a first predetermined height, and the plurality of articles 1 stacked after being turned over are dropped onto the conveyor 2.

S108: as shown in fig. 4 and 8, the lateral clamp unit 51 is actuated to release the left and right clamped states.

S109: as shown in fig. 4 and 7, the pair of restraint assemblies 47 in the gripper module 14 are actuated to reposition the respective restraint shafts 62 to release the restraint of the first jaw assembly 42 and the second jaw assembly 43.

S110: as shown in fig. 4, a pair of second drive cylinders 45 in the gripper module 14 drives the first jaw assembly 42 to move forward, and a pair of third drive cylinders 46 in the gripper module 14 drives the second jaw assembly 43 to move backward, so that the first jaw assembly 42 and the second jaw assembly 43 are separated in the front-rear direction to release the front-rear direction gripping state.

S111: as shown in fig. 1, the first driving assembly 15 is actuated to drive the pair of mount assemblies 12 to move upward to a second predetermined height. The gripper module 14 is separated from the plurality of articles 1 stacked after being turned over during the ascent.

S112: as shown in fig. 3, the second drive assembly 16 is actuated to rotate the gripper module 14 to the first position.

(advantageous effects)

The flipping unit 100 of the above embodiment includes a frame 11, a clamp module 14, and a second driving assembly 16. The gripper module 14 includes a pair of rotary bases 40, a first jaw assembly 42, a second jaw assembly 43, a pair of second drive cylinders 45, and a pair of third drive cylinders 46. The pair of rotary bases 40 are provided at a left-right interval. The first jaw assembly 42 and the second jaw assembly 43 are movably connected to the pair of rotary bases 40 in the front-rear direction so as to be able to approach or separate from each other. The pair of second driving cylinders 45 and the pair of third driving cylinders 46 drive the first jaw assembly 42 and the second jaw assembly 43 to move respectively, so that the first jaw assembly 42 and the second jaw assembly 43 approach each other and clamp the plurality of articles 1, and the plurality of articles 1 are arranged in the left-right direction. A pair of rotatable mounts 40 are rotatably disposed relative to the frame 11. The second driving assembly 16 is used for driving the pair of rotary bases 40 to rotate. From this, turning device 100 can be automatic ground centre gripping a plurality of article 1, and then drives a plurality of article 1 upset, has reduced intensity of labour, has improved production efficiency.

The clamp module 14 also includes four lateral clamp assemblies 51. Thereby, the clamp module 14 is also able to clamp the plurality of articles 1 in the left-right direction, so that the plurality of articles 1 are more stably held on the clamp module 14.

The gripper module 14 further includes a limiting assembly 47 for limiting the position of the first jaw assembly 42 or the second jaw assembly 43 when the first jaw assembly 42 or the second jaw assembly 43 is moved to a predetermined position relative to the rotary base 40. Therefore, even if the pair of second driving cylinders 45 or the pair of third driving cylinders 46 lose the driving force, the first jaw assembly 42 or the second jaw assembly 43 can be locked at the preset position, and accidents are avoided.

The second driving cylinder 45 and the third driving cylinder 46 are respectively used for driving the first clamping jaw assembly 42 and the second clamping jaw assembly 43 to move, wherein the driving forces of the second driving cylinder 45 and the third driving cylinder 46 are different in magnitude. Thus, the one of the first jaw assembly 42 and the second jaw assembly 43 which receives a larger driving force can be used as a positioning reference.

The first jaw assembly 42 includes a first moving plate 48 and an elastic abutting unit 50. The elastic propping unit 50 is disposed on the first moving plate 48, located on the side of the first moving plate 48 facing the second clamping jaw assembly 43, and has elasticity in front and back. The second jaw assembly 43 includes a second moving plate 57 and a fixed clamp block 59. The fixed clamping block 59 is disposed on the second moving plate 57 and located on a side of the second moving plate 57 facing the first clamping jaw assembly 42. The elastic abutting unit 50 and the fixed clamping block 59 are respectively used for abutting against the object 1. Thus, pinching of the article 1 can be avoided.

When the elastic abutting unit 50 does not abut against the object 1, the bottom surface of the first groove 491 is closer to the first moving plate 48 in the second direction or the opposite direction of the second direction than the portion of the elastic abutting unit 50 for abutting against the object 1. Therefore, when clamping the object 1, the elastic propping unit 50 can be ensured to firstly prop against the object 1.

The elastic abutting unit 50 includes a guide rod 52, a floating abutting block 54 and an elastic member 53. The guide rod 52 is disposed on the first moving plate 48, and is located on a side of the first moving plate 48 facing the second jaw assembly 43 and extends toward the second jaw assembly 43. The floating abutting block 54 is slidably fitted on the guide rod 52 and is reciprocally slidable relative to the guide rod 52 in the axial direction of the guide rod 52. The elastic member 53 elastically abuts between the first moving plate 48 and the floating abutting block 54. The floating abutment block 54 is intended to abut against the object 1. Therefore, the floating abutting block 54 can stably reciprocate, and jamming in the moving process is avoided.

The first jaw assembly 42 includes a first clamp block 49. The first clamping block 49 is disposed on the first moving plate 48 and located on a side of the first moving plate 48 facing the second jaw assembly 43, the first clamping block 49 is provided with a first groove 491 facing the second jaw assembly 43, and the first groove 491 penetrates the first clamping block 49 in the left-right direction. The second jaw assembly 43 includes a second clamp block 58. The second clamping block 58 is disposed on the second moving plate 57 and located on a side of the second moving plate 57 facing the first jaw assembly 42, the second clamping block 58 is provided with a second groove 581 facing the first jaw assembly 42, and the second groove 581 penetrates through the second clamping block 58 in the left-right direction. When the distance between the first moving plate 48 and the second moving plate 57 is smaller than or equal to a predetermined value, the first groove 491 and the second groove 581 respectively receive the object 1. Thus, the object 1 can be prevented from being separated from the clamp module 14 in the vertical direction in the clamped state.

The number of the first clamping blocks 49 is plural, and the plural first clamping blocks 49 are uniformly distributed in the left-right direction. The number of the second clamping blocks 58 is multiple, and the second clamping blocks 58 are evenly distributed along the left and right. The plurality of first clamping blocks 49 correspond to the plurality of second clamping blocks 58 one by one, and the corresponding first grooves 491 and second grooves 581 of the first clamping blocks 49 and the second clamping blocks 58 are respectively clamped in the same object 1. Thus, the plurality of articles 1 can be prevented from being separated from the jig module 14 in the vertical direction in the clamped state.

An elastic abutting unit 50 is arranged between any two adjacent first clamping blocks 49. A fixed clamping block 59 is arranged between any two adjacent second clamping blocks 58. Therefore, the elastic abutting units 50 can be arranged in a plurality, and compared with the arrangement of one elastic abutting unit 50, the manufacturing difficulty of the clamp module 14 is reduced.

The flipping mechanism 100 further includes a pair of mount assemblies 12 and a first drive assembly 15. The pair of mount assemblies 12 are provided at a left-right interval, and each mount assembly 12 is provided movably in the vertical direction on the frame 11 and is capable of reciprocating relative to the frame 11. The first driving assembly 15 is used for driving the pair of mounting assemblies 12 to move. The pair of rotating bases 40 corresponds to the pair of mounting base assemblies 12 one by one, each rotating base 40 is rotatably connected to the corresponding mounting base assembly 12, and the rotating shafts of the pair of rotating bases 40 are coaxial. Thus, the clamp module 14 can also move in the vertical direction, and the interference of other components with the rotation thereof can be avoided.

The flipping mechanism 100 further comprises a pair of first driving cylinders 13. The pair of first driving cylinders 13 correspond to the pair of mounting assemblies 12 one by one, and each first driving cylinder 13 is disposed on the frame 11, and a driving end thereof can reciprocate in the vertical direction and is fixedly connected to the corresponding mounting assembly 12. Thereby, the gravity of the jig module 14 can be balanced by the pair of first driving cylinders 13.

Each mount assembly 12 includes a mount 23, a rotationally fixed mount 28, an adjustment mount 29, and an adjustment screw 30. The mounting seat 23 is movably disposed on the frame 11 in the vertical direction and can reciprocate relative to the frame 11, and the first driving assembly 15 is used for driving the mounting seat 23 to move. The rotary fixing base 28 is movably disposed on the mounting base 23 in the vertical direction, and can reciprocate relative to the mounting base 23, and the rotary base 40 corresponding to the mounting base assembly 12 is rotatably connected to the rotary fixing base 28. The adjusting seat 29 is disposed on the mounting seat 23. The adjusting screw 30 is connected with the adjusting seat 29 by screw thread, is located below the rotary fixed seat 28, and abuts against the rotary fixed seat 28. Therefore, the position of the rotary fixing seat 28 relative to the mounting seat 23 can be adjusted in the vertical direction by screwing in and out the adjusting screw 30, and the height of the left end and the right end of the clamp module 14 in the vertical direction can be adjusted.

Each mount assembly 12 includes a rack 25, and the rack 25 is disposed on the mount 23 to extend in the up-down direction. The first driving assembly 15 includes a transmission shaft 34, a first motor 32, a speed reducer 33, and a pair of gears 35, wherein the transmission shaft 34 is rotatably connected to the frame 11, and the first motor 32 drives the transmission shaft 34 to rotate through the speed reducer 33. The pair of gears 35 are respectively sleeved on the transmission shafts 34 and correspond to the racks 25 in the pair of mounting seat assemblies 12 one by one, and each gear 35 is meshed with the corresponding rack 25. Thus, the pair of mount assemblies 12 can be driven synchronously up and down by the first motor 32.

Other alternative embodiments:

in the above embodiment, the fifth driving cylinder 61 and the stopper shaft 62 are one example of the stopper assembly 47. In other embodiments, the position limiting assembly 47 may also be a combination of a permanent magnet and an electromagnetic relay. The permanent magnet is disposed on the first jaw assembly 42 or the second jaw assembly 43, and the electromagnetic relay is disposed on the rotary base 40. When the first clamping jaw assembly 42 or the second clamping jaw assembly 43 moves to a preset position relative to the rotating base 40, the electromagnetic relay is electrified to adsorb the permanent magnet, so that the first clamping jaw assembly 42 or the second clamping jaw assembly 43 is prevented from moving relative to the rotating base 40.

In the above embodiment, the adjustment seat 29 and the adjustment bolt 30 are one example of the adjustment unit. In other embodiments, the adjusting unit may also be an electric cylinder. When the adjusting unit selects the electric cylinder, the electric cylinder is arranged on the mounting seat 23, the driving end of the electric cylinder is fixedly connected with the rotating fixing seat 28, and the rotating fixing seat 28 is driven to move in the up-down direction through the electric cylinder.

In the above embodiment, the first motor 32 and the reduction gear 33 are one example of the power source. In another embodiment, the power source may not be provided with the speed reducer 33, and the first motor 32 may directly drive the transmission shaft 34 to rotate. Alternatively, the power source may take other reasonable configurations.

Claims (15)

1. A clamp module, comprising:

at least one pair of rotating seats, wherein the pair of rotating seats are arranged at intervals in a first direction or in the opposite direction of the first direction;

at least one pair of clamping jaw assemblies, each clamping jaw assembly is respectively connected with the pair of rotating bases, and at least one clamping jaw assembly is movably connected with the pair of rotating bases so as to be close to or far away from the other clamping jaw assembly;

a third drive assembly for driving the pair of jaw assemblies towards each other to clamp a plurality of articles in a second direction or a direction opposite to the second direction, the plurality of articles being aligned in the first direction or the direction opposite to the first direction, the first direction and the second direction intersecting.

2. The gripper module of claim 1, comprising:

at least one pair of lateral clamping blocks, which are arranged at intervals in the first direction or the opposite direction of the first direction and can approach or depart from each other;

a fourth drive assembly for driving the pair of lateral clamping blocks to move relative to each other to clamp the plurality of articles in the first direction or a direction opposite to the first direction.

3. The clamp module of claim 2,

the fourth drive assembly includes: at least one pair of fourth drive cylinders spaced apart on the jaw assembly in the first direction or a direction opposite the first direction,

the pair of lateral clamping blocks are respectively in one-to-one correspondence with the pair of fourth driving cylinders, and each lateral clamping block is arranged at the driving end of the corresponding fourth driving cylinder and used for reciprocating movement along the first direction and the direction opposite to the first direction under the driving of the fourth driving cylinder.

4. The clamp module of claim 1,

the pair of clamping jaw assemblies are movably connected to the pair of rotating seats, and the third driving assembly is used for driving the pair of clamping jaw assemblies to move respectively.

5. The clamp module of claim 4,

the number of the clamping jaw assemblies is one pair;

the third drive assembly includes: the second driving cylinder and the third driving cylinder are respectively used for driving the pair of clamping jaw assemblies to move, and the driving forces of the second driving cylinder and the third driving cylinder are different in size.

6. The clamp module of any one of claims 1 to 5,

the pair of jaw assemblies comprises a first jaw assembly and a second jaw assembly;

the first jaw assembly comprises: the elastic propping unit is arranged on the first moving plate, is positioned on one side of the first moving plate, which faces the second clamping jaw assembly, and has elasticity in the second direction or the direction opposite to the second direction;

the second jaw assembly comprises: the fixed clamping block is arranged on the second moving plate and is positioned on one side, facing the first clamping jaw assembly, of the second moving plate;

at least one of the first moving plate and the second moving plate is movably connected with the pair of rotary seats, the third driving assembly is used for driving the first moving plate and the second moving plate to move relatively,

the elastic propping unit and the fixed clamping block are respectively used for propping against the object.

7. The clamp module of claim 6,

the first jaw assembly comprises: the first clamping block is arranged on the first moving plate and is positioned on one side, facing the second clamping jaw assembly, of the first moving plate, a first groove is formed in one side, facing the second clamping jaw assembly, of the first clamping block, and the first groove penetrates through the first clamping block in the first direction or the direction opposite to the first direction;

the second jaw assembly comprises: the second clamping block is arranged on the second moving plate and is positioned on one side, facing the first clamping jaw assembly, of the second moving plate, a second groove is formed in one side, facing the first clamping jaw assembly, of the second clamping block, and the second groove penetrates through the second clamping block in the first direction or the direction opposite to the first direction;

when the distance between the first moving plate and the second moving plate is smaller than or equal to a preset value, the first groove and the second groove are respectively used for accommodating the object.

8. The clamp module of claim 7,

when the elastic abutting unit does not abut against the object, the bottom surface of the first groove is closer to the first moving plate in the second direction or the direction opposite to the second direction than the portion, used for abutting against the object, of the elastic abutting unit.

9. The clamp module of claim 7,

the first clamping block corresponds to the second clamping block, and the first groove and the second groove are used for accommodating the same object respectively.

10. The clamp module of claim 7,

the number of the first clamping blocks is multiple, and the first clamping blocks are uniformly distributed along the first direction or the direction opposite to the first direction;

the number of the second clamping blocks is multiple, and the second clamping blocks are uniformly distributed along the first direction or the direction opposite to the first direction;

the elastic propping unit is arranged between any two adjacent first clamping blocks;

and one fixing clamping block is arranged between any two adjacent second clamping blocks.

11. A turnover device, comprising:

a frame;

a clamp module according to any one of claims 1 to 10, wherein the pair of rotary bases in the clamp module are rotatably arranged relative to the frame;

and the second driving assembly is used for driving the pair of rotary seats to rotate.

12. The flipping mechanism of claim 11, comprising:

the mounting seat assemblies are arranged at intervals in a first direction or the opposite direction of the first direction, and each mounting seat assembly is movably arranged on the rack and can reciprocate in the third direction and the opposite direction of the third direction relative to the rack;

the first driving assembly is used for driving the pair of mounting seat assemblies to move;

the pair of rotating seats corresponds to the pair of mounting seat assemblies one by one, each rotating seat is rotatably connected to the corresponding mounting seat assembly, and rotating shafts of the pair of rotating seats are coaxial.

13. The flipping mechanism of claim 12, comprising:

the driving ends of the first driving cylinders can reciprocate in the third direction and the opposite direction of the third direction and are fixedly connected to the corresponding mounting seat assemblies.

14. The tilter apparatus of claim 12, wherein each of the mount assemblies comprises:

the mounting seat is movably arranged on the rack and can reciprocate relative to the rack in the opposite direction of the third direction and the third direction, and the first driving assembly is used for driving the mounting seat to move;

the rotary fixing seat is movably arranged on the mounting seat and can reciprocate relative to the mounting seat in the opposite direction of the third direction and the third direction, and the rotary seat corresponding to the mounting seat assembly is rotatably connected to the rotary fixing seat;

the adjusting unit is arranged on the mounting seat and can adjust the position of the rotary fixing seat relative to the mounting seat.

15. The flipping apparatus of claim 14,

each of the mount assemblies includes:

the rack is arranged on the mounting seat and extends in the third direction or the direction opposite to the third direction;

the first drive assembly includes:

the transmission shaft is rotatably connected to the rack;

the power source is used for driving the transmission shaft to rotate;

the pair of gears are respectively sleeved on the transmission shafts and correspond to the racks in the pair of mounting seat assemblies one by one, and each gear is meshed with the corresponding rack.

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