CN110775591A

CN110775591A - Material overturning device and material overturning method

Info

Publication number: CN110775591A
Application number: CN201911063017.0A
Authority: CN
Inventors: 周荣满
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-02-11

Abstract

The invention provides a material turnover device, which comprises a bracket and two turnover mechanisms, wherein the bracket is provided with a support frame; the support is provided with a support arm which is horizontally arranged relative to the ground; the two turnover mechanisms are arranged on the support arm in parallel, each turnover mechanism comprises a fixed column, two connecting arms, a clamp, a rotating shaft and a turnover driving device, and the fixed columns are arranged on the support arm in a horizontally movable manner; the two connecting arms are oppositely arranged on the fixed column, two ends of the rotating shaft are axially and rotatably arranged at the lower parts of the two connecting arms, the clamp is arranged on the rotating shaft, and the overturning driving device is used for driving the rotating shaft to rotate so as to overturn the clamp; the invention also provides a material overturning method applying the material overturning device. According to the material turnover device, the two turnover mechanisms are arranged, so that materials can be turned over for a plurality of times, and the materials can be placed upwards on different side surfaces.

Description

Material overturning device and material overturning method

Technical Field

The invention relates to the field of automatic material conveying devices, in particular to a material overturning device and a material overturning method.

Background

AGV is one kind and is applied to unmanned transport assembly line equipment, AGV during operation needs the load material, and transport the material along the route of setting for and carry out the material processing operation to corresponding station on, in actual production, some stations need the material just can continue to handle the operation after being overturned 180 degrees, heavier material obviously can't overturn through manual method, consequently some AGV overturns through installing tilting mechanism additional to the material of placing its up end, but this kind of setting up mode can increase AGV's whole total amount, increase AGV's load capacity, lead to AGV duration to shorten, and tilting mechanism carries out the material upset on the AGV, can influence the steadiness when AGV removes, in addition, receive the restriction of the equipment load capacity of upset arm, the unable accurate heavier material of upset arm.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a material turnover device which can turn over a material for a plurality of times by arranging two turnover mechanisms, so that the material can be placed upwards on different side surfaces.

In order to achieve the purpose, the invention adopts the following technical scheme: the material turnover device comprises a bracket and two turnover mechanisms; the support is provided with a support arm which is horizontally arranged relative to the ground, and the space at the lower part of the support arm forms a working area; the two turnover mechanisms are arranged on the support arm in parallel, each turnover mechanism comprises a fixed column, two connecting arms, a clamp, a rotating shaft and a turnover driving device, and the fixed columns are arranged on the support arm in a horizontally movable manner; the two connecting arms are located in the working area, the two connecting arms are oppositely arranged on the fixed column, the two ends of the rotating shaft can be axially and rotatably arranged at the lower parts of the two connecting arms, the clamp is arranged on the rotating shaft and used for clamping materials, and the overturning driving device is used for driving the rotating shaft to rotate so as to overturn the clamp.

Compared with the prior art, the material turnover device has the following beneficial effects:

(1) compared with the arrangement mode of turning over materials by arranging the turning arms on the AGV, the arrangement mode of the invention has the advantages that on one hand, the increase of the overall total amount of the AGV is avoided, the loading capacity of the AGV is reduced, and the endurance time of the AGV is prolonged, on the other hand, the material turning device can be used for butt joint of a plurality of AGVs, and the materials on the AGVs are turned over in turn, so that the production cost is saved;

(2) according to the invention, the cantilever beam structure is built through the support with the support arm, so that the lower space of the support arm forms a working area, the material turnover device is prevented from occupying the running channel of the AGV, the space utilization rate is improved, meanwhile, the material can be turned over under the condition of not influencing the movement of the AGV, the time used when the AGV enters and leaves the working area is reduced, and the production efficiency is improved;

(3) the turnover mechanism is provided with two turnover mechanisms, one turnover mechanism is used for turning over a material for the first time after acquiring the material and transferring the material to the other turnover mechanism, the other turnover mechanism is used for turning over the material for the second time after acquiring the material, the superposition of two turnover motions enables the material to be turned over at different angles, so that the material is placed with different side surfaces facing upwards, in addition, the turnover angle after superposition of two turnover motions of two sides of the two turnover mechanisms is controlled, the turnover angle of the material can be accurately controlled, the smoothness during turnover of the material is ensured, the operation is simple, the reliability is high, the material can be ensured to enter the corresponding station in a state that the working surface to be processed faces outwards, and the processing efficiency of an unmanned transportation assembly production line is improved.

Preferably, the clamp comprises two clamping arms which are arranged at a right angle; one side that two arm lock are relative is the working face, two arm lock keep away from the connecting portion of working face with the pivot is connected.

In the above arrangement mode, the following beneficial effects are achieved:

(1) in the arrangement mode, the two clamping arms are arranged in a right angle, the rotating centers of the two clamping arms are the intersection of straight lines of the two clamping arms, so that the turning center of the material is positioned outside the material, on one hand, the clamp is provided with an open working plane, the operation difficulty of the clamp in clamping the material is reduced, on the other hand, the clamp can conveniently clamp the materials with different specifications, and the materials with different heights can be turned over, the universality of the clamp is improved, the application range of the clamp is improved, and the production cost is reduced;

(2) the two clamping arms are arranged in a right angle, the two clamping arms respectively clamp two sides which are perpendicular to each other on a material, under the condition that the overturning angle of the clamp is not larger than 90 degrees, the material always keeps vertical downward to the pressure applied by the clamp, so that the material is ensured to be close to the working surfaces of the two clamping arms, the smoothness during overturning the material is improved, the material is fixed (or is not required to be clamped) by a smaller clamping force, the material with different materials, especially the material with high surface requirement can be overturned, meanwhile, the two sides which are perpendicular to each other of the material are limited in the movement range, the material can be prevented from sliding down in the overturning process, and the reliability of the material clamping device is improved.

Preferably, be equipped with first limit switch and trigger piece on the arm lock, the setting that can turn of trigger piece is in on the working face of arm lock, first limit switch sets up one side of arm lock relative its working face, first limit switch's contact with trigger piece linkage is connected.

The arrangement mode has the following beneficial effects:

(1) the first limit switch and the trigger piece are arranged on the clamping arm, so that when the clamp acquires materials, the outer side of the materials can be tightly abutted against the clamping arm, and the clamping effect of the clamp on the materials is ensured;

(2) the trigger piece is matched with the first limit switch for use, so that the effective contact area between the first limit switch and the material is increased, the response speed of the first limit switch is increased, and the material clamping speed of the clamp is increased;

(3) two arm locks on the anchor clamps all are equipped with first limit switch and trigger piece, and two arm locks present the right angle setting, when material mutually perpendicular's both sides side closely leans on the trigger piece on the working face of two arm locks respectively, can trigger two first limit switch simultaneously, thereby realize accurate location to the material, the relative position between material and the anchor clamps has been injectd, avoid the material to shift at the upset in-process, influence the upset effect, in addition, the position of the signal that triggers first limit switch is turned to when the trigger piece, explain the material is located the assigned position on the anchor clamps, tilting mechanism stops the motion at the workspace according to two first limit switch's signal, and begin the upset operation, thereby improve material turning device's security.

Preferably, the clamping arm is provided with an adsorption structure, and the adsorption structure adsorbs materials through negative pressure or magnetic force; the adsorption mechanism for adsorbing the materials is arranged on the clamp, so that the clamp is ensured to stably clamp the materials, the stability of the materials during overturning is improved, and the overturning effect of the material overturning machine is improved.

Preferably, a horizontal movement mechanism is arranged between the fixed column and the support arm, the horizontal movement mechanism includes a horizontal driving device, a first guide member arranged on the support arm, and a first connecting member arranged on the fixed column, the first guide member extends along the length direction of the support arm, the first connecting member is slidably connected with the first guide member, and the horizontal driving device is used for driving the first connecting member to move along the extending direction of the first guide member.

The horizontal movement mechanism is arranged between the fixed column and the support arm, so that the fixed column can horizontally move relative to the support arm, the turnover mechanism can flexibly adjust the position of the turnover mechanism according to the position of the material on the AGV in a working area, the material on the AGV can be stably obtained, the problem that the turnover mechanism cannot obtain the material and even damages the material due to low position matching degree of the turnover mechanism and the AGV is avoided, in addition, the turnover mechanism can avoid in the working area according to the position of the AGV, and the influence on the entrance and exit of the AGV from the working area is avoided; the horizontal movement mechanism has the advantages of simple structure, easily obtained parts and low cost.

Preferably, a vertical movement mechanism is arranged between the connecting arm and the fixed column, the connecting arm vertically moves relative to the fixed column through the vertical movement mechanism, and the vertical movement mechanism comprises a vertical driving device, an installation frame, a second guide piece and a second connecting piece; the mounting bracket is arranged on the fixing column, the second guide piece is vertically arranged on the mounting bracket, the second connecting piece is arranged on the connecting arm and is in sliding connection with the second guide piece, and the vertical driving device is used for driving the second connecting piece to move along the extending direction of the second guide piece.

In addition, the connecting arms can move in the horizontal direction and the vertical direction, the relative positions of the connecting arms of the two turnover mechanisms can be adjusted according to actual production requirements, so that the turnover mechanisms clamping the materials are positioned above the empty turnover mechanisms, the materials can be conveniently transferred between the two turnover mechanisms, and the time for turning the materials is shortened.

Preferably, the vertical driving device is arranged on the fixed column, the vertical driving device comprises a lifting motor, a linkage shaft and two corner lifting pieces, the telescopic ends of the two corner lifting pieces are respectively and correspondingly connected with the two connecting arms, the linkage shaft is respectively connected with the two corner lifting pieces, and the lifting motor is used for driving the linkage shaft to rotate forwards or backwards so as to enable the telescopic ends of the corner lifting pieces to stretch and drive the connecting arms to move vertically; the vertical driving device can ensure that the two connecting arms arranged on the same fixed column have synchronism during vertical movement by adopting the arrangement mode, so that the two ends of the clamp synchronously ascend or descend, the stability of the turnover mechanism is improved, and the falling of materials in the vertical movement process of the connecting arms is avoided.

The invention also provides a material overturning method applying the material overturning device, which comprises the following steps:

(1) an AGV loaded with materials enters a working area, one turnover mechanism moves to the side of the AGV, a clamp of the turnover mechanism clamps the materials on the AGV, and a turnover driving device drives a rotating shaft to rotate so as to turn the clamp;

(2) the two turnover mechanisms move relatively to enable the turnover mechanisms clamping the materials to be positioned above the unloaded turnover mechanisms;

(3) the turnover mechanism clamping the materials moves to transfer the materials to the unloaded turnover mechanism, or the unloaded turnover mechanism moves to clamp the materials on the other turnover mechanism;

(4) the overturning driving device of the overturning mechanism clamping the material drives the rotating shaft of the overturning driving device to rotate so as to overturn the clamp;

(5) the turnover mechanism with the material clamped moves to the lateral part of the AGV, and the material is placed on the AGV.

Compared with the prior art, the material overturning method has the following beneficial effects:

(1) the method uses the material turnover device to automatically clamp and turn over the material for the second time, so that the material can be axially turned over in multiple angles, and the method has the characteristics of high automation degree, high turning speed, good positioning precision, heavy load bearing and the like, thereby reducing the operation risk caused by people and reducing the labor intensity of workers;

(2) the method can be applied to a production line for transporting the materials from one AGV to another AGV, so that the materials are turned over while being transferred, the operation efficiency of an unmanned transport assembly production line is effectively improved, and the production cost is reduced.

Preferably, in the step (1), after the turnover mechanism moves to the side of the AGV, the turnover mechanism moves to enable the clamping arms on the clamp, which are vertical to the horizontal plane, to abut against the side of the material; the turnover mechanism continues to move, so that the clamping arms parallel to the horizontal plane on the clamp abut against the lower part of the material, and the turnover mechanism is enabled to clamp the material on the AGV.

In the step (1), the two clamping arms on the clamp sequentially abut against the materials to limit the movement range of the materials, so that the materials are accurately positioned, in addition, when the materials are turned over, the movement range of the materials is limited, so that the rolling or displacement of the materials can be avoided, the deviation of the turning angle and the relative position caused by the deviation can be avoided, and the force is applied to the two positions of the materials which are not coplanar by the clamp, so that the stability of the turning over of the materials by the turning mechanism can be improved; in this step, set for let earlier let the arm lock of perpendicular horizontal plane conflict material after, make the arm lock of parallel horizontal plane contact the material earlier again, can avoid anchor clamps to get the material on AGV and lie in the position of keeping away from the arm lock of perpendicular horizontal plane when pressing from both sides the material, lead to anchor clamps can't stably press from both sides and get the material.

Preferably, in the step (3), any turnover mechanism moves to enable the clamping arm perpendicular to the horizontal plane on the clamp of the no-load turnover mechanism to be in contact with the side of the material, and any turnover mechanism moves to enable the clamping arm parallel to the horizontal plane on the clamp of the no-load turnover mechanism to be in contact with the lower part of the material, so that the material is transferred between the two turnover mechanisms.

In the step (3), any one of the turnover mechanism clamping the material and the unloaded turnover mechanism moves relative to the other turnover mechanism, and the principle of the turnover mechanism is that the turnover mechanism is used as a target position, so that the turnover mechanism is in a static position relative to the other turnover mechanism and drives the other turnover mechanism to move close to the target position.

Drawings

FIG. 1 is a top perspective cross-sectional view of the present invention;

FIG. 2 is a partial enlarged view of area A of FIG. 1;

FIG. 3 is a partial enlarged view of the area B of FIG. 1;

FIG. 4 is a right side angled cross-sectional view of the present invention;

FIG. 5 is a partial enlarged view of area C of FIG. 4;

FIG. 6 is a front angled cross-sectional view of the present invention;

FIG. 7 is an enlarged partial view of area D of FIG. 6;

FIG. 8 is a cross-sectional view of an AGV suitable for use with a material turnover device;

FIG. 9 is a cross-sectional view of an AGV suitable for use with a material turnover device loaded with material;

FIG. 10 is a schematic view of an AGV loading material into a work area;

FIG. 11 is a schematic view of one of the canting mechanisms gripping material from the AGV;

FIG. 12 is a schematic view of the turnover mechanism turning over the material;

FIG. 13 is a schematic view of the material transfer between two canting mechanisms;

FIG. 14 is a schematic view of another inverting mechanism inverting material;

FIG. 15 is a schematic view of the canting mechanism placing material on the AGV;

FIG. 16 is a schematic illustration of an AGV leaving a workspace;

fig. 17 is a schematic view of the turnover mechanism being reset to the initial position.

Description of reference numerals:

1 material turnover device, 11 supports, 12 support arms, 13 second limit switches, 14 third limit switches, 15 support legs, 16 fixing seats, 17 working areas, 2 turnover mechanisms, 21 fixing columns, 22 connecting arms, 23 clamps, 231 clamping arms, 24 working surfaces, 25 first limit switches, 26 triggering parts, 27 obstacle avoidance sensors, 28 electromagnets, 3 rotating shafts, 31 turnover motors, 32 angle sensors, 33 bearings, 41 horizontal driving devices, 42 horizontal driving motors, 43 racks, 44 gears, 45 first guiding parts, 46 first connecting parts, 51 vertical driving devices, 52 lifting motors, 53 linkage shafts, 54 corner lifting parts, 55 mounting frames, 56 second guiding parts, 57 second connecting parts, 6AGV, 7 materials and 8 supporting components.

Detailed Description

Embodiments of the present invention are described below with reference to the accompanying drawings:

example one

Referring to fig. 1 to 7, the material turnover device 1 of the present embodiment includes a support 11 and two turnover mechanisms 2; a support arm 12 which is horizontally arranged relative to the ground is arranged on the support 11, and a working area 17 is formed in the space below the support arm 12; the two turnover mechanisms 2 are arranged on the support arm 12 in parallel, each turnover mechanism 2 comprises a fixed column 21, two connecting arms 22, a clamp 23, a rotating shaft 3 and a turnover driving device, and the fixed columns 21 are arranged on the support arm 12 in a horizontally movable manner; the two connecting arms 22 are located in the working area 17, the two connecting arms 22 are oppositely arranged on the front side and the rear side of the fixed column 21, the two ends of the rotating shaft 3 can be axially and rotatably arranged on the lower portions of the two connecting arms 22, the clamp 23 is arranged on the rotating shaft 3, the clamp 23 is used for clamping materials, and the overturning driving device is used for driving the rotating shaft 3 to rotate so that the clamp 23 can overturn.

Specifically, the support 11 includes a support leg 15 and a fixing seat 16, the support leg 15 is disposed on the ground through the fixing seat 16, and the support arm 12 is disposed at the upper end of the support leg 15.

In order to improve the stability of the turnover mechanism 2 during horizontal movement and improve the connection strength between the turnover mechanism 2 and the support 11, the support 11 is provided with two support arms 12, the two support arms 12 are arranged on the support 11 in parallel, and two ends of the fixed column 21 are respectively connected with the two support arms 12.

Specifically, the overturning driving device is an overturning motor 31, the overturning motor 31 is fixedly connected with the connecting arm 22, and the overturning motor 31 is in linkage connection with the rotating shaft 3. Be equipped with angle sensor 32 in the pivot 3, angle sensor 32 is used for detecting the rotation angle of pivot 3, upset motor 31 can detect the data drive according to angle sensor 32 the pivot 3 is rotatory to improve the precision of 2 upset materials of tilting mechanism, in addition, through the upset angular velocity who sets for upset motor 31, the steadiness when guaranteeing the material upset. A bearing 33 is arranged between the rotating shaft 3 and the connecting arm 22, so that the smoothness of the rotating shaft 3 driven by the turnover motor 31 is improved. In order to avoid that the rotating shaft 3 contacts the connecting arm 22 and is damaged by friction when the rotating shaft 3 rotates relative to the connecting arm 22, a gap is left between the rotating shaft 3 and the connecting arm 22.

The clamp 23 comprises two clamping arms 231, and the two clamping arms 231 are arranged at a right angle; the opposite side of the two clamping arms 231 is a working surface 24, and the connecting part of the two clamping arms 231 far away from the working surface 24 is connected with the rotating shaft 3. The connecting portion of the two clamping arms 231 is the position where the two clamping arms 231 are connected to each other.

In order to avoid mutual interference of the two clamps 23 during turnover, influence fluency of any turnover mechanism 2 during turnover of materials and damage to the turnover mechanism 2, the clamps 23 on the two turnover mechanisms 2 are arranged in a staggered manner, and the staggered arrangement means that planes (planes formed by the two clamp arms 231) where the two clamps 23 are located are parallel to each other and are not overlapped.

In order to improve the clamping effect of the turnover mechanism 2 on the material, contact points of the turnover mechanism 2 and the material are increased, two clamps 23 are arranged on the rotating shaft 3, the two clamps 23 are sequentially arranged along the length direction of the rotating shaft 3, and the turnover mechanism 2 can fix a plurality of positions on the same end face of the material by the arrangement mode.

In the above arrangement mode, the following beneficial effects are achieved:

(1) in the above arrangement mode, the two clamping arms 231 are arranged in a right angle, the rotation centers of the two clamping arms 231 are the intersection of the straight lines of the two clamping arms 231, so that the turning center of the material is positioned outside the material, on one hand, the clamp 23 is provided with an open working plane, the operation difficulty of the clamp 23 in clamping the material is reduced, on the other hand, the clamp 23 can conveniently clamp materials with different specifications, and the materials with different heights can be turned over, the universality of the clamp 23 is improved, the application range of the invention is improved, and the production cost is reduced;

(2) the two clamping arms 231 are arranged in a right angle, the two clamping arms 231 respectively clamp two sides which are perpendicular to each other on a material, under the condition that the turning angle of the clamp 23 is not larger than 90 degrees, the material always keeps vertical downward to the pressure applied by the clamp 23, so that the material is ensured to be close to the working surfaces 24 of the two clamping arms 231, the smoothness during turning of the material is improved, the material can be fixed (or not clamped) by a small clamping force, the material made of different materials can be turned, particularly the material with high surface requirement can be turned, meanwhile, the two sides which are perpendicular to each other of the material are limited in the movement range, the material can be prevented from sliding down in the turning process, the reliability of the invention is improved, in addition, the arrangement mode can simplify the internal structure of the clamp 23, and the processing difficulty of parts is reduced.

Be equipped with first limit switch 25 and trigger 26 on the arm lock 231, the setting that can turn of trigger 26 is in on the working face 24 of arm lock 231, first limit switch 25 sets up one side of arm lock 231 relative its working face 24, first limit switch 25's contact with trigger 26 linkage is connected.

Specifically, the trigger 26 is a plate-shaped structure, and one end of the trigger is hinged to the clamping arm 231.

The arrangement mode has the following beneficial effects:

(1) the first limit switch 25 and the trigger 26 are arranged on the clamping arm 231, so that when the clamp 23 obtains a material, the outer side of the material can be tightly abutted against the clamping arm 231, and the clamping effect of the clamp 23 on the material is ensured;

(2) the trigger 26 is arranged to be matched with the first limit switch 25 for use, so that the effective contact area between the first limit switch 25 and the material is increased, the response speed of the first limit switch 25 is increased, and the material clamping speed of the clamp 23 is increased;

(3) two arm lock 231 on the anchor clamps 23 all are equipped with first limit switch 25 and trigger 26, and two arm lock 231 present the right angle setting, when material mutually perpendicular's both sides side closely leans on the trigger 26 on the working face 24 of two arm lock 231 respectively, can trigger two first limit switch 25 simultaneously, thereby realize accurate location to the material, the relative position between material and the anchor clamps 23 has been injectd, avoid the material to shift at the upset in-process, influence the roll-over effect, in addition, when the trigger 26 stirs the position of the signal that triggers first limit switch 25, explain the material is located the assigned position on anchor clamps 23, tilting mechanism 2 stops the motion in workspace 17 according to two first limit switch 25's signal, and begin the upset operation, thereby improve material turning device 1's security.

Specifically, an obstacle avoidance sensor 27 is arranged at the outer end of the clamping arm 231 (the end of the clamping arm 231 relatively far away from the joint of the two clamping arms 231); when the clamping arm 231 which is relatively parallel to the ground moves to the lateral side of the AGV, the obstacle avoidance sensor 27 on the clamping arm 231 is used for detecting whether an obstacle exists in front of the end part of the clamping arm 231, so that the clamping arm 231 avoids the body of the AGV and clamps a material, and the clamping arm 231 and the AGV are prevented from colliding and scraping to cause damage to the two; after anchor clamps 23 acquire and overturn the material from the AGV, keep away on the arm lock 231 that is on a relatively parallel with ground obstacle sensor 27 and be used for detecting whether have the barrier in arm lock 231 tip the place ahead to make this arm lock 231 avoid another tilting mechanism 2, avoid two tilting mechanism 2 to bump and scrape, lead to both impaired.

The clamping arm 231 is provided with an adsorption structure which adsorbs materials through negative pressure or magnetic force; the adsorption mechanism for adsorbing the materials is arranged on the clamp 23, so that the clamp 23 is ensured to stably clamp the materials, the stability of the materials during overturning is improved, and the overturning effect of the material overturning machine is improved.

The adsorption structure can be a pneumatic adsorption structure or a magnetic adsorption structure; the pneumatic adsorption structure comprises a sucker and a vacuum pump device, the sucker is arranged on the clamp 23 and connected with an air port of the vacuum pump device, and when the vacuum pump device works, the surface of the sucker generates suction force so as to adsorb materials; the magnetic force adsorption structure is composed of an electromagnet 28, the electromagnet 28 is arranged on the clamp 23 (the electromagnet 28 can be arranged on the surface of the working surface 24 of the clamping arm 231, and can also be arranged on one side of the working surface 24 of the clamping arm 231, which is in relative contact with the material), the electromagnet is connected with a circuit unit (not shown in the figure) of the turnover mechanism, the circuit unit can control the on-off of a circuit of the electromagnet 28 and the magnitude of current flowing through the electromagnet 28, and when the circuit unit works, the electromagnet 28 generates magnetic attraction force to adsorb the material. The two adsorption structures can be selected according to actual needs, and the adsorption structure in the embodiment is a magnetic adsorption structure.

A horizontal movement mechanism is arranged between the fixed column 21 and the support arm 12, the horizontal movement mechanism comprises a horizontal driving device 41, a first guide piece 45 arranged on the support arm 12, and a first connecting piece 46 arranged on the fixed column 21, the first guide piece 45 extends along the length direction of the support arm 12, the first connecting piece 46 is connected with the first guide piece 45 in a sliding manner, and the horizontal driving device 41 is used for driving the first connecting piece 46 to move along the extending direction of the first guide piece 45.

In order to improve the connection strength between the support arm 12 and the fixing column 21, a plurality of first guiding members 45 may be provided, the plurality of first guiding members 45 are respectively disposed at the upper part or the side part of the support arm 12, and the first connecting member 46 is disposed corresponding to the first guiding members 45.

In this embodiment, the horizontal driving device 41 includes a horizontal driving motor 42, a rack 43 and a gear 44, the horizontal driving motor 42 is disposed on the fixed column 21, the gear 44 is disposed on an output end of the horizontal driving motor 42, the rack 43 is disposed on the arm 12 along the length direction of the arm 12, the gear 44 is engaged with the rack 43, and the horizontal driving motor 42 drives the gear 44 to perform forward and backward rotation, so that the fixed column 21 performs forward and backward movement along the extending direction of the rack 43.

The embodiment further provides another setting mode of the horizontal driving device, the horizontal driving device comprises a horizontal driving motor and a screw rod, the screw rod is arranged on the support arm along the length direction of the support arm, a sliding block on the screw rod is fixedly connected with a fixed column, and the horizontal driving motor is used for driving the screw rod to do positive and negative rotation movement, so that the fixed column does front and back movement along the extension direction of the screw rod. Although the drawings of the present embodiment do not show the drawings of the present arrangement, the present arrangement still falls within the protection scope of the present invention.

Specifically, a plurality of second limit switches 13 are arranged on the support arm 12, the second limit switches 13 are arranged in a staggered manner with preset parking positions of the AGVs, and when the turnover mechanism 2 moves to a corresponding position of the second limit switches 13 on the support arm 12, the turnover mechanism 2 stops moving; in addition, the two materials are all turned over, and when the materials are placed on the AGV, the two turning mechanisms 2 move to the corresponding positions of the different second limit switches 13 respectively, so that the influence on the AGV leaving the working area 17 is avoided.

The horizontal movement mechanism is arranged between the fixed column 21 and the support arm 12, so that the fixed column 21 can horizontally move relative to the support arm 12, the self position of the turnover mechanism 2 can be flexibly adjusted according to the position of the material on the AGV in the working area 17, the material on the AGV can be stably obtained, the situation that the turnover mechanism 2 cannot obtain the material or even damages the material due to low position matching degree of the two is avoided, in addition, the turnover mechanism 2 can avoid in the working area 17 according to the position of the AGV, and the influence on the fact that the AGV enters and leaves the working area 17 is avoided; the horizontal movement mechanism has the advantages of simple structure, easily obtained parts and low cost.

A vertical movement mechanism is arranged between the connecting arm 22 and the fixed column 21, the connecting arm 22 vertically moves relative to the fixed column 21 through the vertical movement mechanism, and the vertical movement mechanism comprises a vertical driving device 51, a mounting frame 55, a second guide piece 56 and a second connecting piece 57; the mounting bracket 55 is disposed on the fixing post 21, the second guide 56 is vertically disposed on the mounting bracket 55, the second connecting member 57 is disposed on the connecting arm 22, the second connecting member 57 is slidably connected with the second guide 56, and the vertical driving device 51 is configured to drive the second connecting member 57 to move along an extending direction of the second guide 56.

Specifically, the mounting bracket 55 may be disposed on the upper portion or the lower portion of the fixed column 21, and in order to improve the stability of the connecting arm 22 during vertical movement, the mounting bracket 55 is disposed on the lower portion of the fixed column 21.

Specifically, a third limit switch 14 is arranged on the support arm 12, the third limit switch 14 is arranged corresponding to a preset parking position of the AGV, and when the turnover mechanism 2 moves to a position corresponding to the third limit switch 14 on the support arm 12, the turnover mechanism 2 stops moving in the horizontal direction; in this embodiment, the turnover mechanism 2 holding the material moves to the position corresponding to the third limit switch 14 and then moves in the vertical direction, and the material is placed on the AGV.

In addition, the connecting arm 22 can move in the horizontal direction and the vertical direction, the connecting arm 22 can adjust the relative position between the connecting arm 22 and the two turnover mechanisms 2 according to actual production requirements, so that the turnover mechanisms 2 clamping materials are located at the upper positions relative to the unloaded turnover mechanisms 2, the materials can be conveniently transferred between the two turnover mechanisms 2, and the time required by turnover of the materials is shortened.

The vertical driving device 51 is arranged on the fixed column 21, the vertical driving device 51 comprises a lifting motor 52, a linkage shaft 53 and two corner lifting pieces 54, the telescopic ends of the two corner lifting pieces 54 are respectively and correspondingly connected with the two connecting arms 22, the linkage shaft 53 is respectively connected with the two corner lifting pieces 54, and the lifting motor 52 is used for driving the linkage shaft 53 to rotate forwards or backwards so as to enable the telescopic ends of the corner lifting pieces 54 to stretch and drive the connecting arms 22 to move vertically; the vertical driving device 51 can ensure that the two connecting arms 22 arranged on the same fixing column 21 have synchronism during vertical movement by adopting the arrangement mode, so that the two ends of the clamp 23 synchronously ascend or descend, the stability of the turnover mechanism 2 is improved, and the falling of materials in the vertical movement process of the connecting arms 22 is avoided.

In this embodiment, the corner lifting member 54 is a screw lifter.

Compared with the prior art, the material turnover device 1 has the following beneficial effects:

(1) compared with the arrangement mode of turning over materials by arranging the turning arms on the AGV, the arrangement mode of the invention has the advantages that on one hand, the increase of the overall total amount of the AGV is avoided, the loading capacity of the AGV is reduced, and the endurance time of the AGV is prolonged, on the other hand, the material turning device 1 can be used for butt joint of a plurality of AGVs, and can turn over the materials on the plurality of AGVs in turn, so that the production cost is saved;

(2) according to the invention, the cantilever beam structure is built through the support 11 provided with the support arm 12, so that the lower space of the support arm 12 forms the working area 17, thus the material turnover device 1 is prevented from occupying the running channel of the AGV, the space utilization rate is improved, meanwhile, the turnover of the material can be completed under the condition of not influencing the movement of the AGV, the time used when the AGV enters and leaves the working area 17 is reduced, and the production efficiency is improved;

(3) the automatic turnover mechanism is provided with the two turnover mechanisms 2, one turnover mechanism 2 is used for turning over a material for the first time after acquiring the material and transferring the material to the other turnover mechanism 2, the other turnover mechanism 2 is used for turning over the material for the second time after acquiring the material, the superposition of two turnover motions enables the material to be turned over at different angles, so that the material is placed with different side surfaces facing upwards, in addition, the turnover angle of the material to be turned over can be accurately controlled by controlling the turnover angle formed by the superposition of the two turnover motions of the two sides of the two turnover mechanisms 2, and the smoothness during the turnover of the material is realized, the operation is simple, the reliability is high, the material can be ensured to enter the corresponding station in a state that the working surface 24 to be processed faces outwards, and the processing.

Example two

Referring to fig. 8 to 17, the present invention further provides a material turning method using the material turning device 1, including the following steps:

(1) the AGV6 loaded with the material 7 enters a working area 17, one of the turnover mechanisms 2 moves to the side of the AGV6, a clamp 23 of the turnover mechanism 2 clamps the material 7 on the AGV6, and a turnover driving device drives a rotating shaft 3 to rotate so as to turn over the clamp 23;

(2) the two turnover mechanisms 2 move relatively, so that the turnover mechanisms 2 clamping the materials 7 are positioned above the unloaded turnover mechanisms 2;

(3) the turnover mechanism 2 which clamps the material 7 moves to transfer the material 7 to the unloaded turnover mechanism 2, or the unloaded turnover mechanism 2 moves to clamp the material 7 on the other turnover mechanism 2;

(4) the overturning driving device of the overturning mechanism 2 for clamping the material 7 drives the rotating shaft 3 thereof to rotate so as to overturn the clamp 23;

(5) the turnover mechanism 2 holding the material 7 is moved to the side of the AGV6 and the material 7 is placed on the AGV 6.

The supporting assembly 8 is arranged on the AGV6 in the embodiment, when the AGV6 loads the material 7, the material 7 is placed on the supporting assembly 8, a gap is reserved between the supporting assembly 8 and the lower end face of the material 7 for the clamp 23 of the turnover mechanism 2 to enter, the supporting assembly 8 is a common mechanism on the AGV6 equipment, belongs to the existing equipment and does not belong to the main invention point of the invention, and the detailed description is not provided in the embodiment.

In the step (1), after the turnover mechanism 2 moves to the side of the AGV6, the turnover mechanism 2 moves to enable the clamping arms 231 on the clamp 23, which are vertical to the horizontal plane, to abut against the side of the material 7; the turnover mechanism 2 continues to move, so that the clamping arms 231 parallel to the horizontal plane on the clamp 23 abut against the lower part of the material 7, and the turnover mechanism 2 is enabled to clamp the material 7 on the AGV 6.

In addition, in the step (1), when the clamping arm 231 on the clamp 23, which is vertical to the horizontal plane, butts against the side of the material 7, the contact piece on the working surface 24 of the clamping arm 231 contacts the material 7, the first limit switch on the clamping arm 231 is triggered, and the turnover mechanism 2 stops moving in the horizontal direction; when the clamping arm 231 parallel to the horizontal plane on the clamp 23 butts against the lower part of the material 7, the contact piece on the working surface 24 of the clamping arm 231 contacts the material 7, the first limit switch on the clamping arm 231 is triggered, and the turnover mechanism 2 stops moving in the vertical direction.

In above-mentioned step (1), two arm lock 231 on the anchor clamps 23 contradict material 7 in proper order, restrict the motion range of material 7 to the realization is to the accurate location of material 7, in addition, when upset material 7, because the motion range of material 7 is restricted, can avoid material 7 to take place to roll or shift, lead to turning angle and relative position to take place the deviation, and because anchor clamps 23 is to two position application of force that material 7 is not coplane, thereby can improve 2 upset material 7's of tilting mechanism stability. In this step, after the clamping arm 231 of the vertical horizontal plane is set to collide with the material 7, the clamping arm 231 of the parallel horizontal plane is made to contact with the material 7 first, so that the situation that the material 7 is located at the position of the clamping arm 231 far away from the vertical horizontal plane when the clamp 23 clamps the material 7 on the AGV6 can be avoided, and the clamp 23 cannot stably clamp the material 7.

In the step (3), any turnover mechanism 2 moves to enable the clamping arm 231 on the clamp 23 of the unloaded turnover mechanism 2, which is perpendicular to the horizontal plane, to collide with the side of the material 7, and any turnover mechanism 2 moves to enable the clamping arm 231 on the clamp 23 of the unloaded turnover mechanism 2, which is parallel to the horizontal plane, to collide with the lower part of the material 7, so that the material 7 is transferred between the two turnover mechanisms 2.

In addition, in the step (3), when the clamping arm 231 on the vertical horizontal plane on the clamp 23 of the unloaded turnover mechanism 2 butts against the side part of the material 7, the contact piece on the working surface 24 of the clamping arm 231 contacts the material 7, the first limit switch 25 on the clamping arm 231 is triggered, and the two turnover mechanisms 2 stop moving in the horizontal direction; when the clamping arm 231 parallel to the horizontal plane on the clamp 23 of the unloaded turnover mechanism 2 butts against the lower part of the material 7, the contact piece on the working surface 24 of the clamping arm 231 contacts the material 7, the first limit switch 25 on the clamping arm 231 is triggered, and the two turnover mechanisms 2 stop moving in the vertical direction.

In the step (3), any one of the turnover mechanism 2 holding the material 7 and the unloaded turnover mechanism 2 moves relative to the other turnover mechanism 2, and the principle is that the turnover mechanism 2 is used as a target position, so that the turnover mechanism is in a static position relative to the other turnover mechanism 2, and the other turnover mechanism 2 is driven to move close to the target position.

In the step (4), the original turnover mechanism 2 holding the material 7 unloads the material 7 (no-load) and then moves to a position far away from the turnover mechanism 2 holding the material 7 and the AGV6, so that the normal work of the turnover mechanism 2 holding the material 7 and the AGV6 is prevented from being interfered by the no-load turnover mechanism 2.

In the step (1) and the step (4), the turning angle of the clamp 23 is N, wherein N belongs to [1 degree ], 90 degrees ]; the angle sensor 32 detects the rotation angle of the rotating shaft 3, when the clamp 23 is turned to approach the angle N, the rotating speed of the turning driving device is reduced to reduce the angular acceleration of the clamp 23, so that when the clamp 23 is turned in place, the material 7 can be stopped more stably, and the material 7 is prevented from being turned over due to inertia.

In the step (5), the step of placing the material 7 on the AGV6 by the turnover mechanism 2 clamping the material 7 comprises the following steps:

(a) the turnover mechanism 2 moves to the position corresponding to the third limit switch along the horizontal direction and then stops;

(b) the turnover mechanism 2 moves along the vertical direction, so that the material 7 is placed on the supporting component 8;

(c) the turnover mechanism 2 continues to move along the vertical direction, so that the clamping arms 231 of the clamp 23, which are parallel to the horizontal plane, are separated from the lower end of the material 7;

(d) the turnover mechanism 2 moves along the horizontal direction, so that the clamping arms 231 of the clamp 23, which are vertical to the horizontal plane, are separated from the side of the material 7.

In step (5), the AGV6 may be the AGV6 that loaded the material 7 into the working area 17 in step (1), or may be an empty AGV6 that newly enters the working area 17.

Still include step (6), after tilting mechanism 2 overturns material 7 and places AGV6, two tilting mechanism 2 move to keeping away from AGV 6's position (setting up second limit switch's corresponding position), treat that AGV6 leaves workspace 17 after, tilting mechanism 2 resets to initial position.

Specifically, in the above steps (1) to (5), the movement of the turnover mechanism 2 includes a movement in the horizontal direction or a movement in the vertical direction or a combined movement in the horizontal direction and the vertical direction.

(1) the method uses the material turnover device 1 to automatically clamp and turn over the material 7 for the second time, so that the material 7 can be axially turned over in multiple angles, and the method has the characteristics of high automation degree, high turning speed, good positioning precision, heavy load bearing and the like, thereby reducing the operation risk caused by people and reducing the labor intensity of workers;

(2) the method can be applied to a production line for transporting the material 7 from one AGV6 to another AGV6, so that the material 7 is overturned while the material 7 is transferred, the operation efficiency of an unmanned transportation assembly production line is effectively improved, and the production cost is reduced.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. Material turning device, its characterized in that: comprises a bracket and two turnover mechanisms;

the support is provided with a support arm which is horizontally arranged relative to the ground, and the space at the lower part of the support arm forms a working area;

the two turnover mechanisms are arranged on the support arm in parallel, each turnover mechanism comprises a fixed column, two connecting arms, a clamp, a rotating shaft and a turnover driving device, and the fixed columns are arranged on the support arm in a horizontally movable manner;

the two connecting arms are located in the working area, the two connecting arms are oppositely arranged on the fixed column, the two ends of the rotating shaft can be axially and rotatably arranged at the lower parts of the two connecting arms, the clamp is arranged on the rotating shaft and used for clamping materials, and the overturning driving device is used for driving the rotating shaft to rotate so as to overturn the clamp.

2. The material turnover device of claim 1, wherein: the clamp comprises two clamping arms which are arranged in a right angle; one side that two arm lock are relative is the working face, two arm lock keep away from the connecting portion of working face with the pivot is connected.

3. The material turnover device of claim 2, wherein: be equipped with first limit switch and trigger piece on the arm lock, the setting that can turn of trigger piece is in on the working face of arm lock, first limit switch sets up one side of arm lock its working face relatively, first limit switch's contact with trigger piece linkage is connected.

4. The material turnover device of claim 2, wherein: the arm lock is equipped with adsorption structure, adsorption structure passes through negative pressure or magnetic force adsorption material.

5. The material turnover device of claim 1, wherein: the horizontal movement mechanism comprises a horizontal driving device, a first guide piece and a first connecting piece, the first guide piece is arranged on the support arm, the first connecting piece is arranged on the fixed column, the first guide piece extends along the length direction of the support arm, the first connecting piece is connected with the first guide piece in a sliding mode, and the horizontal driving device is used for driving the first connecting piece to move along the extending direction of the first guide piece.

6. The material turnover device of claim 1, wherein: a vertical movement mechanism is arranged between the connecting arm and the fixed column, and the connecting arm vertically moves relative to the fixed column through the vertical movement mechanism;

the vertical movement mechanism comprises a vertical driving device, a mounting frame, a second guide piece and a second connecting piece;

the mounting bracket is arranged on the fixing column, the second guide piece is vertically arranged on the mounting bracket, the second connecting piece is arranged on the connecting arm and is in sliding connection with the second guide piece, and the vertical driving device is used for driving the second connecting piece to move along the extending direction of the second guide piece.

7. The material turnover device of claim 6, wherein: the vertical driving device is arranged on the fixed column and comprises a lifting motor, a linkage shaft and two corner lifting pieces, the telescopic ends of the two corner lifting pieces are correspondingly connected with the two connecting arms respectively, the linkage shaft is connected with the two corner lifting pieces respectively, and the lifting motor is used for driving the linkage shaft to rotate forwards or backwards so as to enable the telescopic ends of the corner lifting pieces to stretch and drive the connecting arms to move vertically.

8. A material turning method using the material turning device of any one of claims 1 to 7, comprising the steps of:

9. The material turning method according to claim 8, characterized in that: in the step (1), after the turnover mechanism moves to the side part of the AGV, the turnover mechanism moves to enable clamping arms on the clamp, which are vertical to the horizontal plane, to abut against the side part of the material; the turnover mechanism continues to move, so that the clamping arms parallel to the horizontal plane on the clamp abut against the lower part of the material, and the turnover mechanism is enabled to clamp the material on the AGV.

10. The material turning method according to claim 8, characterized in that: in the step (3), any turnover mechanism moves to enable the clamping arms perpendicular to the horizontal plane on the clamp of the no-load turnover mechanism to abut against the side part of the material, and any turnover mechanism moves to enable the clamping arms parallel to the horizontal plane on the clamp of the no-load turnover mechanism to abut against the lower part of the material, so that the material is transferred between the two turnover mechanisms.