A feeding mechanism and feeding method for forging equipment

Abstract

The present invention relates to a loading mechanism and a loading method for forging equipment, comprising a double-station forging equipment, a material-retrieving robot arm and a loading assembly, wherein the material-retrieving robot arm and the loading assembly for loading and unloading are installed between the double-station forging equipment, and the loading assembly comprises a platform, an annular ring rail is installed on the outer side of the platform, an annular guide rail is provided on the top side of the platform, and a slide moves along the guide rail through a first guide wheel at the bottom; a connecting rod connected to the wheel seat drives the rack to move up and down in a fixed cylinder, and the movement of the rack drives the rotating gear to rotate, so that a piece-placement seat completes a 180-degree rotation between the ear seats, which is convenient for automatically realizing the flipping of the piece-placement seat, and cooperates with the material-retrieving robot arm to realize the loading operation of the workpiece and the unloading operation of the finished piece, respectively, thereby shortening the number of cycle operations of the piece-placement seat.

Description

Technical Field

[0001] The present invention relates to the technical field of forging equipment, and in particular to a feeding mechanism and a feeding method of forging equipment. Background Art

[0002] Forging equipment refers to the mechanical equipment used for forming and separating parts during the forging process. Forging equipment is primarily used for metal forming, hence the name "metal forming machine tool." Forging equipment forms metal by applying pressure. Its fundamental characteristic is its high force, making it often heavy and equipped with safety devices to ensure both equipment and personnel safety.

[0003] When the workpiece is continuously processed by the forging equipment, the forging equipment is continuously loaded with the workpiece and unloaded with the assistance of the robotic arm during the processing. At this time, the loading and unloading trays during transportation need to be accurately positioned. Otherwise, when coordinating with the robotic arm, deviations in loading and unloading will occur, affecting the smooth progress of the processing. At the same time, two different trays need to be equipped to move separately to realize the loading and unloading of materials. When transporting the same amount of materials, the trays will cycle more times. Summary of the Invention

[0004] The problem solved by the present invention is to provide a loading mechanism and a loading method for forging equipment, which solves the problem that when the forging equipment continuously processes the workpiece, the forging equipment is continuously loaded with the workpiece and the finished workpiece is unloaded with the assistance of a robotic arm during the processing. At this time, the loading and unloading storage trays during transportation need to be accurately positioned, otherwise, when cooperating with the robotic arm, deviations in loading and unloading will occur, affecting the smooth progress of the processing. At the same time, two different storage trays need to be equipped to move separately to realize the loading and unloading of materials, and the technical problem that the same amount of material is transported and the storage trays have to cycle many times.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A feeding mechanism and feeding method of forging equipment include a double-station forging equipment, a feeding robot arm and a feeding assembly, a feeding robot arm and a feeding assembly for loading and unloading are installed between the double-station forging equipment, the feeding assembly includes a table, an annular ring rail is installed on the outer side of the table, an annular guide rail is provided on the top side of the table, and the slide moves along the guide rail through the first guide wheel at the bottom, and the slide is limited by the limit assembly installed on the side wall of the table, a support plate is installed on the slide, ear seats are symmetrically installed on the top side of the support plate, and a part seat is rotatably installed between the two ear seats, and a plurality of first placement grooves for placing workpieces are opened on the top side of the part seat, and a plurality of second placement grooves for placing finished parts are opened on the bottom side of the part seat.

[0007] Preferably, mounting plates are installed at the four inner corners of the platform, and pulleys are installed on the mounting plates. Guide belts are installed on the four pulleys for transmission, and the guide belts are guided by the limiting guide frame on the inner wall of the platform, and the guide belts are connected to the slide.

[0008] Preferably, a reducer is installed on the bottom side of one of the mounting plates, the reducer input end is connected to the first motor output end, and the reducer output end is connected to one of the pulleys.

[0009] Preferably, a limit seat is provided on the outer side of the slide seat, and a limit block is symmetrically provided on the limit seat, and a slope is provided on the outer side of the limit block.

[0010] Preferably, the limiting assembly includes an axle seat installed on the side wall of the table, and a second motor is installed on the axle seat, a rotating shaft is installed on the output end of the second motor, a plurality of rotating seats are installed on the rotating shaft at equal distances, and the spacing between two adjacent rotating seats is the same as the spacing between two adjacent sliding seats, an adjusting seat is slidably installed on the rotating seat, and a limiting wheel is installed on the adjusting seat.

[0011] Preferably, a slide groove is provided on the top side of the rotating seat, and a guide rod is installed in the slide groove. The slider on the bottom side of the adjustment seat is slidably installed on the guide rod. A spring is installed on the guide rod, and the spring is connected to the slider and the inner wall of the slide groove.

[0012] Preferably, the component placement seat includes a rotating frame and a component placement plate, the component placement plate and the rotating frame are connected by a pin, a connecting shaft installed with the ear seat bearing is installed on the rotating frame, and the connecting shaft of the component placement seat passes through the ear seat and is installed with a rotating gear.

[0013] Preferably, a fixed cylinder is vertically installed on the support plate, and the fixed cylinder is slidably installed with the rack through the sliding rail of the inner wall, and the rack is engaged with the rotating gear. A connecting rod is installed on the bottom side of the rack, and a wheel seat is installed on the bottom of the connecting rod through rotation of the inserted shaft, and the wheel seat moves along the ring rail through the second guide wheel at the bottom.

[0014] Preferably, the annular rail includes a first U-shaped rail and a second U-shaped rail, and the first U-shaped rail and the second U-shaped rail are connected by an inclined rail, and the vertical distance between the two ends of the inclined rail is half of the circumference of the indexing circle of the rotating gear.

[0015] Preferably, the specific steps of the method are as follows:

[0016] Step 1: The first motor works, and the speed reducer adjusts the speed to drive one of the pulleys to rotate, which in turn drives the guide belt to transmit on the pulley, and then drives the slide connected to the pulley to move along the guide rail through the first guide wheel. The support plate on the slide drives the fixed cylinder to move. At this time, the wheel seat connected to the connecting rod moves synchronously along the ring rail through the second guide wheel;

[0017] Step 2: When the wheel seat moves on the inclined rail of the ring rail through the second guide wheel, due to the height difference between the two ends of the inclined rail, the connecting rod connected to the wheel seat drives the rack to move up and down in the fixed cylinder. The movement of the rack drives the rotating gear to rotate, realizing the rotation of the component seat between the ear seats, and the rotation angle is 180 degrees.

[0018] Step 3: The workpiece tray filled with workpieces is installed into the rotating frame through the latch, with the first placement slot facing upwards and the wheel seat located on the second U-shaped rail. The slide moves along the guide rail to the material retrieving robot arm. At this time, the previous wheel seat passes through the inclined rail and is located on the first U-shaped rail. At the same time, the rotating frame on the previous slide rotates 180°, completing the flipping of the workpiece tray. The material retrieving robot arm places the finished workpiece on the flipped workpiece tray and removes the workpiece for processing on the forging equipment. The continuous movement of the slide realizes the cyclic loading and unloading operation.

[0019] Step 4: The second motor drives the rotating shaft to rotate, and then rotates the rotating seat to a vertical state. When the slide moves to the slope on the limit block and contacts the limit wheel, the limit wheel on the adjustment seat moves along the slope, driving the adjustment seat to move along the guide rod through the slider, compressing the spring. When the limit wheel is between the two limit blocks, the limit wheel is locked under the action of the spring to limit the slide, and after the second motor works to rotate the limit wheel out from between the two limit blocks, the slide continues to move.

[0020] The beneficial effects of the present invention are as follows: when the slide moves cyclically along the guide rail via the first guide wheel, the wheel seat moves along the circular rail via the second guide wheel, and when the wheel seat moves back and forth between the first U-shaped rail and the second U-shaped rail via the inclined rail, due to the height difference between the two ends of the inclined rail, the connecting rod connected to the wheel seat drives the rack to move up and down in the fixed cylinder, and the movement of the rack drives the rotating gear to rotate, so that the component placement seat completes a 180° rotation between the ear seats, which is convenient for automatically realizing the flipping of the component placement seat and cooperating with the material-retrieving robot arm to realize the loading operation of the workpiece and the unloading operation of the finished workpiece, thereby shortening the number of cyclic operations of the component placement seat;

[0021] And during the movement of the slide, the rotating shaft is driven to rotate by the second motor, and then the rotating seat is rotated to a vertical state. During the movement of the slide, the slope on the limit block first contacts the limit wheel. At this time, the limit wheel on the adjusting seat rolls along the slope, driving the adjusting seat to move along the guide rod through the slider, compressing the spring. When the limit wheel is between the two limit blocks, the limit wheel is stuck between the two limit blocks under the action of the spring, limiting the slide, and after the second motor works to rotate the limit wheel out from between the two limit blocks, the slide continues to move, realizing precise positioning of the slide, which is convenient for cooperating with the material-retrieving robot arm to realize fixed-point loading and unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic structural diagram of the feeding assembly of the present invention;

[0024] Figure 3 This is a schematic diagram of the mounting structure of the component holder of the present invention;

[0025] Figure 4 This is a schematic diagram of the first motor installation structure of the present invention;

[0026] Figure 5 For the present invention Figure 4 A partial enlarged view of area A in the middle;

[0027] Figure 6 This is a cross-sectional view of the transposition of the present invention;

[0028] Figure 7 This is a cross-sectional view of the fixing cylinder of the present invention;

[0029] Figure 8 Schematic diagram of the ring track structure of the present invention.

[0030] Legend:

[0031] 1. Retrieving robot arm; 2. Loading assembly; 3. Stand; 4. Annular rail; 5. Mounting plate; 6. Pulley; 7. Reducer; 8. First motor; 9. Limiting guide frame; 10. Guide belt; 11. Guide rail; 12. Slide seat; 13. First guide wheel; 14. Limiting seat; 15. Limiting block; 16. Shaft seat; 17. Second motor; 18. Rotating shaft; 19. Rotating seat; 20. Adjusting seat; 21. Limiting wheel; 22. Slide groove; 23. Guide rod; 24. Slider; 25. Spring; 26. Support plate; 27. Ear seat; 28. Parts holder; 29. ​​Rotating gear; 30. Fixed cylinder; 31. Rack; 32. Connecting rod; 33. Wheel seat; 34. Second guide wheel; 35. First U-shaped rail; 36. Second U-shaped rail; 37. Inclined rail. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] Specific examples are given below.

[0034] See also Figure 1A loading mechanism and method for forging equipment includes a double-station forging equipment, a retrieving robot arm 1, and a loading assembly 2. The retrieving robot arm 1 and the loading assembly 2 for loading and unloading are installed between the double-station forging equipment. At this time, the loading assembly 2 is used for loading workpieces and unloading finished parts, and with the assistance of the retrieving robot arm 1, loading and unloading operations with a high-speed machining center are realized;

[0035] See also Figures 2 to 4 The loading assembly 2 includes a stage 3, a circular guide rail 11 is provided on the top side of the stage 3, and the slide 12 moves along the guide rail 11 through the first guide wheel 13 at the bottom, and mounting plates 5 are installed at the four inner corners of the stage 3, and pulleys 6 are installed on the mounting plates 5. Guide belts 10 are installed on the four pulleys 6 for transmission, and the guide belts 10 are guided by the limiting guide frame 9 on the inner wall of the stage 3. The guide belts 10 are connected to the slide 12, and a reducer 7 is installed on the bottom side of one of the mounting plates 5. The input end of the reducer 7 is connected to the output end of the first motor 8, and the output end of the reducer 7 is connected to one of the pulleys 6. When the first motor 8 works, the reducer 7 adjusts the speed to drive one of the pulleys 6 to rotate, driving the guide belt 10 to transmit on the pulley 6, and then driving the slide 12 connected to the pulley 6 to move along the guide rail 11 through the first guide wheel 13 to achieve position adjustment of the slide 12;

[0036] See also Figure 5 and Figure 6 The slide 12 is limited by the limit assembly installed on the side wall of the platform 3. A limit seat 14 is provided on the outside of the slide 12, and a limit block 15 is symmetrically provided on the limit seat 14, and a slope is provided on the outside of the limit block 15. The limit assembly includes an axle seat 16 installed on the side wall of the platform 3, and a second motor 17 is installed on the axle seat 16. A rotating shaft 18 is installed on the output end of the second motor 17. A plurality of rotating seats 19 are installed on the rotating shaft 18 at equal distances. The spacing between two adjacent rotating seats 19 is the same as the spacing between two adjacent slides 12. An adjusting seat 20 is slidably installed on the rotating seat 19, and a limit wheel 21 is installed on the adjusting seat 20. A slide groove 22 is opened on the top side of the rotating seat 19, and a guide rod is installed in the slide groove 22 23, the slider 24 on the bottom side of the adjusting seat 20 is slidably installed on the guide rod 23, and a spring 25 is set on the guide rod 23, and the spring 25 is connected to the slider 24 and the inner wall of the slide groove 22. The second motor 17 drives the rotating shaft 18 to rotate, and then rotates the rotating seat 19 to a vertical state. When the slide 12 moves to the slope on the limit block 15 and contacts the limit wheel 21, the limit wheel 21 on the adjusting seat 20 moves along the slope, driving the adjusting seat 20 to move along the guide rod 23 through the slider 24, compressing the spring 25. When the limit wheel 21 is located between the two limit blocks 15, the limit wheel 21 is clamped between the two limit blocks 15 under the action of the spring 25, limiting the slide 12;

[0037] See also Figure 7 and Figure 8 A support plate 26 is mounted on the slide 12, and an ear seat 27 is symmetrically mounted on the top side of the support plate 26, and a piece placement seat 28 is rotatably mounted between the two ear seats 27, and a plurality of first placement slots for placing workpieces are opened on the top side of the piece placement seat 28, and a plurality of second placement slots for placing finished workpieces are opened on the bottom side of the piece placement seat 28, and the piece placement seat 28 includes a rotating frame and a piece placement tray, and the piece placement tray and the rotating frame are connected by a pin. First, the workpieces are placed in the first placement slots of the piece placement tray in sequence, and then the piece placement tray filled with workpieces is placed through The latch is installed in the rotating frame, and after the forging equipment is completed, the plate with the finished parts placed on it is removed from the rotating frame. The rotating frame is equipped with a connecting shaft installed with the ear seat 27 bearing, and the connecting shaft of the plate seat 28 passes through the ear seat 27 and is equipped with a rotating gear 29. A fixed cylinder 30 is vertically installed on the support plate 26. The fixed cylinder 30 is slidably installed with the rack 31 through the slide rail on the inner wall, and the rack 31 is engaged with the rotating gear 29. A connecting rod 32 is installed on the bottom side of the rack 31, and the bottom of the connecting rod 32 is rotated by the plug shaft. A wheel seat 33 is installed, and the wheel seat 33 moves along the ring rail 4 through the second guide wheel 34 at the bottom. An annular ring rail 4 is installed on the outside of the platform 3. The ring rail 4 includes a first U-shaped rail 35 and a second U-shaped rail 36. The first U-shaped rail 35 and the second U-shaped rail 36 are connected by an inclined rail 37, and the vertical distance between the two ends of the inclined rail 37 is half of the circumference of the indexing circle of the rotating gear 29. When the slide 12 moves along the guide rail 11 through the first guide wheel 13, the wheel seat 33 moves along the ring rail 4 through the second guide wheel 34. When the wheel When the seat 33 moves back and forth between the first U-shaped rail 35 and the second U-shaped rail 36 via the inclined rail 37, due to the height difference between the two ends of the inclined rail 37, the connecting rod 32 connected by the wheel seat 33 drives the rack 31 to move up and down in the fixed cylinder 30, and the movement of the rack 31 drives the rotating gear 29 to rotate. At the same time, because the vertical distance between the two ends of the inclined rail 37 is half the circumference of the indexing circle of the rotating gear 29, the component placement seat 28 is guaranteed to complete a 180° rotation between the ear seats 27, thereby facilitating automatic flipping of the component placement seat 28.

[0038] The specific steps of this method are as follows:

[0039] Step 1: The first motor 8 works, and the speed reducer 7 adjusts the speed to drive one of the pulleys 6 to rotate, thereby driving the guide belt 10 to transmit on the pulley 6, and then driving the slide 12 connected to the pulley 6 to move along the guide rail 11 through the first guide wheel 13. The support plate 26 on the slide 12 drives the fixed cylinder 30 to move. At this time, the wheel seat 33 connected to the connecting rod 32 moves synchronously along the ring rail 4 through the second guide wheel 34;

[0040] Step 2: When the wheel seat 33 moves on the inclined rail 37 of the ring rail 4 via the second guide wheel 34, due to the height difference between the two ends of the inclined rail 37, the connecting rod 32 connected to the wheel seat 33 drives the rack 31 to move up and down in the fixed cylinder 30. The movement of the rack 31 drives the rotating gear 29 to rotate, realizing the rotation of the component seat 28 between the ear seats 27, and the rotation angle is 180 degrees.

[0041] Step 3: The workpiece tray filled with workpieces is installed into the rotating frame through the latch, with the first placement slot facing upward and the wheel seat 33 located on the second U-shaped rail 36. The slide 12 moves along the guide rail 11 to the material retrieving robot arm 1. At this time, the previous wheel seat 33 is located on the first U-shaped rail 35 via the inclined rail 37. At the same time, the rotating frame on the previous slide 12 rotates 180°, completing the flipping of the workpiece tray. The material retrieving robot arm 1 places the finished workpiece on the flipped workpiece tray and removes the workpiece for processing in the forging equipment. The continuous movement of the slide 12 realizes the cyclic loading and unloading operation.

[0042] Step 4: The second motor 17 drives the rotating shaft 18 to rotate, and then rotates the rotating seat 19 to a vertical state. When the slide 12 moves to the slope on the limit block 15 and contacts the limit wheel 21, the limit wheel 21 on the adjusting seat 20 moves along the slope, driving the adjusting seat 20 to move along the guide rod 23 through the slider 24, compressing the spring 25. When the limit wheel 21 is located between the two limit blocks 15, the limit wheel 21 is stuck between the two limit blocks 15 under the action of the spring 25, limiting the slide 12, and after the second motor 17 works to rotate the limit wheel 21 out from between the two limit blocks 15, the slide 12 continues to move.

[0043] When the slide 12 moves cyclically along the guide rail 11 via the first guide wheel 13, the wheel seat 33 moves along the circular rail 4 via the second guide wheel 34. When the wheel seat 33 moves back and forth between the first U-shaped rail 35 and the second U-shaped rail 36 via the inclined rail 37, due to the height difference between the two ends of the inclined rail 37, the connecting rod 32 connected by the wheel seat 33 drives the rack 31 to move up and down in the fixed cylinder 30. The movement of the rack 31 drives the rotating gear 29 to rotate, so that the component placement seat 28 completes a 180° rotation between the ear seats 27, which facilitates the automatic flipping of the component placement seat 28 and cooperates with the material removal robot arm 1 to respectively realize the loading operation of the workpiece and the unloading operation of the finished product, thereby shortening the number of cyclic operations of the component placement seat 28.

[0044] And during the movement of the slide 12, the second motor 17 drives the rotating shaft 18 to rotate, and then rotates the rotating seat 19 to a vertical state. During the movement of the slide 12, the slope on the limit block 15 first contacts the limit wheel 21. At this time, the limit wheel 21 on the adjusting seat 20 rolls along the slope, driving the adjusting seat 20 to move along the guide rod 23 through the slider 24, compressing the spring 25. When the limit wheel 21 is located between the two limit blocks 15, the limit wheel 21 is stuck between the two limit blocks 15 under the action of the spring 25, limiting the slide 12, and after the second motor 17 works to rotate the limit wheel 21 out from between the two limit blocks 15, the slide 12 continues to move, realizing precise positioning of the slide 12, which is convenient for cooperating with the material-retrieving robot arm 1 to realize fixed-point loading and unloading operations.

[0045] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A feeding mechanism for a forging equipment, characterized in that: It includes a double-station forging equipment, a material-retrieving robot arm and a loading assembly. A material-retrieving robot arm and a loading assembly for loading and unloading are installed between the double-station forging equipment. The loading assembly includes a platform, an annular ring rail is installed on the outer side of the platform, an annular guide rail is provided on the top side of the platform, and the slide moves along the guide rail through the first guide wheel at the bottom, and the slide is limited by the limit assembly installed on the side wall of the platform, a support plate is installed on the slide, and ears are symmetrically installed on the top side of the support plate, and a piece placement seat is rotatably installed between the two ears, and a plurality of first placement slots for placing workpieces are opened on the top side of the piece placement seat, and a plurality of second placement slots for placing finished parts are opened on the bottom side of the piece placement seat; The component placement seat includes a rotating frame and a component placement plate, the component placement plate and the rotating frame are connected by a latch, a connecting shaft installed with an ear seat bearing is installed on the rotating frame, and the connecting shaft of the component placement seat passes through the ear seat and is installed with a rotating gear, a fixing cylinder is vertically installed on the support plate, the fixing cylinder is slidably installed with the rack through the slide rail on the inner wall, and the rack is meshed with the rotating gear, a connecting rod is installed on the bottom side of the rack, and a wheel seat is rotatably installed on the bottom of the connecting rod through the plug shaft, and the wheel seat moves along the ring track through the second guide wheel at the bottom; The ring rail includes a first U-shaped rail and a second U-shaped rail, and the first U-shaped rail and the second U-shaped rail are connected by an inclined rail, and the vertical distance between the two ends of the inclined rail is half of the circumference of the indexing circle of the rotating gear.

2. The feeding mechanism of a forging equipment according to claim 1, characterized in that: The four inner corners of the platform are all equipped with mounting plates, and pulleys are installed on the mounting plates. Guide belts are installed on the four pulleys for transmission, and the guide belts are guided by the limiting guide frame on the inner wall of the platform, and the guide belts are connected to the slide.

3. The feeding mechanism of the forging equipment according to claim 2, characterized in that: A reducer is installed on the bottom side of one of the mounting plates, the reducer input end is connected to the first motor output end, and the reducer output end is connected to one of the pulleys.

4. The feeding mechanism of the forging equipment according to claim 3, characterized in that: A limiting seat is arranged on the outer side of the sliding seat, and limiting blocks are symmetrically arranged on the limiting seat, and a slope is arranged on the outer side of the limiting blocks.

5. The feeding mechanism of the forging equipment according to claim 4, characterized in that: The limiting assembly includes an axle seat installed on the side wall of the platform, and a second motor is installed on the axle seat, a rotating shaft is installed on the output end of the second motor, a plurality of rotating seats are installed on the rotating shaft at equal distances, and the spacing between two adjacent rotating seats is the same as the spacing between two adjacent sliding seats. An adjusting seat is slidably installed on the rotating seat, and a limiting wheel is installed on the adjusting seat.

6. The feeding mechanism of the forging equipment according to claim 5, characterized in that: A slide groove is provided on the top side of the rotating seat, and a guide rod is installed in the slide groove. The slider on the bottom side of the adjusting seat is slidably installed on the guide rod. A spring is set on the guide rod, and the spring is connected to the slider and the inner wall of the slide groove.

7. The method for feeding a feeding mechanism of a forging equipment according to claim 6, characterized in that: The specific steps of this method are as follows: Step 1: The first motor works, and the speed reducer adjusts the speed to drive one of the pulleys to rotate, which in turn drives the guide belt to transmit on the pulley, and then drives the slide connected to the pulley to move along the guide rail through the first guide wheel. The support plate on the slide drives the fixed cylinder to move. At this time, the wheel seat connected to the connecting rod moves synchronously along the ring rail through the second guide wheel; Step 2: When the wheel seat moves on the inclined rail of the ring rail through the second guide wheel, due to the height difference between the two ends of the inclined rail, the connecting rod connected to the wheel seat drives the rack to move up and down in the fixed cylinder. The movement of the rack drives the rotating gear to rotate, realizing the rotation of the component seat between the ear seats, and the rotation angle is 180 degrees. Step 3: The workpiece tray filled with workpieces is installed into the rotating frame through the latch, with the first placement slot facing upwards and the wheel seat located on the second U-shaped rail. The slide moves along the guide rail to the material retrieving robot arm. At this time, the previous wheel seat passes through the inclined rail and is located on the first U-shaped rail. At the same time, the rotating frame on the previous slide rotates 180°, completing the flipping of the workpiece tray. The material retrieving robot arm places the finished workpiece on the flipped workpiece tray and removes the workpiece for processing on the forging equipment. The continuous movement of the slide realizes the cyclic loading and unloading operation. Step 4: The second motor drives the rotating shaft to rotate, and then rotates the rotating seat to a vertical state. When the slide moves to the slope on the limit block and contacts the limit wheel, the limit wheel on the adjustment seat moves along the slope, driving the adjustment seat to move along the guide rod through the slider, compressing the spring. When the limit wheel is between the two limit blocks, the limit wheel is locked under the action of the spring to limit the slide, and after the second motor works to rotate the limit wheel out from between the two limit blocks, the slide continues to move.

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