Automatic feeding and discharging robot for forklift half shaft production

Abstract

An automatic feeding and discharging robot for forklift half shaft production comprises a moving frame, a moving assembly used for driving the moving frame to move, a lifting turnover frame installed on the moving frame, a flexible lifting turnover mechanism used for driving the lifting turnover frame to ascend, descend or turn over, and a rotating frame rotationally installed on the lifting turnover frame. The device comprises a rotating frame, a rotating mechanism used for driving the rotating frame to rotate, a connecting turnover frame rotationally installed on the rotating frame, a flexible turnover adjusting mechanism used for driving the connecting turnover frame to turn over, and a grabbing assembly installed on the connecting turnover frame. An arc-shaped limiting plate is fixedly arranged on the lifting turnover frame, a limiting rod is arranged on the arc-shaped limiting plate in a sliding mode, and the limiting rod is connected with the movable frame in a sliding mode; a rotary connecting block is rotationally mounted on the lifting turnover frame; according to different production requirements, workshop layout and other factors, the material transportation task can be flexibly and efficiently completed, and efficient grabbing of the forklift half shafts of various specifications and models can be achieved according to the sizes and shapes of the forklift half shafts of different specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading robots, and particularly to an automatic loading and unloading robot for the production of forklift half shafts. Background Art

[0002] The forklift half shaft is a key component in the forklift transmission system. It connects the differential and the driving wheels of the forklift, and its main function is to transmit the torque from the differential to the driving wheels, thereby driving the forklift forward or backward. The structure of the forklift half shaft generally includes parts such as a shaft tube, splines, and a flange. The shaft tube is the main part of the half shaft and is used to transmit torque; the splines cooperate with the internal splines of the differential half shaft gear to achieve power transmission; the flange is used to install components such as a brake drum or a wheel hub. The shapes and sizes of forklift half shafts of different specifications and models are different.

[0003] In the field of forklift half shaft production and manufacturing, traditional loading and unloading operations use ordinary manipulators for transportation. At present, industrial production is developing rapidly towards the direction of multi-variety and small-batch production, and the specifications and models of forklift half shafts are becoming increasingly diverse. Traditional loading and unloading equipment exposes obvious limitations. They can often only operate on forklift half shafts of specific specifications, and seriously lack flexibility and versatility. Once the product specifications change, large-scale modifications or even replacements of the equipment are required, which undoubtedly greatly increases the production cost and production cycle of the enterprise. Moreover, traditional loading and unloading operation equipment can only be applied to specific production workshop layouts. If the layout of the workshop changes temporarily due to other reasons (such as transportation task conflicts), traditional loading and unloading operation equipment may be unable to continue the transportation work.

[0004] Therefore, researching and developing an automatic loading and unloading robot for the production of forklift half shafts that can adapt to various specifications and models has extremely important practical significance and broad market prospects for improving the flexibility of forklift half shaft production, reducing costs, and enhancing the competitiveness of enterprises. Summary of the Invention

[0005] In view of the above problems, the present invention proposes an automatic loading and unloading robot for the production of forklift half shafts, and the technical solution used is as follows: An automatic loading and unloading robot for the production of forklift half shafts, including a moving frame, a moving component for driving the moving frame to move, a lifting and flipping frame installed on the moving frame, a flexible lifting and flipping mechanism for driving the lifting and flipping frame to lift or flip, a rotating frame rotatably installed on the lifting and flipping frame, a rotating mechanism for driving the rotating frame to rotate, a connecting and flipping frame rotatably installed on the rotating frame, a flexible flipping and adjusting mechanism for driving the connecting and flipping frame to flip, and a grasping component installed on the connecting and flipping frame; The lifting and flipping frame is fixedly provided with an arc-shaped limit plate, and a limit rod is slidably provided on the arc-shaped limit plate, and the limit rod is slidably connected to the moving frame; a rotating connection block is rotatably installed on the lifting and flipping frame; The flexible lifting and flipping mechanism includes a first rope wheel shaft and a second rope wheel shaft rotatably mounted on the mobile frame, a first rope wheel coaxially fixedly mounted on the first rope wheel shaft and the rope end is fixedly connected to the corresponding rotating connecting block, a second rope wheel coaxially fixedly mounted on the second rope wheel shaft and the rope end is fixedly connected to the corresponding rotating connecting block, and a rotating driving mechanism for driving the first rope wheel shaft and the second rope wheel shaft to rotate in the same direction or in the opposite direction; The flexible flip adjustment mechanism includes a pair of third rope wheel shafts rotatably mounted in the rotating frame, a third rope wheel coaxially fixedly mounted on the third rope wheel shaft and having a rope end fixedly connected to the side surface of the flip frame, and a second rotation driving mechanism for driving the pair of third rope wheel shafts to rotate simultaneously; The grabbing assembly includes a supporting frame fixedly mounted on a connecting flip frame, a plurality of mounting frames slidably mounted on the supporting frame, sliding brackets arranged in pairs and slidably mounted on the mounting frames, a grabbing driving plate rotatably mounted on the sliding bracket, and a telescopic cylinder arranged between the sliding bracket and the grabbing driving plate; the telescopic cylinder body is rotatably mounted on the sliding bracket, and the telescopic end is rotatably connected to the corresponding grabbing driving plate.

[0006] Furthermore, a sliding block is coaxially slidably installed on the first rope wheel axle; the rotation driving mechanism comprises a driving motor fixedly mounted on the moving frame, a pushing cylinder fixedly mounted on the moving frame and the telescopic end of which is connected to the sliding block, and a bevel gear set; the bevel gear set comprises an input bevel gear coaxially fixedly mounted on the output end of the driving motor, a transition bevel gear rotatably mounted on the moving frame and meshing with the input bevel gear, two output bevel gears corresponding to the first rope wheel axle and the second rope wheel axle and coaxially fixedly connected with the transition bevel gear, two first bevel gears relatively arranged and fixedly mounted on the sliding block, and a second bevel gear coaxially fixedly mounted on the second rope wheel axle; the two first bevel gears intermittently mesh with the output bevel gear corresponding to the first rope wheel axle.

[0007] Furthermore, the second rotating drive mechanism includes a second driving motor fixedly mounted in a rotating frame, and a second bevel gear set; the second bevel gear set includes a second input bevel gear coaxially fixedly mounted on the output end of the second driving motor, a second transition bevel gear rotatably mounted in the rotating frame and meshing with the second input bevel gear, a third bevel gear coaxially fixedly mounted on a third rope wheel axle, and a second output bevel gear meshing with the third bevel gear and coaxially fixedly connected to the second transition bevel gear.

[0008] Furthermore, the rotating mechanism includes a rotating motor fixedly mounted on the lifting and flipping frame, a driving bevel gear coaxially fixedly mounted on the output end of the rotating motor, and a driven bevel gear fixedly mounted on the rotating frame and meshing with the driving bevel gear.

[0009] Furthermore, the grabbing assembly also includes a clamping plate 1 and a clamping plate 2 arranged between the grabbing drive plate and the mounting frame; the top end of the clamping plate 1 is rotatably mounted on the mounting frame, and the bottom end is rotatably connected to the top end of the clamping plate 2; the bottom end of the clamping plate 2 is rotatably mounted on the grabbing drive plate.

[0010] Furthermore, the inner side surfaces of the clamping plate 1 and the clamping plate 2 are both rough friction surfaces.

[0011] Furthermore, the grabbing assembly also includes a displacement adjustment screw rod corresponding to the mounting frame; the displacement adjustment screw rod is rotatably mounted in the support frame and is threadedly connected to the corresponding mounting frame.

[0012] Furthermore, the grabbing assembly also includes a bidirectional adjustment screw which is rotatably mounted on the mounting frame and threadedly connected to the sliding bracket.

[0013] Furthermore, the moving assembly includes a longitudinal rod, a transverse rod, a longitudinal moving screw installed in the longitudinal rod for driving the transverse rod to move, and a transverse moving mechanism; the moving frame is slidably installed on the transverse rod and is driven to move by the transverse moving mechanism.

[0014] Furthermore, the lateral movement mechanism includes a lateral rack fixedly mounted on the lateral rod, a lateral movement motor fixedly mounted on the moving frame, and a lateral movement gear coaxially fixedly mounted on the output end of the lateral movement motor and meshing with the lateral rack.

[0015] Since the present invention adopts the above technical solution, the present invention has the following advantages: 1. The present invention can flexibly and efficiently complete material transportation tasks according to different production needs and factors such as workshop layout through the coordinated design of mobile components, mobile frames, lifting and flipping frames, rotating frames, connecting and flipping frames, flexible lifting and flipping mechanisms, rotating mechanisms and flexible flipping adjustment mechanisms. During the transportation process, the present invention can flexibly plan the transportation route and adjust its own posture according to the real-time situation of the workshop, such as changes in equipment layout and conflicts with other transportation tasks, to ensure that the forklift half-axle can be transported to the designated location in a timely and accurate manner.

[0016] 2. The grabbing assembly of the present invention can adjust the position of the grabbing drive plate according to the size and shape of forklift axles of different specifications through the coordinated design of the shift adjustment screw, the mounting frame, the bidirectional adjustment screw and the sliding bracket, thereby achieving efficient grabbing of forklift axles of various specifications and models.

[0017] 3. The grabbing assembly of the present invention can perform grabbing work more effectively and stably through the coordinated design of the grabbing drive plate, the clamping plate one and the clamping plate two. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1-Figure 4 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 5 The schematic diagram of the structure of the present invention after the longitudinal rod, the longitudinal moving lead screw and the transverse rod are removed.

[0020] Figure 6 This is a schematic diagram of the structure of the present invention after removing the moving components.

[0021] Figure 7 It is a schematic diagram of the assembly structure of the movable frame, the lifting and turning frame and the flexible lifting and turning mechanism of the present invention.

[0022] Figure 8 It is a schematic diagram of the assembly structure of the lifting and turning frame and the flexible lifting and turning mechanism of the present invention.

[0023] Fig. 9 It is a partial structural schematic diagram of the flexible lifting and flipping mechanism of the present invention.

[0024] Fig.10 For the present invention Fig. 9 Schematic diagram of the local enlarged structure at point A in the middle.

[0025] Fig.11 It is a schematic diagram of the assembly structure of the lifting and turning frame, the rotating frame, the connecting turning frame, the rotating mechanism, the flexible turning adjustment mechanism and the grabbing assembly of the present invention.

[0026] Fig.12 For the present invention Fig.11 Schematic diagram of the cross section of section BB.

[0027] Fig.13 It is a schematic diagram of the assembly structure of the rotating frame, the connecting flip frame, the flexible flip adjustment mechanism and the grabbing assembly of the present invention.

[0028] Fig.14 It is a schematic diagram of the assembly structure of connecting the turnover frame and the flexible turnover adjustment mechanism of the present invention.

[0029] Fig.15 For the present invention Fig.14 Schematic diagram of the local enlarged structure at point C in the middle.

[0030] Fig.16 It is a schematic diagram of the structure of the grabbing assembly of the present invention.

[0031] Figure 17-Figure 19 It is a partial schematic diagram of the mechanism of the grabbing assembly of the present invention.

[0032] Reference Numerals of the Drawings: 1 - Moving Component; 101 - Longitudinal Rod; 102 - Longitudinal Moving Screw Rod; 103 - Transverse Rod; 104 - Transverse Rack; 105 - Transverse Moving Gear; 106 - Transverse Moving Motor; 2 - Moving Frame; 3 - Lifting and Tilting Frame; 301 - Arc-shaped Limiting Plate; 302 - Rotating Connecting Block; 303 - Limiting Rod; 4 - Rotating Frame; 5 - Connecting and Tilting Frame; 501 - Connecting Rod; 6 - Flexible Lifting and Tilting Mechanism; 601 - First Rope Pulley; 602 - First Rope Pulley Shaft (6021 - Sliding Block); 603 - Second Rope Pulley; 604 - Second Rope Pulley Shaft; 605 - First Driving Motor; 606 - First Bevel Gear Set (6061 - Input First Bevel Gear; 6062 - Intermediate First Bevel Gear; 6063 - Output First Bevel Gear; 6064 - First Bevel Gear; 6065 - Second Bevel Gear); 607 - Pushing Cylinder; 7 - Rotating Mechanism; 701 - Rotating Motor; 702 - Driving Bevel Gear; 703 - Driven Bevel Gear; 8 - Flexible Tilting and Adjusting Mechanism; 801 - Third Rope Pulley; 802 - Third Rope Pulley Shaft; 803 - Second Driving Motor; 804 - Second Bevel Gear Set (8041 - Input Second Bevel Gear; 8042 - Intermediate Second Bevel Gear; 8043 - Output Second Bevel Gear; 8044 - Third Bevel Gear); 9 - Gripping Component; 901 - Support Frame; 902 - Shifting and Adjusting Screw Rod; 903 - Mounting Frame; 904 - Bi-directional Adjusting Screw Rod; 905 - Sliding Support; 906 - Gripping Driving Plate; 907 - Telescopic Cylinder; 908 - First Clamping Plate; 909 - Second Clamping Plate. Detailed Embodiment

[0033] The technical solution of the present invention will be further specifically described below through embodiments in combination with the drawings. Many specific details are set forth in the following description in order to fully understand the present invention, but the present invention can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "up", "down", "in", "out", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. Example

[0035] This embodiment provides an automatic loading and unloading robot for forklift axle production, such as Figure 1-Figure 5 As shown, it includes a moving component 1, a moving frame 2, a lifting and flipping frame 3, a rotating frame 4, a connecting flipping frame 5, a flexible lifting and flipping mechanism 6, a rotating mechanism 7, a flexible flipping adjustment mechanism 8 and a grabbing component 9; The moving assembly 1 includes a longitudinal rod 101, a longitudinal moving screw 102, a transverse rod 103, a transverse rack 104, a transverse moving gear 105 and a transverse moving motor 106; the longitudinal rod 101 is provided with a pair and is horizontally fixedly installed in the production space; the longitudinal moving screw 102 adopts a servo screw and is installed on one of the longitudinal rods 101; two nuts are provided on the longitudinal moving screw 102, which correspond to the two transverse rods 103 respectively; the transverse rod 103 is perpendicular to the longitudinal rod 101, one end of the transverse rod 103 is fixedly installed on the corresponding nut, and the other end is slidably installed on the other longitudinal rod 101; the moving frame 2 is slidably installed on the two transverse rods 103; the transverse rack 104 is horizontally fixedly installed on one of the transverse rods 103, and the transverse moving gear 105 is meshed with the transverse rack 104; the transverse moving motor 106 adopts a servo motor, which is fixedly installed on the moving frame 2, and its output end is coaxially fixedly connected with the transverse moving gear 105; Specifically, the longitudinal moving screw 102 drives the transverse rod 103 to move longitudinally, the transverse moving motor 106 drives the transverse gear 105 to rotate, and the transverse gear 105 engages with the transverse rack 104 to make the moving frame 2 move laterally. As described above, the moving frame 2 is driven to move freely in the transverse and longitudinal directions.

[0036] like Figure 6-Figure 10 As shown, the flexible lifting and flipping mechanism 6 includes a first rope wheel 601, a first rope wheel shaft 602, a second rope wheel 603, a second rope wheel shaft 604, a driving motor 605, a bevel gear set 606 and a push cylinder 607; the first rope wheel 601 is provided with a pair, which are coaxially connected together by the first rope wheel shaft 602 and rotatably mounted on the mobile frame 2; the second rope wheel 603 is provided with a pair, which are coaxially connected together by the second rope wheel shaft 604 and rotatably mounted on the mobile frame 2; the first rope wheel shaft 602 and the second rope wheel shaft 604 are parallel to each other, and the rope rotation directions of the first rope wheel 601 and the second rope wheel 603 are opposite; A sliding block 6021 is coaxially slidably mounted on the first rope wheel shaft 602; the push cylinder 607 adopts a servo cylinder, the cylinder body is fixedly mounted on the mobile frame 2, and a connecting ring is fixedly mounted on the telescopic end thereof, and the connecting ring is rotatably connected to the sliding block 6021; the driving motor 1 605 adopts a servo motor, which is fixedly mounted on the mobile frame 2; The bevel gear set 606 includes an input bevel gear 6061, a transition bevel gear 6062, an output bevel gear 6063, a first bevel gear 6064 and a second bevel gear 6065; the input bevel gear 6061 is coaxially fixedly mounted on the output end of the drive motor 605; the transition bevel gear 6062 is meshed with the input bevel gear 6061 and rotatably mounted on the mobile frame 2; two output bevel gears 6063 are provided corresponding to the first rope wheel shaft 602 and the second rope wheel shaft 604, and the output bevel gear 6063 is coaxially fixedly connected with the transition bevel gear 6062; two first bevel gears 6064 are provided, which are arranged opposite to each other and fixedly mounted on the sliding block 6021, and the two first bevel gears 6064 are intermittently meshed with the output bevel gear 6063 corresponding to the first rope wheel shaft 602; the second bevel gear 6065 is coaxially fixedly mounted on the second rope wheel shaft 604, and meshed with the output bevel gear 6063 corresponding to the second rope wheel shaft 604; Two arc-shaped limit plates 301 are fixedly provided on the lifting and turning frame 3, each arc-shaped limit plate 301 corresponds to a limit rod 303, the top end of the limit rod 303 penetrates and is slidably installed on the moving frame 2, and the bottom end is slidably connected with the corresponding arc-shaped limit plate 301; rotating connecting blocks 302 are rotatably installed on the four ends of the lifting and turning frame 3, and the rope ends of the first rope wheel 601 and the second rope wheel 603 are fixedly connected with the rotating connecting blocks 302 at the corresponding positions; Specifically, the push cylinder 607 can drive the sliding block 6021 to move, so that the output bevel gear 1 6063 corresponding to the first rope wheel 601 is meshed with one of the first bevel gears 6064; the driving motor 1 605 drives the input bevel gear 1 6061 to rotate, and the input bevel gear 1 6061 drives the two output bevel gears 1 6063 to rotate through the transition bevel gear 1 6062, and the output bevel gear 1 6063 drives the first bevel gear 6064 or the second bevel gear 6065 meshed therewith to rotate; by selecting the meshing first bevel gear 6064, the first rope wheel shaft 602 and the second rope wheel shaft 604 are controlled to rotate in the same direction or in the opposite direction; when the first rope wheel shaft 602 and the second rope wheel shaft 604 rotate in the same direction, the rope movement directions of the first rope wheel 601 and the second rope wheel 603 are opposite, driving the lifting and turning frame 3 to turn over, and when the first rope wheel shaft 602 and the second rope wheel shaft 604 rotate in the opposite direction, the rope movement directions of the first rope wheel 601 and the second rope wheel 603 are the same, driving the lifting and turning frame 3 to rise and fall.

[0037] like Figure 11-Figure 12 As shown, the rotating mechanism 7 includes a rotating motor 701, a driving bevel gear 702 and a driven bevel gear 703; the rotating frame 4 is rotatably mounted on the lifting and flipping frame 3, and the driven bevel gear 703 is fixedly mounted on the rotating frame 4; the rotating motor 701 adopts a servo motor and is fixedly mounted on the lifting and flipping frame 3; the driving bevel gear 702 is coaxially fixedly mounted on the output end of the rotating motor 701 and meshes with the driven bevel gear 703; Specifically, the rotating motor 701 drives the driving bevel gear 702 to rotate, the driving bevel gear 702 drives the driven bevel gear 703 to rotate, and the driven bevel gear 703 drives the rotating frame 4 to rotate relative to the lifting and flipping frame 3.

[0038] like Figure 13-Figure 15 As shown, the top of the connecting flip frame 5 is rotatably installed on the rotating frame 4, and a group of grabbing components 9 are respectively provided on both sides of the bottom end; the flexible flip adjustment mechanism 8 includes a third rope wheel 801, a third rope wheel shaft 802, a second driving motor 803 and a second bevel gear set 804; a pair of third rope wheel shafts 802 are provided, which are parallel and rotatably installed in the rotating frame 4; each third rope wheel shaft 802 is coaxially fixedly installed with a plurality of third rope wheels 801, and the rope ends of the third rope wheels 801 are fixedly connected to the side of the connecting flip frame 5; the rope rotation directions of the third rope wheels 801 on the two third rope wheel shafts 802 are opposite; the second driving motor 803 adopts a servo motor, which is fixedly installed in the rotating frame 4; The bevel gear set 804 includes an input bevel gear 8041, a transition bevel gear 8042, an output bevel gear 8043 and a third bevel gear 8044; the input bevel gear 8041 is coaxially fixedly mounted on the output end of the drive motor 803; the transition bevel gear 8042 is rotatably mounted in the rotating frame 4 and meshes with the input bevel gear 8041; a third bevel gear 8044 is coaxially fixedly mounted on each third rope wheel shaft 802, and each third bevel gear 8044 meshes with an output bevel gear 8043; the output bevel gear 8043 is coaxially fixedly connected with the transition bevel gear 8042; Specifically, the driving motor 803 drives the input bevel gear 8041 to rotate, and the input bevel gear 8041 drives the two output bevel gears 8043 to rotate synchronously through the transition bevel gear 8042, and the output bevel gear 8043 drives the third bevel gear 8044 meshing therewith to rotate, and the two third bevel gears 8044 rotate in the same direction, driving the two third rope wheel axles 802 to rotate in the same direction, and the third rope wheels 801 on the two third rope wheel axles 802 move in opposite directions, driving the connected flip frame 5 to rotate relative to the rotating frame 4 and flip.

[0039] like Figure 16-Figure 19As shown, the grab assembly 9 includes a support frame 901, a shift adjustment screw rod 902, a mounting frame 903, a bidirectional adjustment screw rod 904, a sliding bracket 905, a grab driving plate 906, a telescopic cylinder 907, a clamping plate 1 908 and a clamping plate 2 909; the support frame 901 is fixedly mounted on the connecting flip frame 5; there are five mounting frames 903, which are slidably mounted in parallel on the support frame 901; each mounting frame 903 corresponds to a shift adjustment screw rod 902, and the shift adjustment screw rod 902 is rotatably mounted in the support frame 901 and is threadedly connected to the corresponding mounting frame 903; A two-way adjustment screw rod 904 is rotatably installed in each mounting frame 903; two sliding brackets 905 are symmetrically threadedly installed on the two-way adjustment screw rod 904, and the sliding bracket 905 is slidably installed on the mounting frame 903; a pair of grabbing drive plates 906 are provided, which are symmetrically arranged on the mounting frame 903, and the upper end of the grabbing drive plate 906 is rotatably installed on the mounting frame 903; each grabbing drive plate 906 corresponds to a telescopic cylinder 907, a clamping plate 1 908 and a clamping plate 2 909; the telescopic cylinder 907 adopts a servo cylinder, and the cylinder body is rotatably installed on the sliding bracket 905, and the telescopic end is rotatably connected with the corresponding grabbing drive plate 906; the top end of the clamping plate 1 908 is rotatably installed on the mounting frame 903, and the bottom end is rotatably connected with the top end of the clamping plate 2 909; the bottom end of the clamping plate 2 909 is rotatably installed on the bottom end of the grabbing drive plate 906; the inner side surfaces of the clamping plate 1 908 and the clamping plate 2 909 are both rough friction surfaces; Specifically, rotating the shift adjustment screw 902 drives the corresponding mounting frame 903 to move, rotating the bidirectional adjustment screw 904 drives the two sliding brackets 905 thereon to move toward each other, and the telescopic end of the telescopic cylinder 907 moves to drive the grabbing drive plate 906 to rotate, thereby driving the clamping plate 1 908 and the clamping plate 2 909 to move to perform the grabbing work.

[0040] The working method of this embodiment is as follows: The operator rotates the displacement adjustment screw 902 to adjust the position of the mounting bracket 903 according to the shape and specification of the forklift half shaft; the operator rotates the bidirectional adjustment screw 904 to adjust the position of the sliding bracket 905 according to the specification and model of the forklift half shaft; Start the longitudinal moving screw 102 and the lateral moving motor 106 to drive the moving frame 2 to move freely; start the push cylinder 607 to control the lifting and flipping frame 3 to select lifting or flipping, start the driving motor 1 605 to make the lifting and flipping frame 3 lift or flip; start the rotating motor 701 to drive the rotating frame 4 to rotate; start the driving motor 2 803 to drive the connected flipping frame 5 to flip; through the above moving operations, the grabbing assembly 9 moves to the location of the forklift half shaft; The forklift axle is located between the two grab driving plates 906. The telescopic cylinder 907 is activated, and the clamping plate 1 908 and the clamping plate 2 909 move to grab the forklift axle. Finally, the moving operation is performed again so that the grab assembly 9 drives the forklift half shaft to the specified position.

Claims

1. An automatic loading and unloading robot for forklift axle production, characterized in that: It includes a moving frame, a moving assembly for driving the moving frame to move, a lifting and flipping frame installed on the moving frame, a flexible lifting and flipping mechanism for driving the lifting and flipping frame to lift or flip, a rotating frame rotatably installed on the lifting and flipping frame, a rotating mechanism for driving the rotating frame to rotate, a connecting flipping frame rotatably installed on the rotating frame, a flexible flipping adjustment mechanism for driving the connecting flipping frame to flip, and a grabbing assembly installed on the connecting flipping frame; An arc-shaped limit plate is fixedly provided on the lifting and flipping frame, a limit rod is slidably provided on the arc-shaped limit plate, and the limit rod is slidably connected to the moving frame; a rotating connecting block is rotatably installed on the lifting and flipping frame; The flexible lifting and flipping mechanism includes a first rope wheel shaft and a second rope wheel shaft rotatably mounted on the mobile frame, a first rope wheel coaxially fixedly mounted on the first rope wheel shaft and the rope end is fixedly connected to the corresponding rotating connecting block, a second rope wheel coaxially fixedly mounted on the second rope wheel shaft and the rope end is fixedly connected to the corresponding rotating connecting block, and a rotating driving mechanism for driving the first rope wheel shaft and the second rope wheel shaft to rotate in the same direction or in the opposite direction; The flexible flip adjustment mechanism includes a pair of third rope wheel shafts rotatably mounted in the rotating frame, a third rope wheel coaxially fixedly mounted on the third rope wheel shaft and having a rope end fixedly connected to the side surface of the flip frame, and a second rotation driving mechanism for driving the pair of third rope wheel shafts to rotate simultaneously; The grabbing assembly includes a supporting frame fixedly mounted on a connecting flip frame, a plurality of mounting frames slidably mounted on the supporting frame, sliding brackets arranged in pairs and slidably mounted on the mounting frames, a grabbing driving plate rotatably mounted on the sliding bracket, and a telescopic cylinder arranged between the sliding bracket and the grabbing driving plate; the telescopic cylinder body is rotatably mounted on the sliding bracket, and the telescopic end is rotatably connected to the corresponding grabbing driving plate.

2. The automatic loading and unloading robot for forklift axle production according to claim 1, characterized in that: A sliding block is coaxially slidably installed on the first rope wheel axle; the rotation driving mechanism includes a driving motor fixedly installed on the moving frame, a pushing cylinder fixedly installed on the moving frame and the telescopic end of which is connected to the sliding block, and a bevel gear set; the bevel gear set includes an input bevel gear coaxially fixedly installed on the output end of the driving motor, a transition bevel gear rotatably installed on the moving frame and meshing with the input bevel gear, two output bevel gears corresponding to the first rope wheel axle and the second rope wheel axle and coaxially fixedly connected to the transition bevel gear, two first bevel gears relatively arranged and fixedly installed on the sliding block, and a second bevel gear coaxially fixedly installed on the second rope wheel axle; the two first bevel gears intermittently mesh with the output bevel gear corresponding to the first rope wheel axle.

3. The automatic loading and unloading robot for forklift axle production according to claim 1 is characterized in that: The second rotating drive mechanism includes a second driving motor fixedly installed in a rotating frame, and a second bevel gear set; the second bevel gear set includes a second input bevel gear coaxially fixedly installed on the output end of the second driving motor, a second transition bevel gear rotatably installed in the rotating frame and meshing with the second input bevel gear, a third bevel gear coaxially fixedly installed on the third rope wheel shaft, and a second output bevel gear meshing with the third bevel gear and coaxially fixedly connected to the second transition bevel gear.

4. The automatic loading and unloading robot for forklift axle production according to claim 1, characterized in that: The rotating mechanism comprises a rotating motor fixedly mounted on the lifting and flipping frame, a driving bevel gear coaxially fixedly mounted on the output end of the rotating motor, and a driven bevel gear fixedly mounted on the rotating frame and meshing with the driving bevel gear.

5. The automatic loading and unloading robot for forklift axle production according to claim 1, characterized in that: The grabbing assembly also includes a clamping plate 1 and a clamping plate 2 arranged between the grabbing drive plate and the mounting frame; the top end of the clamping plate 1 is rotatably mounted on the mounting frame, and the bottom end is rotatably connected to the top end of the clamping plate 2; the bottom end of the clamping plate 2 is rotatably mounted on the grabbing drive plate.

6. The automatic loading and unloading robot for forklift axle production according to claim 5, characterized in that: The inner side surfaces of the clamping plate 1 and the clamping plate 2 are both rough friction surfaces.

7. The automatic loading and unloading robot for forklift axle production according to claim 1, characterized in that: The grabbing assembly also includes a displacement adjustment screw rod corresponding to the mounting frame; the displacement adjustment screw rod is rotatably mounted in the support frame and is threadedly connected to the corresponding mounting frame.

8. The automatic loading and unloading robot for forklift axle production according to claim 1, characterized in that: The grab assembly also includes a bidirectional adjustment screw rod which is rotatably mounted on the mounting frame and is threadedly connected to the sliding bracket.

9. An automatic loading and unloading robot for forklift axle production according to any one of claims 1 to 8, characterized in that: The moving assembly comprises a longitudinal rod, a transverse rod, a longitudinal moving screw installed in the longitudinal rod for driving the transverse rod to move, and a transverse moving mechanism; the moving frame is slidably installed on the transverse rod and is driven to move by the transverse moving mechanism.

10. The automatic loading and unloading robot for forklift axle production according to claim 9, characterized in that: The lateral movement mechanism comprises a lateral rack fixedly mounted on the lateral rod, a lateral movement motor fixedly mounted on the moving frame, and a lateral movement gear coaxially fixedly mounted on the output end of the lateral movement motor and meshing with the lateral rack.

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