Automatic carrying device of gear grinding machining system

Abstract

The invention relates to the technical field of gear machining, in particular to an automatic carrying device of a gear grinding machining system.The automatic carrying device comprises a machine body, an upper ejector pin, a lower rotary table and a carrying feeding and limiting mechanism, and the upper ejector pin, the lower rotary table and the carrying feeding and limiting mechanism are arranged on the surface of the machine body; the hydraulic cylinder is fixed on the surface of the machine body and is used for controlling the height of the connecting plate; the object placing table is used for temporarily placing workpieces; the linear guide rail sliding table drives the moving seat to horizontally move to the position above the object placing table, the second electric cylinder is matched to drive the semi-ring plates and the connecting rods to enable the multiple moving plates to be centripetally folded along the sliding grooves, the flexible clamping assembly composed of the rubber sleeve and the air bag completes stable grabbing of the gear shaft, the gear shaft is moved to the position above the lower rotary table, and the gear shaft is clamped. A worker only needs to place the gear shaft to be machined on the object placing table, and does not need to obliquely stretch into a dangerous area between an ejector pin and a grinding wheel in a machine tool for feeding and discharging.

Description

Technical Field

[0001] This invention relates to the field of gear processing technology, specifically to an automated handling device for a gear grinding system. Background Technology

[0002] Gear grinding machines are high-precision machine tools used for the finishing of gears. Most gear grinding machines adopt CNC systems and have high precision, high efficiency and high level of automation. They can process various gear parts such as shafts, discs and gear shafts. They are mainly used for the final grinding of the tooth profile of hardened gears, which can effectively correct the deformation and errors caused by gear pre-processing. Their working principle is divided into generating method and forming method: generating method is based on the meshing principle and forms the tooth profile through the continuous meshing of the grinding wheel and the gear. It is the most widely used method. Forming method uses a grinding wheel with a specific profile to directly grind out the tooth profile.

[0003] During gear grinding, especially in the machining of gear shafts, a top ejector pin and a bottom rotary table are typically used to clamp and fix the gear shaft. To prevent the gear shaft from shifting due to lateral forces exerted by the grinding wheel, a clamping plate is usually installed around the ejector pin. However, since the gear shaft requires machining more than one tooth, the clamping plate needs to be temporarily released, the rotary table and ejector pin rotated, and then the clamping plate is removed again to machine the next tooth. Re-clamping and fixing may cause a slight shift in the gear shaft, affecting machining accuracy. Furthermore, loading the gear shaft requires the operator to place it on top of the rotary table and press down on the ejector pin. This tilts the operator's body between the grinding wheel and the ejector pin, posing a safety hazard. Summary of the Invention

[0004] The purpose of this invention is to provide an automated handling device for a gear grinding system, which has the function of handling and loading materials, and does not require the workpiece to be unclamped and then clamped again during the rotation of the gear shaft due to processing needs, effectively preventing the workpiece from shifting due to rotation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automated handling device for a gear grinding system, comprising a machine body and an upper ejector pin, a lower turntable, and a handling, loading, and limiting mechanism disposed on the surface of the machine body, wherein the handling, loading, and limiting mechanism includes: A connecting plate, located below the upper ejector pin; A hydraulic cylinder, fixed to the surface of the machine body, is used to control the height of the connecting plate; A shelf for temporarily placing workpieces, the surface of which is rotatably connected to rollers; A movable seat is disposed on the side of the connecting plate; A linear guide slide, wherein the guide rail portion is bolted to the connecting plate, and the slide portion of the linear guide slide is bolted to the movable seat. Several flexible clamping components are distributed below the movable base, and the flexible clamping components are inflatable. An inflation component is interconnected with a flexible clamping component via a pipeline to increase the air pressure inside the flexible clamping component. A movable adjustment component is used to synchronously adjust the position of the plurality of said flexible clamping components.

[0006] Preferably, the flexible clamping assembly includes: Several movable plates are arranged in a circular array, and the surface of the movable base is provided with a sliding groove to provide a moving range for the movable plates; A metal cage is rotatably connected to the movable plate; A rubber sleeve is bonded to and fitted onto the surface of the metal cage, and has a hollow design; The airbag is located inside the metal cage, and its edges are integrally designed with several raised edges with anti-slip design. Two sets of limiting rings are bolted to the surface of the moving plate and located on the upper and lower sides of the slide groove; A brake plate is bolted to the bottom of the movable plate and has a gap between it and the surface of the rubber sleeve.

[0007] Preferably, when the convex edge is not expanded, it is located at the surface gap of the metal cage, while when the convex edge is expanded, it passes through the hollow of the rubber sleeve and comes into contact with the brake plate.

[0008] Preferably, the brake plate has an arc-shaped design.

[0009] Preferably, the inflation assembly includes: A semi-circular tube is located above the movable seat; The second connecting pipe passes through the movable plate, and one end of it is connected to the semi-circular pipe through a section of flexible hose. The third connecting tube has one end extending into the interior of the metal cage and communicating with the airbag, and the other end connecting with the second connecting tube. A cylindrical body is disposed on the side of the movable seat, and a support plate for fixing the cylindrical body is also disposed on the side of the movable seat. The first electric cylinder consists of two sets, which are respectively bolted to both sides of the top of the support plate; The connecting plate is bolted to the output shaft of the first electric cylinder; The piston is slidably connected to the inner wall of the cylinder. The movable column is fixed at both ends to the connecting plate and the piston, respectively. The first connecting pipe has its two ends connected to the top of the cylinder and the semi-circular pipe, respectively.

[0010] Preferably, the movable seat is a ring-shaped design, and a notch is provided on the side away from the connecting plate, and both ends of the semi-ring tube extend above the notch on the surface of the connecting plate.

[0011] Preferably, the movable adjustment assembly includes a second electric cylinder, a semi-ring plate, and a connecting rod. The second electric cylinder is bolted to the top of the movable seat. The two ends of the connecting rod are rotatably connected to the movable plate and the semi-ring plate, respectively. The semi-ring plate also adopts a notch design. The semi-ring plate is bolted to the output shaft of the second electric cylinder. The semi-ring plate is located inside the semi-ring tube and the notch faces the same direction.

[0012] Preferably, a vertical rod is also bolted to the top surface of the movable seat, the vertical rod passing through the semi-circular plate and slidably connected to it at the point of penetration.

[0013] Preferably, when the semi-ring plate rises, the plurality of movable plates converge toward the middle side, and when the semi-ring plate falls, the plurality of movable plates move away from the middle side.

[0014] Preferably, the convex edge has an integrated surface design with several friction ridges to increase friction in the vertical direction.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention uses a linear guide slide to move the movable seat to the top of the worktable. The second electric cylinder drives the semi-ring plate and connecting rod to make multiple movable plates converge along the slide groove. The flexible clamping assembly composed of rubber sleeve and air bag completes the stable gripping of the gear shaft and moves the gear shaft to the top of the lower turntable. The operator only needs to place the gear shaft to be processed on the worktable, without having to lean into the dangerous area between the ejector pin and the grinding wheel inside the machine tool to load or unload the material.

[0016] 2. When the piston is pushed upward by the first electric cylinder, the convex edge with friction ridges is forced out from the hollow of the rubber sleeve and embedded in the tooth gap of the clamped gear shaft. This effectively increases the circumferential contact area and friction force with the gear shaft, making the gear shaft gripping more stable and preventing it from slipping during transportation. Moreover, it fills the gap in the tooth groove of the rubber sleeve during grinding, suppressing the micro-deflection of the gear shaft under the action of the lateral force of the grinding wheel. After the convex edge expands, its outer edge is closely attached to the arc-shaped brake plate, which temporarily locks the rotation of the metal cage through friction. In conjunction with the upper and lower clamping of the upper ejector pin and the lower turntable, an additional horizontal safety is added to ensure that the gear shaft will not rotate or deviate unexpectedly due to the cutting force during grinding by the grinding wheel, thus improving the machining accuracy.

[0017] 3. When the gear shaft needs to be rotated, the first electric cylinder drives the piston to descend, causing the convex edge on the surface of the airbag to retract and return to the hollowed-out area of ​​the metal cage. At this time, the convex edge no longer fills the gap between the teeth, eliminating the circumferential restriction on the gear shaft. The metal cage, through the rotating connection design of the moving plate, can rotate together with the gear shaft held by the lower turntable and the upper ejector pin, maintaining the continuity and stability of the upper ejector pin and the lower turntable in holding the gear shaft up and down. At the same time, it provides free conditions for the rotation of the gear shaft. During the rotation of the gear shaft, there is no need to first release the clamp and then re-clamp it. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention during operation; Figure 2 This is a schematic diagram of the structure in this invention; Figure 3 This is a schematic diagram of the material handling and restraint mechanism in this invention; Figure 4 This is a schematic diagram of the structure in this invention; Figure 5 This is a schematic diagram of the movable seat and its surface in this invention; Figure 6 This is a schematic diagram of the flexible clamping assembly in this invention; Figure 7 This is a schematic diagram of the brake plate in this invention; Figure 8 This is a cross-sectional view of the metal cage in this invention; Figure 9 This is a cross-sectional view of the airbag in this invention; Figure 10 This is a schematic diagram showing the rubber sleeve after it has been removed from the surface of the metal cage in this invention; Figure 11 This is a schematic diagram of the structure of the movable adjustment component in this invention; Figure 12 This is a schematic diagram of the structure of the inflation component in this invention.

[0019] In the diagram: 100, machine body; 200, upper ejector pin; 300, lower turntable; 400, material handling and restraint mechanism; 410, hydraulic cylinder; 420, connecting plate; 430, storage platform; 431, roller; 440, linear guide slide; 450, movable seat; 451, slide groove; 460, support plate; 470, inflation assembly; 471, first electric cylinder; 472, movable column; 473, connecting plate; 474, first connecting pipe; 475, semi-circular pipe; 476 477. Cylinder; 478. Piston; 479. Second connecting pipe; 470. Third connecting pipe; 4791. Pipe rotary connector; 480. Flexible clamping assembly; 481. Moving plate; 482. Metal cage; 483. Rubber sleeve; 484. Airbag; 485. Protruding edge; 4851. Friction rib; 486. Brake plate; 487. Limiting ring; 490. Moving adjustment assembly; 491. Second electric cylinder; 492. Semi-ring plate; 493. Connecting rod; 494. Vertical rod. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-12 As shown, an automated handling device for a gear grinding system includes a machine body 100 and an upper ejector pin 200, a lower turntable 300, and a handling, loading, and limiting mechanism 400 disposed on the surface of the machine body 100. The handling, loading, and limiting mechanism 400 includes a connecting plate 420, a hydraulic cylinder 410, a storage platform 430, a movable seat 450, a linear guide slide 440, a flexible clamping assembly 480, an inflation assembly 470, and a movement adjustment assembly 490. The connecting plate 420 is located below the upper ejector pin 200. The hydraulic cylinder 410 is fixed to the surface of the machine body 100 and is used to control the height of the connecting plate 420. The storage platform 430 is used to temporarily place the workpiece, i.e., the gear shaft. Rollers 431 are rotatably connected to the surface of 430. The movable seat 450 is located on the side of the connecting plate 420. The guide rail part of the linear guide slide 440 is bolted to the connecting plate 420, and the slide part of the linear guide slide 440 is bolted to the movable seat 450. There are several flexible clamping components 480 distributed below the movable seat 450. The flexible clamping components 480 are inflatable. The inflatable component 470 is connected to the flexible clamping component 480 through a pipe to increase the air pressure inside the flexible clamping component 480. The moving adjustment component 490 is used to simultaneously adjust the position of multiple flexible clamping components 480 to adapt to multiple sets of gear shafts with different outer diameters.

[0022] Specifically, the flexible clamping assembly 480 includes a movable plate 481, a metal cage 482, a rubber sleeve 483, an airbag 484, a limiting ring 487, and a braking plate 486. The movable plates 481 are numerous and arranged in a circular array. A groove 451 is formed on the surface of the movable base 450 to provide a movement range for the movable plates 481. The metal cage 482 is rotatably connected to the movable plates 481. The rubber sleeve 483 is adhered to and fitted onto the surface of the metal cage 482, and has a hollow design. The rubber sleeve 483 also has a similar hollow design, and the hollow portion is connected to the surface of the metal cage 482. The empty parts are aligned with each other. The airbag 484 is located inside the metal cage 482, and the edge is integrated with several anti-slip raised edges 485. There are two sets of limiting rings 487, which are bolted to the surface of the moving plate 481 and located on the upper and lower sides of the slide groove 451. The brake plate 486 is bolted to the bottom of the moving plate 481 and there is a gap between it and the surface of the rubber sleeve 483. The brake plate 486 is arc-shaped to accommodate multiple raised edges 485 in contact with it. The surface of the raised edge 485 is integrated with several friction ridges 4851 to increase friction in the vertical direction.

[0023] Furthermore, the inflation assembly 470 includes a semi-annular pipe 475, a second connecting pipe 478, a third connecting pipe 479, a cylinder 476, a first electric cylinder 471, a connecting plate 473, a piston 477, a movable column 472, and a first connecting pipe 474. The semi-annular pipe 475 is located above the movable seat 450. The second connecting pipe 478 passes through the movable plate 481, and one end of it is connected to the semi-annular pipe 475 via a section of flexible hose. One end of the third connecting pipe 479 extends into the interior of the metal cage 482 and is connected to the airbag 484, while the other end is connected to the second connecting pipe 478. A pipe rotating connector 4791 is provided between the third connecting pipe 479 and the second connecting pipe 478 to connect them. Meanwhile, the third connecting pipe 476... 79 rotates with the airbag 484 and the metal cage 482, ensuring connection without being obstructed by the second connecting pipe 478. The cylinder 476 is located on the side of the movable seat 450, and the side of the movable seat 450 is also provided with a support plate 460 for fixing the cylinder 476. There are two sets of first electric cylinders 471, which are respectively bolted to the two sides of the top of the support plate 460. The connecting plate 473 is bolted to the output shaft of the first electric cylinder 471. The piston 477 is slidably connected to the inner wall of the cylinder 476. The two ends of the movable column 472 are respectively fixed to the connecting plate 473 and the piston 477. The two ends of the first connecting pipe 474 are respectively connected to the top of the cylinder 476 and the semi-circular pipe 475.

[0024] Before operation, air is present inside the first connecting pipe 474, the second connecting pipe 478, the third connecting pipe 479, the air bladder 484, the semi-ring pipe 475, and the cylinder 476 above the piston 477. The air bladder 484 and the protruding edge 485 are made of rubber.

[0025] Furthermore, the movable seat 450 is a ring-shaped design, and a notch is provided on the side away from the connecting plate 420. The two ends of the semi-ring tube 475 extend above the notch on the surface of the connecting plate 420. The notch here is to facilitate the grinding wheel to enter the inner side of the movable seat 450 to contact the clamped and fixed gear shaft.

[0026] Furthermore, the movable adjustment assembly 490 includes a second electric cylinder 491, a semi-ring plate 492, and a connecting rod 493. The second electric cylinder 491 is bolted to the top of the movable seat 450. The two ends of the connecting rod 493 are rotatably connected to the movable plate 481 and the semi-ring plate 492, respectively. The semi-ring plate 492 also adopts a notch design, which is designed to facilitate the entry of the grinding wheel into the inner side. The semi-ring plate 492 is bolted to the output shaft of the second electric cylinder 491, and the semi-ring plate 492 is located inside the semi-ring tube 475. The notch parts face the same direction. A vertical rod 494 is also bolted to the top surface of the movable seat 450. The vertical rod 494 passes through the semi-ring plate 492 and is slidably connected to it at the point of penetration. During the up-and-down movement, the semi-ring plate 492 can slide along the surface of the vertical rod 494, increasing the stability of the semi-ring plate 492 during the upward movement.

[0027] During operation, the hydraulic cylinder 410 is first activated to raise or lower the connecting plate 420, linear guide slide 440, movable seat 450, and placement table 430 until the top of the roller 431 is slightly higher than the top of the lower turntable 300. Then, the slide portion of the linear guide slide 440 moves, causing the movable seat 450 to be positioned above the roller 431. Next, the gear shaft to be processed is placed inside the movable seat 450, and the second electric cylinder 491 is activated. The output shaft of the second electric cylinder 491 extends, causing one end of the connecting rod 493 to rise, while the other end connects to the movable plate 481, causing multiple movable plates 481 to slide along the inner wall of the slide groove 451, converging towards the center. Then, the rubber sleeve 483 on the surface of the metal cage 482 contacts the teeth of the gear shaft, achieving flexible clamping. Simultaneously, the first electric cylinder 471 is activated, its output shaft extending to move the connecting plate 473, movable column 472, and movable... As the piston 477 rises, it compresses the air above the cylinder 476, increasing the pressure. This pressure increases by compressing the air inside the first connecting pipe 474, the semi-ring pipe 475, the hose connecting the second connecting pipe 478 and the semi-ring pipe 475, the second connecting pipe 478, and the third connecting pipe 479. This increases the pressure inside the airbag 484. Simultaneously, due to the action of the metal cage 482, the airbag 484 does not expand outward, while the protruding edge 485 on the surface of the airbag 484 expands. The protruding edge 485 extends to the outside of the rubber sleeve 483 and enters the gap of the clamped gear shaft, filling the gap between the teeth. It also engages with the friction ridge 4851 on the surface of the protruding edge 485 to increase friction. During the handling and movement, the increased friction makes it less likely for the clamped gear shaft to fall off. The bottom of the metal cage 482 is slightly higher than the top surface of the roller 431, so the metal cage 482 will not contact the top surface of the roller 431.

[0028] After clamping, the linear guide slide 440 opens again, and its slide section drives the moving seat 450 and the clamped gear shaft to move. Initially, it moves along the surface of the roller 431, then it is suspended in the air, and finally clamps and moves the gear shaft above the lower turntable 300, aligning the center of the gear shaft with the lower turntable 300. Then, the hydraulic cylinder 410 is activated to extend its output shaft, which drives the connecting plate 420 and the moving seat 450 to descend, so that the bottom surface of the gear shaft contacts the lower turntable 300. Then, the upper ejector pin 200 descends, completing the clamping of the gear shaft and the loading of the gear shaft. There is no need for the operator to lean into the machine body 100. The gear shaft to be processed is simply placed above the table 430. The loading is completed by the cooperation of various mechanisms in the handling, loading and limiting mechanism 400, reducing safety hazards.

[0029] During the machining process, if the gear shaft needs to be rotated after a tooth is machined, firstly, the first electric cylinder 471 is activated to retract its output shaft, causing the piston 477 to descend to the bottom. This reduces the pressure inside the upper part of the cylinder 476, the first connecting pipe 474, the second connecting pipe 478, and the air bladder 484. The protruding edge 485 retracts and returns to its original position in the slotted gap of the metal cage 482. Then, the lower turntable 300 rotates, causing the gear shaft to rotate. Simultaneously, the metal cage 482 and the rubber sleeve 483 rotate with it. This maintains horizontal and vertical clamping while providing the conditions for the rotation of the gear shaft, eliminating the need to release and re-clamp, thus avoiding the displacement caused by re-clamping. After the gear shaft rotates, the next tooth aligns with the grinding wheel and is processed. Simultaneously, the first electric cylinder 471 is activated again, driving the piston 477 to rise, allowing the protruding edge 485 to re-enter the interior of the tooth and fill the tooth in contact with the rubber sleeve 483. At the same time, the protruding edge 485 expands and contacts the brake plate 486. Through friction, the metal cage 482 is temporarily locked, preventing it from rotating arbitrarily. This adds an extra layer of protection. Combined with the original clamping of the upper ejector pin 200 and the lower turntable 300, as well as the cooperation of the braked metal cage 482, rubber sleeve 483, and protruding edge 485, the gear shaft is effectively prevented from rotating or shifting under the horizontal force of the grinding wheel.

[0030] After processing, the grinding wheel is first removed from the notch of the moving seat 450. Then, the gear shaft is raised by the hydraulic cylinder 410. Then, the linear guide slide 440 moves the moving seat 450 and the gear shaft back to the top of the table 430. The first electric cylinder 471 is activated to retract the protruding edge 485 of the airbag 484, and the second electric cylinder 491 is activated to lower the semi-ring plate 492 and move the moving plate 481 away from the middle side. The clamping and fixing are released, and the gear shaft can be taken out. The unloading is also safer.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated handling device for a gear grinding system, comprising a machine body (100) and an upper ejector pin (200), a lower turntable (300), and a handling, loading, and limiting mechanism (400) disposed on the surface of the machine body (100), characterized in that, The material handling, loading, and restraining mechanism (400) includes: Connecting plate (420), which is located below the upper ejector pin (200); A hydraulic cylinder (410) is fixed to the surface of the machine body (100) and is used to control the height of the connecting plate (420); A platform (430) is used to temporarily place workpieces, and the surface of the platform (430) is rotatably connected with rollers (431). A movable seat (450) is disposed on the side of the connecting plate (420); A linear guide slide (440) has its guide rail portion bolted to the connecting plate (420), and the slide portion of the linear guide slide (440) is bolted to the movable seat (450). A number of flexible clamping components (480) are distributed below the movable seat (450), and the flexible clamping components (480) are inflatable. An inflation assembly (470) is interconnected with a flexible clamping assembly (480) via a pipeline to increase the air pressure inside the flexible clamping assembly (480); A movable adjustment component (490) is used to synchronously adjust the position of the plurality of the flexible clamping components (480).

2. The automated handling device for a gear grinding system according to claim 1, characterized in that: The flexible clamping assembly (480) includes: The number of movable plates (481) is several and arranged in a circular array. The surface of the movable base (450) is provided with a sliding groove (451) to provide a moving range for the movable plates (481). A metal cage (482) is rotatably connected to the movable plate (481); A rubber sleeve (483) is bonded to and fitted onto the surface of the metal cage (482) and has a hollow design; The airbag (484) is located inside the metal cage (482) and has several raised edges (485) with anti-slip design integrated at its edge. Two sets of limiting rings (487) are bolted to the surface of the moving plate (481) and located on the upper and lower sides of the slide groove (451); A brake plate (486) is bolted to the bottom of the movable plate (481) and has a gap between it and the surface of the rubber sleeve (483).

3. The automated handling device for a gear grinding system according to claim 2, characterized in that: When the protruding edge (485) is not expanded, it is located at the surface gap of the metal cage (482), while when the protruding edge (485) is expanded, it passes through the hollow of the rubber sleeve (483) and comes into contact with the brake plate (486).

4. The automated handling device for a gear grinding system according to claim 2, characterized in that: The brake plate (486) has an arc-shaped design.

5. The automated handling device for a gear grinding system according to claim 2, characterized in that, The inflation assembly (470) includes: A semi-circular tube (475) is located above the movable seat (450); The second connecting pipe (478) passes through the movable plate (481), and one end of it is connected to the semi-circular pipe (475) through a section of flexible hose. The third connecting pipe (479) extends one end into the interior of the metal cage (482) and communicates with the airbag (484), and the other end is connected to the second connecting pipe (478); The cylinder (476) is disposed on the side of the movable seat (450), and the side of the movable seat (450) is also provided with a support plate (460) for fixing the cylinder (476). The first electric cylinder (471) consists of two sets, which are respectively bolted to both sides of the top of the support plate (460); The connecting plate (473) is bolted to the output shaft of the first electric cylinder (471); The piston (477) is slidably connected to the inner wall of the cylinder (476); The movable column (472) is fixed at both ends to the connecting plate (473) and the piston (477), respectively; The first connecting pipe (474) is connected at both ends to the top of the cylinder (476) and the semi-circular pipe (475), respectively.

6. The automated handling device for a gear grinding system according to claim 5, characterized in that: The movable seat (450) is a ring-shaped design, and a notch is provided on the side away from the connecting plate (420). The two ends of the semi-ring tube (475) extend above the notch on the surface of the connecting plate (420).

7. The automated handling device for a gear grinding system according to claim 5, characterized in that: The movable adjustment assembly (490) includes a second electric cylinder (491), a semi-ring plate (492), and a connecting rod (493). The second electric cylinder (491) is bolted to the top of the movable seat (450). The two ends of the connecting rod (493) are rotatably connected to the movable plate (481) and the semi-ring plate (492) respectively. The semi-ring plate (492) also adopts a notch design. The semi-ring plate (492) is bolted to the output shaft of the second electric cylinder (491). The semi-ring plate (492) is located inside the semi-ring tube (475), and the notch faces the same direction.

8. The automated handling device for a gear grinding system according to claim 7, characterized in that: The top surface of the movable seat (450) is also bolted with a vertical rod (494), which passes through the semi-circular plate (492) and is slidably connected to it at the point of penetration.

9. An automated handling device for a gear grinding system according to claim 7, characterized in that: When the semi-ring plate (492) rises, the plurality of movable plates (481) converge toward the middle side, and when the semi-ring plate (492) falls, the plurality of movable plates (481) move away from the middle side.

10. An automated handling device for a gear grinding system according to claim 2, characterized in that: The surface of the protruding edge (485) is designed with several friction ridges (4851) to increase friction in the vertical direction.

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