Automatic feeding and discharging mechanism and equipment for cam plate inner hole pull pin finishing

Abstract

The application discloses an automatic feeding and discharging mechanism and equipment for cam piece inner hole pull pin finishing, relates to the technical field of forming machine tools, and aims to solve the technical problem that iron filings and impurity particles are easily attached to the inner wall of the rough inner hole of the cam piece after rough machining, thereby affecting the positioning of the workpiece pull pin, and comprises a double-claw feeding and discharging mechanism, wherein the double-claw feeding and discharging mechanism comprises a two-shaft moving mechanism, a feeding grabbing mechanism and a discharging grabbing mechanism, the feeding grabbing mechanism comprises a rotating column, a grabbing frame body, a traveling plate, a fixing block and a shuttle-shaped plate, one side of the shuttle-shaped plate is provided with an arc-shaped scraper, and the other side of the shuttle-shaped plate is provided with an arc convex block. The feeding grabbing mechanism has the advantages that the inner wall of the inner hole is automatically cleaned before the cam piece workpiece is grabbed and transferred, and the positioning is accurate after the workpiece is transferred to the machining station of the vertical broaching machine.

Description

Technical Field

[0001] This invention relates to the field of forming machine tool technology, and more specifically, to an automatic loading and unloading mechanism and equipment for precision machining of the inner hole pull pin of a cam plate. Background Technology

[0002] The precision machining of the inner hole of the cam plate relies on a vertical broaching machine and a round hole broach to complete the rough inner hole broaching of the workpiece in one go. It can simultaneously ensure the dimensional accuracy, roundness, cylindricity and surface finish of the inner hole. The machined inner hole is the core reference hole for cam profile milling and shaft assembly. It has the advantages of high processing efficiency and good batch size consistency, and has become the mainstream precision machining process for mass production of cam plates.

[0003] Existing cam broaching production lines mostly use automated loading and unloading mechanisms for workpiece transfer. However, these mechanisms have significant drawbacks in actual production. After rough machining, the inner wall of the rough inner hole of the cam plate is prone to the adhesion of iron filings and impurities. Conventional three-jaw chucks lack pre-cleaning capabilities, allowing impurities to remain on the clamping contact surface between the chucks and the inner hole. This leads to workpiece slippage and skewness during transfer. Furthermore, the workpiece may shift after being fed into the broaching machine, ultimately resulting in dimensional errors, non-compliance with form and position tolerances, and other machining defects. Therefore, we propose an automated loading and unloading mechanism and equipment for the precision machining of cam plate inner hole pins. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic loading and unloading mechanism and equipment for the precision machining of the inner hole pull pin of a cam plate, so as to solve the technical problem that iron filings and impurity particles are easily attached to the inner wall of the rough inner hole of the cam plate after the previous rough machining, which affects the positioning of the pull pin of the workpiece.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automatic loading and unloading mechanism for precision machining of cam plate inner hole pull pins, comprising a double-jaw loading and unloading mechanism, wherein the double-jaw loading and unloading mechanism includes: The two-axis moving mechanism consists of two sets, and the two sets of the two-axis moving mechanism are arranged in a symmetrical structure. The feeding and gripping mechanism is connected to the moving end of one of the two-axis moving mechanisms; The material feeding and gripping mechanism is connected to the moving end of another of the two-axis moving mechanisms; The feeding and gripping mechanism includes: A rotating column that can be driven to rotate around its own axis; The grabbing frame is positioned at the bottom of the rotating column; The travel plate is slidably arranged at the bottom of the gripping frame; A fixing block is attached to the bottom of the traveling plate; A spindle-shaped plate is rotatably arranged on the side wall of the fixed block and has a tendency to spring outward; One side of the shuttle plate is provided with an arc-shaped scraper, which is used to scrape the inner wall of the cam plate workpiece when the shuttle plate springs open and the gripping frame rotates; the other side of the shuttle plate is provided with an arc-shaped protrusion, which is used to force the arc-shaped protrusion of the shuttle plate to press against the inner wall of the cam plate workpiece when the traveling plate moves outward, forming a clamp.

[0006] Preferably, the side wall of the spindle plate is connected to an arc-shaped column, which movably passes through the side wall of the fixing block. The arc-shaped trajectory of the arc-shaped column and the rotation path of the spindle plate are arranged in concentric circles. An arc-shaped spring is sleeved on the arc-shaped column, and the two ends of the arc-shaped spring abut against the spindle plate and the fixing block respectively, so that the spindle plate has a tendency to spring outward.

[0007] Preferably, the feeding and gripping mechanism further includes a first motor and a gear transmission chain. The gear transmission chain includes a driving gear, two coaxially connected transmission gears, a driven gear, and a linkage gear. The first motor drives multiple rotating columns to rotate synchronously through the gear transmission chain.

[0008] Preferably, the feeding and gripping mechanism further includes a second motor and a drive plate. The drive plate is connected to the output end of the second motor and is provided with an arc-shaped drive groove. The traveling plate is provided with a drive column, which is movably arranged in the arc-shaped drive groove so that the second motor drives the traveling plate to move radially thereon.

[0009] Preferably, the fixing block has an outwardly convex arc surface structure and a clamping groove on one side, and the shuttle plate has an inwardly concave arc surface structure and a clamping protrusion on one side; when the shuttle plate rotates and retracts towards the fixing block, the inwardly concave arc surface structure slides along the outwardly convex arc surface structure until the clamping protrusion is engaged in the clamping groove, forming a rotation limit.

[0010] Preferably, one side of the arc-shaped scraper has a pointed edge, which coincides with the arc-shaped trajectory extension of the side wall of the arc-shaped protrusion block; a dirt collection channel is provided on the side of the arc-shaped protrusion block near the arc-shaped scraper, and the outlet of the dirt collection channel is arranged on the concave arc-shaped structure.

[0011] Preferably, the feeding and gripping mechanism further includes a dust suction mechanism and a multi-stage dust discharge pipeline connected to the dirt collection channel, for real-time extraction of impurities during the scraping operation.

[0012] Preferably, the multi-stage dust exhaust pipeline includes: A discharge channel one is arranged in the inner cavity of the fixed block. The inlet of the discharge channel one is arranged on the convex arc surface structure and the outlet is arranged on the top of the fixed block. Its inlet can be connected to the outlet of the sludge collection channel. Discharge channel two is arranged in the inner cavity of the traveling plate and is connected to discharge channel one; The discharge channel three, located within the internal cavity of the gripper frame, is connected to the discharge channel two via a flexible tube and a fixed tube. The discharge channel four is arranged in the inner cavity of the rotating column and is connected to the discharge channel three.

[0013] Preferably, the dust collection mechanism includes a negative pressure fan, a dust collection pipe, and a dust collection cylinder, and the discharge channel is rotatably and sealed to the dust collection pipe of the dust collection mechanism via a rotary joint.

[0014] A device for precision machining of cam plate inner hole pins includes a feeding conveyor mechanism, a vertical broaching machine host, and the aforementioned double-jaw loading and unloading mechanism; the double-jaw loading and unloading mechanism is arranged between the feeding conveyor mechanism and the vertical broaching machine host, and is used to transfer the cam plate workpiece on the feeding conveyor mechanism to the vertical broaching machine host.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention designs a double-jaw loading and unloading mechanism. Before gripping and transferring the cam plate workpiece, the loading and gripping mechanism automatically cleans the inner wall of the inner hole. This solves the problem that when iron filings and impurities adhere to the inner hole of the workpiece, it easily causes slippage and workpiece skewing, leading to inaccurate positioning and machining defects after transfer to the processing station of the vertical broaching machine. After the cam plate workpiece is transported to the gripping station, the two-axis moving mechanism drives the loading and gripping mechanism downwards, and three sets of shuttle plates extend into the pre-made coarse inner hole of the cam plate workpiece. Subsequently, the first motor starts, driving the entire gripping frame. Synchronous rotation; simultaneously, the second motor operates, driving the traveling plate to expand radially outward. The three shuttle-shaped plates expand synchronously outward until the sharp, pointed edge of the arc-shaped scraper on the inner side of the shuttle-shaped plates is in close contact with the inner wall of the cam plate workpiece's hole. The rotation of the gripping frame drives the sharp, pointed edge of the arc-shaped scraper to perform circumferential reciprocating scraping and cleaning of the inner wall of the cam plate workpiece, removing iron filings and impurities adhering to the inner wall and preventing them from remaining on the clamping contact surface. After the inner hole is cleaned, the first motor stops, and the second motor drives the drive plate to rotate again, causing the three traveling plates to continue expanding radially outward synchronously. The plate overcomes the elastic force of the arc spring and rotates towards the fixed block until the arc-shaped protrusions on the outer side of the shuttle plate completely fit and press against the inner wall of the rough inner hole of the cam plate workpiece. Relying on the continuous compression and storage of the arc spring, a stable clamping preload is formed, resulting in a multi-point, annular clamping state between multiple sets of arc-shaped protrusions and the inner wall of the hole. The two-axis moving mechanism then drives the feeding and gripping mechanism to simultaneously lift and laterally move the cam plate workpiece, accurately transporting it to the vertical broaching machine's main processing station for positioning and clamping. After broaching, the unloading and gripping mechanism simultaneously removes the finished workpiece. The entire process of impurity removal, clamping, and transfer is seamless. The machine continues to automate the process, achieving integrated operation under dual working conditions through the shuttle plate. When the arc spring pushes it open, the side arc scraper forms a scraper structure, scraping away iron filings and impurities from the inner hole as the gripping frame rotates, avoiding problems such as slippage, workpiece tilting, and positioning deviation. When the traveling plate continues to expand outward and the shuttle plate is compressed and retracted, the outer arc protrusion forms a clamping surface. Relying on the compression and storage of the arc spring to form an auxiliary pre-tightening force, it can effectively clamp and transfer the workpiece. This shuttle plate structure serves two purposes in one, eliminating the need for an additional independent slag removal mechanism, effectively ensuring the dimensional accuracy and geometric tolerance of broaching, and simplifying the overall machine structure.

[0016] 2. This invention designs a clamping groove on the fixed block and a clamping protrusion on the shuttle plate. When the second motor drives the drive plate to rotate continuously, it causes the traveling plate to expand radially outward. The shuttle plate overcomes the elastic force of the arc spring and rotates and retracts towards the fixed block. When the workpiece is clamped by the radial expansion of the traveling plate, the concave arc surface structure of the shuttle plate slides along the convex arc surface structure of the fixed block until the clamping protrusion is completely inserted into the clamping groove to form an insertion rotation limit. On the one hand, the concentric sliding of the inner and outer arc surfaces ensures that the shuttle plate retracts and rotates smoothly without deviation, and the force is evenly distributed in multi-point clamping, avoiding uneven workpiece clamping force caused by one-sided warping. On the other hand, the clamping protrusion and the clamping groove lock the rotation angle of the shuttle plate, preventing the shuttle plate from rebounding and loosening due to vibration or cutting fluid impact during the transfer of the workpiece. The pre-tightening force generated by the compression of the arc spring assists in locking, greatly improving the clamping rigidity during the gripping and transfer process.

[0017] 3. This invention designs a dirt collection channel, and the sharp-angled edge of the arc-shaped scraper on one side coincides with the arc-shaped trajectory extension of the side wall of the arc-shaped protrusion. When the gripping frame rotates to perform the inner hole cleaning process and the shuttle plate is in the outward scraping condition, the dirt collection channel forms an independent clearance and accommodation space between the arc-shaped scraper and the arc-shaped protrusion. This ensures that the sharp-angled edge of the arc-shaped scraper fully contacts the inner wall of the cam plate workpiece. During rotation, iron filings and impurities scraped off can be temporarily stored in the dirt collection channel, preventing impurities from accumulating between the scraper and the hole wall, and ensuring the sharp-angled edge... The edge continuously forms an effective scraping effect to remove impurities; when the impurity removal is completed and the traveling plate further expands outward to push the shuttle plate to rotate and retract towards the fixed block to enter the workpiece clamping condition, the shuttle plate rotates to the position where the abutting protrusion is locked into the abutting groove. Because the sharp-angled blade edge and the arc trajectory extension section of the arc surface side wall of the arc protrusion block are designed to coincide, the sharp-angled blade edge will not protrude outward to abut against the inner wall of the cam plate workpiece. It is only supported by the complete arc surface of the arc protrusion block and the inner hole of the workpiece, which effectively avoids the problem of the sharp-angled blade edge protruding against the workpiece, causing the arc surface side wall of the arc protrusion block to fail to abut and the clamping point to be suspended.

[0018] 4. This invention, through the design of a multi-stage dust removal pipeline including a collection channel and two discharge channels (channel 1 and channel 2), combined with a negative pressure dust collection mechanism, achieves real-time negative pressure extraction of scraped iron filings and impurities, further solving the problems of iron filings accumulation and secondary adhesion to the inner hole of the workpiece during the scraping process. When the shuttle plate springs outward to perform the inner hole scraping operation, the collection channel receives the iron filings and cutting impurities scraped off by the arc-shaped scraper. At this time, the outlet of the collection channel is connected to the inlet of discharge channel 1 at the outer convex arc surface of the fixed block, allowing the debris to flow smoothly into discharge channel 1. Impurities are introduced into discharge channel 2 inside the traveling plate through discharge channel 1, and then through a flexible pipe... The fixed pipe delivers the material to the discharge channel three inside the gripping frame, and then into the discharge channel four that runs through the rotating column. The negative pressure fan continuously provides negative pressure suction, forming a stable negative pressure airflow along the entire multi-stage channel. All scraped iron filings and dust are uniformly sucked into the dust collection cylinder for centralized collection. This multi-stage negative pressure dust removal structure can simultaneously remove fine dust and residual debris attached to the workpiece hole wall, preventing scraped impurities from remaining in the dust collection channel. When the shuttle plate clamps the cam plate workpiece, it prevents residual iron filings and impurities in the dust collection channel from falling and adhering to the inner hole surface again, avoiding secondary impurities causing clamping and positioning offset problems. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the equipment for precision machining of the inner hole pull pin of the cam plate according to the present invention.

[0020] Figure 2 This is a schematic diagram of the accompanying positioning plate structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the overall structure of the automatic loading and unloading mechanism for precision machining of the inner hole pull pin of the cam plate according to the present invention.

[0022] Figure 4 This is a schematic diagram of the feeding and gripping mechanism of the present invention.

[0023] Figure 5 This is a schematic diagram of the feeding and gripping mechanism of the present invention from another perspective.

[0024] Figure 6 This is a schematic diagram of the internal structure of the fixing frame of the present invention.

[0025] Figure 7 This is a schematic diagram of the disassembled structure of the rotating column and the fixed plate of the present invention.

[0026] Figure 8 This is a schematic diagram of the disassembled structure of the traveling plate and the slide rail of the present invention.

[0027] Figure 9 This is a schematic diagram of the spindle-shaped plate and the fixing block according to one perspective.

[0028] Figure 10This is a schematic diagram of the shuttle-shaped plate and the fixing block from another perspective.

[0029] Figure 11 This is a schematic diagram of the disassembled structure of the shuttle-shaped plate and the fixing block of the present invention.

[0030] Figure 12 This is a schematic diagram of the disassembled structure of the shuttle-shaped plate and the arc-shaped scraper of the present invention.

[0031] Figure 13 This is a schematic diagram of the cross-sectional structure of the traveling plate of the present invention.

[0032] Figure 14 This is a cross-sectional structural diagram of the rotating column, the linkage gear, and the gripping frame of the present invention.

[0033] Figure 15 This is a schematic diagram of the arc-shaped scraper of the present invention in one usage state.

[0034] Figure 16 This is a schematic diagram of the arc-shaped protrusion block in one usage state according to the present invention.

[0035] Explanation of the labels in the diagram: 1. Feeding and conveying mechanism; 2. Double-jaw loading and unloading mechanism; 3. Vertical broaching machine main unit; 4. Cam plate workpiece; 101. Accompanying positioning plate; 102. Positioning slot; 103. Extension operation slot; 21. Two-axis moving mechanism; 22. Loading and gripping mechanism; 23. Unloading and gripping mechanism; 2201. Cylindrical support; 2202. Fixing frame; 2203. Fixing plate; 2204. First motor; 2205. Drive gear; 2206. Transmission gear; 2207. Rotating column; 2208. Driven gear; 2209. Grabbing frame; 2210. Second motor; 2211. Drive plate; 2212. Drive groove; 2213. Slide rail; 2214. Traveling plate; 2215. Shuttle plate; 2216. Linkage gear; 2217. Fixing block; 2218. Arc-shaped column; 2219. Arc-shaped spring; 2220. Arc-shaped Scraper; 2221, Arc-shaped protrusion; 2222, Limiting block; 2223, Outwardly convex arc-shaped structure; 2224, Anchoring groove; 2225, Inwardly concave arc-shaped structure; 2226, Anchoring protrusion; 2227, Sludge collection channel; 2228, Discharge channel one; 2229, Drive column; 2230, Discharge channel two; 2231, Flexible pipe; 2232, Fixed pipe; 2233, Discharge channel three; 2234, Discharge channel four; 2235, Negative pressure fan; 2236, Dust suction pipe; 2237, Dust collection cylinder; 2238, Rotary joint. Detailed Implementation

[0036] Example 1, as Figures 1 to 2As shown, this embodiment provides a device for precision machining of the inner hole of a cam plate, including a feeding and conveying mechanism 1, a double-jaw loading and unloading mechanism 2, and a vertical broaching machine main unit 3.

[0037] Specifically, the feeding conveyor 1 is a conventional servo chain conveyor and an integrated conveying structure of accompanying positioning fixture. The accompanying positioning fixture includes multiple accompanying positioning plates 101. Multiple positioning slots 102 are opened on the top of the accompanying positioning plates 101. The positioning slots 102 are used to position the cam plate workpiece 4. An extension operation slot 103 is opened in the positioning slot 102. The extension operation slot 103 is used to provide operating space for feeding and gripping.

[0038] Furthermore, the vertical broaching machine host 3 is a conventional hydraulically driven vertical internal hole broaching machine structure in the example, used to complete one-time broaching finishing of the inner hole of the cam plate workpiece 4. It relies on multi-stage toothed round hole broaches to simultaneously achieve rough cutting, semi-finish cutting, and finishing, and simultaneously correct the inner hole size, roundness, and cylindricity, remove burrs and machining allowances from the hole wall, and obtain a precision reference inner hole with satisfactory surface finish and coaxiality.

[0039] The entire equipment is controlled by a PLC central control system, and the inner hole broaching and finishing of the cam plate workpiece 4 is completed cyclically without manual intervention. The working principle is as follows: After rough machining, the cam plate workpiece 4 is placed on the accompanying positioning fixture of the feeding conveyor mechanism 1. The cam plate workpiece 4 is positioned by the positioning groove 102 of the accompanying positioning plate 101. The conveyor belt of the servo chain conveyor transports the cam plate workpiece 4 to the gripping station at a uniform speed. The loading jaws of the double-jaw loading and unloading mechanism 2 move down to clamp the cam plate workpiece 4. It is then moved laterally along the linear guide rail to the processing station of the vertical broaching machine host 3. The main hydraulic cylinder of the vertical broaching machine host 3 drives the multi-stage toothed round hole broach to pass through the pre-made rough inner hole of the cam plate workpiece 4 at a uniform speed. The broach gradually increases the cutting speed. The gear cutting process completes rough cutting, semi-finish cutting, and finishing in one go, while simultaneously relying on cutting fluid to cool and flush away iron filings from the hole wall, thus machining a high-precision reference inner hole in one go. After the broaching process is completed, the unloading jaws of the double-jaw loading and unloading mechanism 2 descend to grab the finished cam workpiece 4 and move it to the unloading port. The output is transferred to an external inspection mechanism for quality inspection. The system collects sensor signals from each station in real time to achieve action interlocking, material shortage alarm, and material jamming stop. The loading, broaching, and unloading actions are synchronized and alternated, continuously cycling to complete the automated mass production of the inner hole broaching and finishing of the cam workpiece 4.

[0040] Example 2, as Figures 3 to 16As shown, this embodiment provides an automatic loading and unloading mechanism for precision machining of the inner hole pull pin of a cam plate, including the double-jaw loading and unloading mechanism 2 in Embodiment 1. The double-jaw loading and unloading mechanism 2 includes two sets of two-axis moving mechanisms 21 arranged in a symmetrical structure. The two-axis moving mechanism 21 is a conventional double-axis lead screw linear transmission structure. The moving end of the two-axis moving mechanism 21 can perform horizontal or vertical displacement.

[0041] Furthermore, one of the two-axis moving mechanisms 21 has a feeding gripping mechanism 22 installed at its moving end, and the other two-axis moving mechanism 21 has a discharging gripping mechanism 23 installed at its moving end. The discharging gripping mechanism 23 is a conventional three-jaw internal support clamping structure, which can quickly and stably clamp the broached cam workpiece 4 and transfer it.

[0042] In an embodiment of the present invention, the feeding gripping mechanism 22 includes a cylindrical support 2201 connected to the moving end of the two-axis moving mechanism 21. A fixed frame 2202 is connected to the bottom of the cylindrical support 2201, and a fixed plate 2203 is connected to the bottom of the fixed frame 2202. The fixed frame 2202 is an N-shaped frame structure. The cylindrical support 2201, the fixed frame 2202 and the fixed plate 2203 together constitute the basic support frame of the feeding gripping mechanism 22.

[0043] In another embodiment of the present invention, a first motor 2204 is installed on the top of the fixing frame 2202. The output end of the first motor 2204 extends into the inner cavity of the fixing frame 2202 and is connected to a drive gear 2205. Two transmission gears 2206 are rotatably arranged on the inner side wall of the fixing frame 2202. The two transmission gears 2206 are coaxially connected in a vertical direction. The drive gear 2205 meshes with the transmission gear 2206 located at the upper end.

[0044] Furthermore, the fixed plate 2203 has multiple rotating columns 2207 running through it from top to bottom. The rotating columns 2207 rotate in conjunction with the inner cavity of the fixed plate 2203. A driven gear 2208 is connected to the upper end of the outer circumference of one of the rotating columns 2207. The driven gear 2208 meshes with the transmission gear 2206 located at the lower end.

[0045] Furthermore, the bottom of the rotating column 2207 is connected to a linkage gear 2216, and the bottom of the linkage gear 2216 is connected to a gripping frame 2209. Each pair of adjacent linkage gears 2216 are meshed together.

[0046] When the first motor 2204 drives the drive gear 2205 to rotate, the drive gear 2205 drives the transmission gear 2206 at the upper position to rotate synchronously. The transmission gear 2206 at the lower position on the same axis also rotates synchronously. The transmission gear 2206 at the lower end drives the driven gear 2208 and the corresponding rotating column 2207 to rotate. The linkage gears 2216 at the bottom of the multiple rotating columns 2207 mesh with each other and drive each other. Relying on the synchronous transmission characteristics of gear meshing, the entire gripping frame 2209 is driven to rotate synchronously.

[0047] In another embodiment of the present invention, a second motor 2210 is arranged in the inner cavity of the gripping frame 2209. The output end of the second motor 2210 passes through the bottom of the gripping frame 2209 and is connected to a drive plate 2211. The drive plate 2211 has multiple arc-shaped drive slots 2212 from top to bottom.

[0048] Furthermore, the bottom of the gripping frame 2209 is connected to three slide rails 2213, which are arranged in a circular array. A traveling plate 2214 is slidably arranged on the slide rails 2213. A drive column 2229 is connected to the top of the traveling plate 2214, and the drive column 2229 is movably arranged in the drive groove 2212. A shuttle-shaped plate 2215 is arranged at the bottom of the traveling plate 2214.

[0049] When the second motor 2210 controls the drive plate 2211 to rotate, the arc-shaped drive groove 2212 on the drive plate 2211 rotates circumferentially in sync. The groove wall squeezes the embedded drive column 2229, causing each traveling plate 2214 to move radially and extend and slide synchronously along the slide rail 2213 distributed in a ring array. When the three traveling plates 2214 move inward in sync, they are used to insert the three shuttle plates 2215 into the pre-made coarse inner hole of the cam plate workpiece 4. When the three traveling plates 2214 move outward in sync, they are used to drive the three shuttle plates 2215 to move outward in sync, pressing and clamping the pre-made coarse inner wall of the cam plate workpiece 4 to perform the grasping and transfer operation of the cam plate workpiece 4.

[0050] In another embodiment of the present invention, a fixed block 2217 is connected to the bottom of the traveling plate 2214, and a shuttle-shaped plate 2215 is rotatably connected to the side wall of the fixed block 2217. A plurality of arc-shaped columns 2218 are connected to the side wall of the shuttle-shaped plate 2215, and the arc trajectory of the arc-shaped columns 2218 and the rotation path of the shuttle-shaped plate 2215 are arranged concentrically. The arc-shaped columns 2218 movably penetrate the side wall of the fixed block 2217, and an arc-shaped spring 2219 is sleeved on the outer circumference of the arc-shaped column 2218. The arc-shaped spring 2219 is arranged between the shuttle-shaped plate 2215 and the fixed block. Between 2217, through the elastic force of the arc spring 2219, in the initial state, the shuttle plate 2215 is away from the side wall of the fixed block 2217, forming an angled structure; an arc scraper 2220 is installed on the side wall of the shuttle plate 2215 near the fixed block 2217, and one side of the arc scraper 2220 has a sharp-angled cutting edge. An arc-shaped protrusion 2221 is provided on the side wall of the shuttle plate 2215 away from the fixed block 2217. The curvature of the side wall of the arc-shaped protrusion 2221 is consistent with the curvature of the inner wall of the pre-made coarse inner hole of the cam plate workpiece 4.

[0051] This invention designs a double-claw loading and unloading mechanism 2. The loading and gripping mechanism 22 of this mechanism can automatically clean the inner wall of the inner hole before gripping and transferring the cam plate workpiece 4. This solves the problem that when iron filings and impurities are attached to the inner hole of the workpiece, it is easy to cause slippage during clamping and workpiece skewing. After being transferred to the processing station of the vertical broaching machine 3, it leads to inaccurate positioning and processing defects.

[0052] Specifically, after the cam plate workpiece 4 is transported to the gripping station, the two-axis moving mechanism 21 drives the feeding gripping mechanism 22 to move downward. In the initial state, the three traveling plates 2214 are synchronously retracted inward, and the three sets of shuttle plates 2215 extend into the pre-made coarse inner hole of the cam plate workpiece 4. During the process, the arc spring 2219 always pushes the shuttle plate 2215, keeping the shuttle plate 2215 in an outward tilted angle. Then, the first motor 2204 starts, and through the synchronous meshing of the driving gear 2205, coaxial transmission gear 2206, driven gear 2208 and multiple sets of linkage gears 2216, it drives the entire gripping frame 2209 to rotate synchronously. At the same time, the second motor 2210 works to drive the drive plate 2211 to rotate. The shaped drive groove 2212 pulls the drive column 2229, causing the traveling plate 2214 to expand radially outward. The three shuttle-shaped plates 2215 expand outward simultaneously until the sharp edge of the arc-shaped scraper 2220 on the inner side of the shuttle-shaped plate 2215 is in close contact with the inner hole wall of the cam plate workpiece 4. The rotation of the gripping frame 2209 drives the sharp edge of the arc-shaped scraper 2220 to perform circumferential reciprocating scraping and cleaning of the inner hole wall of the cam plate workpiece 4, removing iron filings and impurities adhering to the inner wall and preventing iron filings and impurities from remaining on the clamping contact surface. After the inner hole is cleaned, the first motor 2204 stops, and the second motor 2210 drives the drive plate 2211 to rotate again, pulling the drive column 2229 through the arc-shaped drive groove 2212 to push the three traveling plates 2214. Plate 2214 continues to expand radially outward synchronously, while shuttle plate 2215 overcomes the elastic force of arc spring 2219 and rotates towards fixed block 2217 until the arc protrusion 2221 on the outer side of shuttle plate 2215 completely adheres to and presses against the inner wall of the rough inner hole of cam workpiece 4. Relying on the continuous compression and storage of arc spring 2219, a stable clamping pre-tightening force is formed, resulting in a clamping state where multiple sets of arc protrusions 2221 are in a ring-shaped multi-point contact with the inner wall of the inner hole. The two-axis moving mechanism 21 then drives the feeding gripping mechanism 22 to clamp the cam workpiece 4 and simultaneously lift and laterally translate it, accurately conveying the workpiece to the processing station of the vertical broaching machine main unit 3 to complete the positioning and clamping. After the broaching process is completed, the unloading gripping mechanism 23 simultaneously removes the finished workpiece. The entire process of impurity removal, clamping, and... The transfer process is completed continuously and automatically. The shuttle plate 2215 achieves integrated operation under dual working conditions. When the arc spring 2219 pushes it open, the side arc scraper 2220 forms a scraper structure. As the gripping frame 2209 rotates, it scrapes away iron filings and impurities from the inner hole, avoiding problems such as clamping slippage, workpiece tilting, and positioning deviation. When the traveling plate 2214 continues to expand outward, the shuttle plate 2215 is pressed and rotates towards the fixed block. The outer arc protrusion 2221 forms a clamping surface. The arc spring 2219 compresses and stores force to form an auxiliary pre-tightening force, which can effectively clamp and transfer the workpiece. The shuttle plate 2215 structure has two functions in one, eliminating the need for an additional slag removal mechanism. It effectively ensures the dimensional accuracy and geometric tolerance of broaching and simplifies the overall machine structure.

[0053] In another embodiment of the present invention, the end of the arc-shaped column 2218 is connected to a limiting block 2222. The limiting block 2222 is arranged outside the fixed block 2217. The limiting block 2222 is used to limit the maximum stroke of the shuttle plate 2215 rotating away from the fixed block 2217. Under this maximum stroke, when the three traveling plates 2214 synchronously retract inward, when the three shuttle plates 2215 are inserted into the pre-made coarse inner hole of the cam plate workpiece 4, a gap is formed between the shuttle plate 2215 and the inner wall of the pre-made coarse inner hole of the cam plate workpiece 4.

[0054] In another embodiment of the present invention, one side of the fixing block 2217 is provided with an outwardly convex arc surface structure 2223, and a clamping groove 2224 is provided on the side of the outwardly convex arc surface structure 2223. The arc path of the outwardly convex arc surface structure 2223 and the rotation path of the shuttle plate 2215 are arranged in concentric circles. One side of the shuttle plate 2215 is provided with an inwardly concave arc surface structure 2225. The arc of the inwardly concave arc surface structure 2225 is consistent with that of the outwardly convex arc surface structure 2223, and the two form a sliding state of close contact. A clamping protrusion 2226 is provided on the side of the outwardly convex arc surface structure 2223. The clamping protrusion 2226 can form an insertion clamping state with the clamping groove 2224, that is, form a rotation limit.

[0055] This invention designs a clamping groove 2224 on the fixed block 2217 and a clamping protrusion 2226 on the shuttle plate 2215. When the second motor 2210 drives the drive plate 2211 to rotate continuously, it causes the traveling plate 2214 to expand radially outward. The shuttle plate 2215 overcomes the elastic force of the arc spring 2219 and rotates and retracts towards the fixed block 2217. When the workpiece is clamped by the radial expansion of the traveling plate 2214, the concave arc surface structure 2225 of the shuttle plate 2215 slides along the convex arc surface structure 2223 of the fixed block 2217 until the clamping protrusion 2226 is completely engaged. The insertion groove 2224 forms an insertion limit; on the one hand, the concentric sliding of the inner and outer arc surfaces is perfectly matched to ensure that the shuttle plate 2215 is stable and without deviation during the retraction and rotation process, and the force is evenly distributed in multi-point clamping, avoiding uneven workpiece clamping force caused by one-sided warping; on the other hand, the clamping protrusion 2226 and the clamping groove 2224 engage with each other to lock the rotation angle of the shuttle plate 2215, preventing the shuttle plate 2215 from rebounding and loosening due to vibration and cutting fluid impact during the transfer of the workpiece. The pre-tightening force generated by the compression of the arc spring 2219 assists in locking, greatly improving the clamping rigidity during the gripping and transfer process.

[0056] In another embodiment of the present invention, the edge of the sharp-angled structure on one side of the arc-shaped scraper 2220 coincides with the arc-shaped trajectory extension of the arc surface of the side wall of the arc-shaped protrusion 2221, and the arc-shaped protrusion 2221 is provided with a dirt collection channel 2227 on the side near the arc-shaped scraper 2220, and the inner side wall of the arc-shaped scraper 2220 forms the inner side wall of the dirt collection channel 2227.

[0057] This invention designs a sludge collection channel 2227, and designs the sharp-angled edge of one side of the arc-shaped scraper 2220 and the arc-shaped trajectory extension of the side wall of the arc-shaped protrusion 2221 to coincide. When the gripping frame 2209 rotates to perform the inner hole cleaning process and the shuttle plate 2215 is in the outward scraping condition, the sludge collection channel 2227 forms an independent clearance and accommodation space between the arc-shaped scraper 2220 and the arc-shaped protrusion 2221. This ensures that the sharp-angled edge of one side of the arc-shaped scraper 2220 fully contacts the inner wall of the cam plate workpiece 4. During rotation, the scraped iron filings and impurities can be temporarily stored in the sludge collection channel 2227, preventing impurities from accumulating between the scraper and the hole wall, thus ensuring... The sharp-angled cutting edge continuously forms an effective scraping effect to remove impurities. When the impurity removal is completed and the traveling plate 2214 further expands outward to push the shuttle plate 2215 to rotate and retract towards the fixed block to enter the workpiece clamping condition, the shuttle plate 2215 rotates to the locking position where the abutting protrusion 2226 is engaged with the locking groove 2224. Because the sharp-angled cutting edge and the arc-shaped trajectory extension of the arc-shaped side wall of the arc-shaped protrusion block 2221 are designed to coincide, the sharp-angled cutting edge will not protrude outward to abut against the inner wall of the cam plate workpiece 4. It is only supported by the complete arc surface of the arc-shaped protrusion block 2221 fitting against the inner hole of the workpiece, which effectively avoids the problem of the sharp-angled cutting edge protruding and supporting the workpiece, causing the arc surface of the arc-shaped protrusion block 2221 to fail to abut against the arc surface and the clamping point to be suspended.

[0058] In another embodiment of the present invention, the outlet of the sludge collection channel 2227 is arranged on the concave arc surface structure 2225; the inner cavity of the fixing block 2217 is provided with a discharge channel 2228, the inlet of the discharge channel 2228 is arranged on the convex arc surface structure 2223, and the outlet of the discharge channel 2228 is arranged on the top of the fixing block 2217; when the shuttle plate 2215 is in the outward scraping condition, the outlet of the sludge collection channel 2227 and the inlet of the discharge channel 2228 are in a connected state.

[0059] In another embodiment of the present invention, the inner cavity of the traveling plate 2214 is provided with a second discharge channel 2230, the inlet of the second discharge channel 2230 is connected to the first discharge channel 2228, the outlet of the second discharge channel 2230 is connected to a flexible tube 2231, the outlet of the flexible tube 2231 is connected to a fixed tube 2232, the inner cavity of the gripping frame 2209 is provided with a plurality of third discharge channels 2233, the inner cavity of the rotating column 2207 is provided with a fourth discharge channel 2234, the output end of the fixed tube 2232 is connected to the third discharge channel 2233, and the output end of the third discharge channel 2233 is connected to the fourth discharge channel 2234.

[0060] Furthermore, a dust collection mechanism is also installed on the top of the fixed frame 2202. The dust collection mechanism includes a negative pressure fan 2235, a dust collection pipe 2236, and a dust collection cylinder 2237. The output end of the dust collection pipe 2236 is connected to the dust collection cylinder 2237 through the negative pressure fan 2235. The dust collection cylinder 2237 is detachably installed in the inner cavity of the cylindrical bracket 2201. The detachable dust collection cylinder 2237 facilitates the later cleaning of waste residue.

[0061] Furthermore, the suction pipe 2236 includes a horizontal section pipe, which is arranged above the rotating column 2207. The horizontal section pipe is connected to multiple rotary joints 2238. The top of the rotating column 2207 is rotatably sealed to the rotary joints 2238, so that the discharge channel 2234 is connected to the suction pipe 2236 through the rotary joints 2238. The rotary joints 2238 are conventional rotary sealing joint products in this example. The rotary joints 2238 are used to achieve rotary sealing and ventilation under the rotating condition of the rotating column 2207, ensuring that the airflow does not leak during the self-rotation cleaning process of the grabbing frame 2209.

[0062] This invention utilizes a multi-stage dust removal pipeline design, consisting of a collection channel 2227 and two discharge channels, 2228 and 2230, combined with a negative pressure dust extraction mechanism to achieve real-time negative pressure extraction of scraped iron filings and impurities. This further solves the problems of iron filings accumulating and re-adhering to the inner hole of the workpiece during the scraping process. When the shuttle plate 2215 springs open outward to perform the inner hole scraping operation, the collection channel 2227 receives the iron filings and cutting impurities scraped off by the arc-shaped scraper 2220. At this time, the outlet of the collection channel 2227 is connected to the inlet of the discharge channel 2228 at the outer convex arc surface of the fixed block 2217, allowing the debris to flow smoothly into the discharge channel 2228. Impurities are introduced into the discharge channel 2230 inside the traveling plate 2214 via the discharge channel 2228, and then transported to the discharge channel 3233 inside the gripping frame 2209 via the flexible pipe 2231 and the fixed pipe 2232, and then enter the rotating column 2207. The internally connected exhaust channel 2234; the negative pressure fan 2235 continuously provides negative pressure suction, forming a stable negative pressure airflow along the entire multi-stage channel, uniformly sucking all scraped iron filings and dust into the dust collection cylinder 2237 for centralized collection. This multi-stage negative pressure dust removal structure can simultaneously remove fine dust and residual debris adhering to the workpiece hole wall, preventing scraped impurities from lingering in the dust collection channel 2227. When the shuttle plate 2215 clamps the cam workpiece 4, it prevents residual iron filings and impurities in the dust collection channel 2227 from falling and adhering to the inner hole surface again, avoiding secondary impurities causing clamping and positioning deviation; at the same time, the entire dust removal pipeline is integrated into the internal components of the feeding gripping mechanism 22, without external dust suction pipeline interfering with the gripping and transfer action of the cam workpiece 4, the structure is compact and does not occupy additional equipment space; relying on the continuous suction of the negative pressure fan 2235, scraped debris can be removed in real time, ensuring the cleaning effect of the inner hole of the cam workpiece 4.

[0063] In an embodiment of the present invention, the structural components on each two adjacent gripping frames 2209 are arranged symmetrically, that is, the arc-shaped scrapers 2220 on each two adjacent gripping frames 2209 have opposite angles; this is to adapt to the synchronous reverse rotation between each two adjacent gripping frames 2209 by means of a linkage gear 2216, so that the arc-shaped scrapers 2220 on each gripping frame 2209 can form a forward scraping and cutting posture according to their own rotation direction.

[0064] Working Principle: This embodiment provides an automatic loading and unloading mechanism for precision machining of the inner hole of a cam plate. In use, the loading and conveying mechanism 1 delivers the cam plate workpiece 4 to the gripping station. The two-axis moving mechanism 21 drives the loading and gripping mechanism 22 downwards. The shuttle plate 2215 opens and extends into the inner hole of the cam plate workpiece 4 under the action of the arc spring 2219. The first motor 2204 drives the entire gripping frame 2209 to rotate synchronously through the driving gear 2205, transmission gear 2206, driven gear 2208, rotating column 2207, and linkage gear 2216. Simultaneously, the second motor 2210 drives the drive plate 2211 to rotate. The arc-shaped drive groove 2212 pulls the drive column 2229, causing the traveling plate 2214 to expand slightly radially, making the side of the shuttle plate 2215 arc-shaped. The sharp edge of the scraper 2220 is in close contact with the inner wall of the cam plate workpiece 4. As the gripping frame 2209 rotates circumferentially, it scrapes away the iron filings and cutting impurities attached to the hole wall. The scraped debris is discharged through the dirt collection channel 2227 between the shuttle plate 2215 and the arc-shaped protrusion block 2221. At this time, the outlet of the dirt collection channel is connected to the inlet of the discharge channel 1 2228 on the fixed block 2217. The negative pressure fan 2235 continuously generates negative pressure airflow. The debris passes through the discharge channel 1 2228, discharge channel 2230, flexible pipe 2231, fixed pipe 2232, discharge channel 3 2233, and discharge channel 4 2234 in sequence. It is then sent into the dust collection pipe 2236 through the rotary joint 2238 and collected in the dust collection cylinder 2237. This achieves real-time extraction of impurities and avoids secondary adhesion to the inner hole of the workpiece. After the inner hole cleaning is completed, the first motor 2204 stops, and the second motor 2210 continues to drive the drive plate 2211 to rotate, pushing the traveling plate 2214 to expand radially outward. The shuttle plate 2215 overcomes the elastic force of the arc spring 2219 and rotates and retracts towards the fixed block 2217. The concave arc surface structure 2225 of the shuttle plate slides smoothly along the convex arc surface structure 2223 of the fixed block until the shuttle plate abuts the protrusion 2226 and is locked into the abutting groove 2224 of the fixed block to form a locking limit. At this time, the outer arc surface protrusion of the shuttle plate... 2221 fully fits the inner wall of the workpiece's inner hole, and the arc spring 2219 compresses and stores energy to provide continuous pre-tight clamping force. The annular multi-point fitting structure stably clamps the cam workpiece 4. The two-axis moving mechanism 21 then drives the feeding gripping mechanism 22 to lift and move laterally, transferring the cleaned cam workpiece 4 to the machining station of the vertical broaching machine host 3 for positioning and clamping. After the broaching machine completes the broaching and finishing of the inner hole, the other two-axis moving mechanism 21 carries the unloading gripping mechanism 23 to descend and clamp the finished workpiece, and moves it to the unloading station.

[0065] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. An automatic loading and unloading mechanism for precision machining of pull pins in the inner hole of cam plates, characterized in that, The double-jaw loading and unloading mechanism (2) includes: There are two sets of two-axis moving mechanisms (21), and the two sets of two-axis moving mechanisms (21) are arranged in a symmetrical structure. The feeding gripping mechanism (22) is connected to the moving end of one of the two-axis moving mechanisms (21); The feeding gripping mechanism (23) is connected to the moving end of another two-axis moving mechanism (21); The feeding and gripping mechanism (22) includes: The rotating column (2207) can be driven to rotate around its own axis; The grabbing frame (2209) is arranged at the bottom of the rotating column (2207); The travel plate (2214) is slidably arranged at the bottom of the gripping frame (2209); A fixing block (2217) is connected to the bottom of the traveling plate (2214); The spindle-shaped plate (2215) is rotatably arranged on the side wall of the fixed block (2217) and has a tendency to spring outward; One side of the shuttle plate (2215) is provided with an arc-shaped scraper (2220) for scraping the inner wall of the cam plate workpiece (4) when the shuttle plate (2215) springs open and the gripping frame (2209) rotates; the other side of the shuttle plate (2215) is provided with an arc-shaped protrusion (2221) for forcing the arc-shaped protrusion (2221) of the shuttle plate (2215) to press against the inner wall of the cam plate workpiece (4) when the traveling plate (2214) moves outward, forming a clamp.

2. The automatic loading and unloading mechanism according to claim 1, characterized in that, The side wall of the spindle plate (2215) is connected to an arc-shaped column (2218), which moves through the side wall of the fixing block (2217). The arc trajectory of the arc-shaped column (2218) and the rotation path of the spindle plate (2215) are arranged in concentric circles. An arc-shaped spring (2219) is sleeved on the arc-shaped column (2218). The two ends of the arc-shaped spring (2219) abut against the spindle plate (2215) and the fixing block (2217) respectively, so that the spindle plate (2215) has a tendency to spring outward.

3. The automatic loading and unloading mechanism according to claim 1, characterized in that, The feeding and gripping mechanism (22) also includes a first motor (2204) and a gear transmission chain. The gear transmission chain includes a driving gear (2205), two coaxially connected transmission gears (2206), a driven gear (2208), and a linkage gear (2216). The first motor (2204) drives multiple rotating columns (2207) to rotate synchronously through the gear transmission chain.

4. The automatic loading and unloading mechanism according to claim 1, characterized in that, The feeding gripping mechanism (22) further includes a second motor (2210) and a drive plate (2211). The drive plate (2211) is connected to the output end of the second motor (2210). The drive plate (2211) is provided with an arc-shaped drive groove (2212). The traveling plate (2214) is provided with a drive column (2229). The drive column (2229) is movably arranged in the arc-shaped drive groove (2212) so that the second motor (2210) drives the traveling plate (2214) to move radially.

5. The automatic loading and unloading mechanism according to claim 1, characterized in that, The fixed block (2217) has an outwardly convex arc surface structure (2223) and a pressing groove (2224) on one side, and the shuttle plate (2215) has an inwardly concave arc surface structure (2225) and a pressing protrusion (2226) on one side. When the shuttle plate (2215) rotates and retracts towards the fixed block (2217), the inwardly concave arc surface structure (2225) slides along the outwardly convex arc surface structure (2223) until the pressing protrusion (2226) is inserted into the pressing groove (2224) to form a rotation limit.

6. The automatic loading and unloading mechanism according to claim 5, characterized in that, The arc-shaped scraper (2220) has a pointed edge on one side, which coincides with the arc-shaped trajectory extension of the arc surface of the side wall of the arc-shaped protrusion (2221); the arc-shaped protrusion (2221) has a dirt collection channel (2227) on the side near the arc-shaped scraper (2220), and the outlet of the dirt collection channel (2227) is arranged on the concave arc surface structure (2225).

7. The automatic loading and unloading mechanism according to claim 6, characterized in that, The feeding and gripping mechanism (22) also includes a dust collection mechanism and a multi-stage dust discharge pipeline connected to the dirt collection channel (2227) for real-time extraction of impurities during scraping operations.

8. The automatic loading and unloading mechanism according to claim 7, characterized in that, The multi-stage dust removal pipeline includes: The discharge channel 1 (2228) is arranged in the inner cavity of the fixed block (2217). The inlet of the discharge channel 1 (2228) is arranged on the convex arc surface structure (2223), and the outlet is arranged on the top of the fixed block (2217). Its inlet can be connected to the outlet of the sewage collection channel (2227). The discharge channel two (2230) is arranged in the inner cavity of the traveling plate (2214) and is connected to the discharge channel one (2228); Discharge channel three (2233) is arranged in the inner cavity of the gripping frame (2209), and it is connected to discharge channel two (2230) through flexible tube (2231) and fixed tube (2232); The discharge channel four (2234) is arranged in the inner cavity of the rotating column (2207) and is connected to the discharge channel three (2233).

9. The automatic loading and unloading mechanism according to claim 8, characterized in that, The dust collection mechanism includes a negative pressure fan (2235), a dust collection pipe (2236), and a dust collection cylinder (2237). The discharge channel four (2234) is rotatably and sealedly connected to the dust collection pipe (2236) of the dust collection mechanism through a rotary joint (2238).

10. A device for precision machining of pull pins in the inner hole of a cam plate, characterized in that, include: Feeding and conveying mechanism (1); Vertical broaching machine main unit (3); And, the double-claw loading and unloading mechanism (2) as described in any one of claims 1 to 9; The double-jaw loading and unloading mechanism (2) is arranged between the loading conveying mechanism (1) and the vertical broaching machine host (3) to transfer the cam plate workpiece (4) on the loading conveying mechanism (1) to the vertical broaching machine host (3).

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