Automatic wheel hub cap removing machine

Abstract

The application discloses a kind of wheel hub automatic removal machine, including electric control cabinet and with electric control cabinet connection visual detection device, cap removal device, cap receiving device and for driving wheel hub sequentially through visual detection device, wheel hub conveying device of cap removal device, cap removal device includes the mechanical hand for the cap in bolt hole is clamped out and placed into cap receiving device.The application identifies wheel hub by visual detection device, simultaneously judges the position of bolt hole of different model wheel hub, and then sends position information to electric control cabinet, and then sends corresponding position instruction to mechanical hand, so that mechanical hand realizes the transfer of cap, so that the automatic taking out of cap is realized, the taking out efficiency of cap is improved, and labor cost and labor intensity are reduced.

Description

Technical Field

[0001] This invention relates to the field of automotive parts technology, specifically to an automatic wheel hub plug removal machine. Background Technology

[0002] Before painting, the bolt holes 121 of the wheel hub 12 need to be sealed and isolated to prevent the painting from affecting the accuracy of the bolt holes 121. See Appendix. Figure 1 Currently, spherical caps 10 or caps with rods 11 are mainly used for sealing. When the cap with rods 11 is used for sealing, the rod 111 of the cap with rods 11 is exposed.

[0003] However, the removal process after painting currently relies mainly on manual labor. This is inefficient and labor-intensive. Therefore, automated cap removal is becoming a development trend. Furthermore, since the bolt hole 121 positions differ for different wheel hubs 12, how to automate the removal of caps from different wheel hub models 12 is a problem that needs to be solved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide an automatic wheel hub plug removal machine.

[0005] To solve the above-mentioned technical problems, the present invention discloses an automatic wheel hub plug removal machine, including an electrical control cabinet and a vision inspection device, a plug removal device, a plug receiving device connected to the electrical control cabinet, and a wheel hub conveying device for driving the wheel hub to pass through the vision inspection device and the plug removal device in sequence. The plug removal device includes a robotic arm for clamping the plug in the bolt hole and placing it into the plug receiving device.

[0006] Furthermore, the visual inspection device includes an inspection frame and a light shield, a light source, and a bolt hole inspection camera mounted on the inspection frame. The light source and the bolt hole inspection camera are mounted on the top inside the light shield, and the bolt hole inspection camera faces the wheel hub on the wheel hub conveying device.

[0007] Furthermore, the hub conveying device is a hub belt conveyor that includes a hub conveyor belt.

[0008] Furthermore, the moving end of the robotic arm is equipped with a cap clamping mechanism, which includes a switching rotating component and a spherical cap adsorption clamp and a rod-type cap clamp installed on the rotating end of the switching rotating component. The spherical cap adsorption clamp includes a negative pressure suction head for adsorbing the spherical cap, and the rod-type cap clamp includes a rod gripper for clamping the rod of the cap with a rod through relative movement.

[0009] Furthermore, the rod-type plug clamp is a pneumatic three-jaw chuck, and the rod clamp is mounted on the jaws of the three-jaw chuck.

[0010] Furthermore, the rod gripper has an L-shaped structure, with one end of the L-shaped structure mounted on the gripper by a fastener, and the other ends of multiple L-shaped structures forming a rod clamping channel.

[0011] Furthermore, the robotic arm includes an upper fixed platform, a robot main body, a robot linkage, and a lower fixed platform. The robot main body is mounted on the upper fixed platform. The upper end of the robot linkage is connected to the robot main body, and the lower end is connected to the lower fixed platform. The switching rotating component is mounted on the lower fixed platform, and the upper fixed platform is mounted on the top of the frame.

[0012] Furthermore, the plug receiving device includes a chute for receiving plugs clamped by a robotic arm, disposed on one side of the plug removal device; a bottom chute box for receiving plugs sliding down the chute; a receiving box for classifying and receiving different plugs; and a box driving device for driving the bottom chute box to reciprocate between multiple receiving boxes. The bottom of the bottom chute box is equipped with a bottom switch plate and a switch plate extension component for driving the bottom switch plate to open and close the bottom of the bottom chute box.

[0013] Furthermore, the material box driving device includes a material box belt conveyor, one end of the material box at the bottom of the chute is fixed to the material box conveyor belt of the material box belt conveyor, and a support plate is installed below the material box conveyor belt.

[0014] Furthermore, it also includes a rotating receiving mechanism, which includes a rotating component, a connecting rod, and two chute top material boxes. The two chute top material boxes are installed at both ends of the connecting rod. The rotating end of the rotating component is fixedly connected to the middle of the connecting rod. One of the chute top material boxes is located inside the plug removal device, and the other chute top material box is located above the input end of the chute. A top switch plate and a reciprocating switch plate component that drives the top switch plate to open and close the bottom of the chute top material box are installed at the bottom of each chute top material box.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] This invention identifies wheel hubs using a visual inspection device and determines the position of bolt holes for different wheel hub models. The position information is then sent to the electrical control cabinet, which in turn sends corresponding position commands to the robotic arm. This enables the robotic arm to transfer the plug cap, thereby achieving automatic plug cap removal, improving plug cap removal efficiency, and reducing labor costs and labor intensity. Attached Figure Description

[0017] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention. In the drawings:

[0018] Figure 1 This is a schematic diagram showing the fit between a spherical plug cap, a plug cap with a rod, and a wheel hub.

[0019] Figure 2 This is a front view schematic diagram of the automatic wheel hub plug removal machine disclosed in an embodiment of the present invention;

[0020] Figure 3 This is an axonometric schematic diagram of the automatic wheel hub plug removal machine disclosed in an embodiment of the present invention;

[0021] Figure 4 This is a front view schematic diagram of the visual inspection device disclosed in an embodiment of the present invention;

[0022] Figure 5 This is a front view schematic diagram of the plug removal device disclosed in an embodiment of the present invention;

[0023] Figure 6 This is an isometric schematic diagram of the robotic arm disclosed in an embodiment of the present invention;

[0024] Figure 7 This is an isometric schematic diagram of the cap clamping mechanism disclosed in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the switch for the bottom material box of the chute disclosed in an embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the switch for the top material box of the chute disclosed in an embodiment of the present invention.

[0027] Legend:

[0028] 1. Electrical control cabinet;

[0029] 2. Visual inspection device; 21. Inspection frame; 22. Light shield; 23. Light source; 24. Bolt hole inspection camera;

[0030] 3. Cap removal device; 31. Frame; 32. Robotic arm; 321. Upper fixed platform; 322. Robot main body; 323. Robot linkage; 324. Lower fixed platform; 33. Cap clamping mechanism; 331. Switching rotating component; 332. Spherical cap suction clamp; 3321. Negative pressure suction head; 333. Cap clamp with rod; 3331. Rod gripper; 334. Three-jaw chuck; 3341. Gripper; 3342. Rod clamping channel; 34. Adapter frame; 341. Rotating end mounting plate; 342. Clamp mounting plate;

[0031] 4. Cap receiving device; 41. Slide chute; 42. Slide chute bottom material box; 43. Material receiving box; 44. Material box drive device; 421. Bottom switch plate; 422. Switch plate telescopic component; 45. Material box belt conveyor; 451. Material box conveyor belt; 452. Pallet; 46. Rotary receiving mechanism; 461. Rotating component; 462. Connecting rod; 463. Slide chute top material box; 464. Top switch plate; 465. Switch plate reciprocating component;

[0032] 5. Hub conveyor;

[0033] 6. Wheel hub model identification device; 61. Detector;

[0034] 10. Spherical cap;

[0035] 11. Pole cap; 111. Pole body;

[0036] 12. Wheel hub; 121. Bolt hole. Detailed Implementation

[0037] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0038] like Figure 2-9 As shown, this invention discloses an automatic wheel hub plug removal machine, including an electrical control cabinet 1 and a vision inspection device 2, a plug removal device 3, a plug receiving device 4, and a wheel hub conveying device 5 connected to the electrical control cabinet 1, which drives the wheel hub 12 to sequentially pass through the vision inspection device 2 and the plug removal device 3. The plug removal device 3 includes a robotic arm 32 for clamping the plugs in the bolt holes 121 and placing them into the plug receiving device 4. The wheel hub conveying device 5 is a wheel hub belt conveyor including a wheel hub conveyor belt, which prevents damage to the wheel hub from impacts. A wheel hub model identification device 6 is installed at the input end of the wheel hub conveying device 5. Its main body is a roller conveyor, and a detector 61 is installed at the bottom of the conveyor roller to identify the label on the wheel hub, avoiding subsequent model identification errors by the vision inspection device 2. This invention identifies wheel hubs using a vision detection device 2 and simultaneously determines the position of bolt holes for different wheel hub models. The position information is then sent to the electrical control cabinet 1, which in turn sends corresponding position commands to the robotic arm 32. This enables the robotic arm 32 to transfer the plug, thereby achieving automatic plug removal, improving plug removal efficiency, and reducing labor costs and labor intensity.

[0039] In this embodiment, the visual inspection device 2 includes an inspection frame 21 and a light shield 22, a light source 23, and a bolt hole detection camera 24 mounted on the inspection frame 21. The inspection frame 21 is a frame structure. The light source 23 and the bolt hole detection camera 24 are installed at the top inside the light shield 22. The light source 23 is used to increase the brightness of the light inside the light shield 22, so that the bolt hole detection camera 24 can take high-definition pictures. The bolt hole detection camera 24 faces the wheel hub 12 on the wheel hub conveying device 5. By comparing the picture taken by the bolt hole detection camera 24 with the wheel hub pictures in the image library, the wheel hub model is determined, and the position of the bolt hole is further determined, providing a basis for the precise clamping of the subsequent robot arm 32.

[0040] In this embodiment, the plug removal device 3 includes a frame 31 and a robot arm 32 mounted on the frame 31. The moving end of the robot arm 32 is equipped with a plug clamping mechanism 33. The plug clamping mechanism 33 includes a switching rotating component 331 and a spherical plug adsorption clamp 332 and a rod plug clamp 333 mounted on the rotating end of the switching rotating component 331. The robot arm 32 can achieve at least three-axis motion. The switching rotating component 331 can be a rotary cylinder or a rotary motor. The spherical plug adsorption clamp 332 includes a negative pressure suction head 3321 for adsorbing spherical plugs 10. The negative pressure suction head 3321 is connected to a negative pressure source such as a negative pressure fan. The rod plug clamp 333 includes a rod gripper 3331 that clamps the rod 111 of the rod plug 11 through relative motion. Thus, the spherical cap 10 can be adsorbed and held by the negative pressure suction head 3321, and the rod 111 of the cap 11 with rod can be held by the rod gripper 3331. The spherical cap 10 or the cap 11 with rod can be transferred by the robot arm 32, thereby realizing the automatic removal of the spherical cap 10 or the cap 11 with rod.

[0041] In this embodiment, the rod-end clamp 333 is a pneumatic three-jaw chuck 334. The rod clamping jaws 3331 are mounted on the jaws 3341 of the three-jaw chuck 3344, with the jaws 3341 spaced 120 degrees apart and sliding synchronously relative to the center of the three-jaw chuck 3344. The rod clamping jaws 3331 have an L-shaped structure, with one end of the L-shaped structure mounted on the jaw 3341 by fasteners such as screws. The other ends of the multiple L-shaped structures form a rod clamping channel 3342, thereby enabling the clamping or unloading of the rod 111.

[0042] In this embodiment, the robotic arm 32 includes an upper fixed platform 321, a robot main body 322, a robot linkage 323, and a lower fixed platform 324 (the conical bucket structure in the figure represents the range of motion of the lower fixed platform 324). The robot main body 322 is the power source, and the robot linkage 323 consists of three sets. The robot main body 322 is mounted on the upper fixed platform 321. The upper end of the robot linkage 323 is connected to the robot main body 322, and the lower end is connected to the lower fixed platform 324. The switching rotating component 331 is mounted on the lower fixed platform 324, and the upper fixed platform 321 is mounted on the top of the frame 31.

[0043] In this embodiment, to ensure that the installation of the spherical cap suction clamp 332 and the rod-mounted cap clamp 333 does not interfere with each other, an adapter frame 34 is also included. The adapter frame 34 includes two clamp mounting plates 342, one with a rotating end mounting plate 341 and the other with a vertical mounting plate. The two clamp mounting plates 342 are adjacent to each other and perpendicular to each other at 90°. They are formed by bending a sheet metal part. The rotating end mounting plate 341 is mounted on the rotating end of the switching rotating member 331. The negative pressure suction head 3321 is mounted on one of the clamp mounting plates 342, and the rod-mounted cap clamp 333 is mounted on the other clamp mounting plate 342. The switching rotating member 331 can switch between the spherical cap suction clamp 32 and the rod-mounted cap clamp 33 by rotating the rotating member 331 clockwise or counterclockwise by 90°.

[0044] In this embodiment, the plug receiving device 4 includes a chute 41 for receiving plugs clamped by the robot arm 32, which is disposed on one side of the plug removal device 3; a bottom material box 42 for receiving plugs that slide down in the chute 41; a receiving box 43 for classifying and receiving different plugs; and a material box driving device 44 for driving the bottom material box 42 to reciprocate on multiple receiving boxes 43. The chute 41 is inclined, and the top ends of the bottom material box 42 and the receiving boxes 43 are open. The receiving boxes 43 are evenly arranged along the conveying direction of the hub 12. A bottom switch plate 421 and a switch plate telescopic member 422 for driving the bottom switch plate 421 to open and close the bottom of the bottom material box 42 are installed at the bottom of the chute bottom material box 42. The switch plate telescopic member 422 can be a cylinder. The material box drive device 44 includes a material box belt conveyor 45. One end of the material box 42 at the bottom of the chute is fixed to the material box conveyor belt 451 of the material box belt conveyor 45. The material box conveyor belt 451 spans across the receiving box 43. The material box belt conveyor 45 is driven reciprocally by a motor. A support plate 452 is installed below the material box conveyor belt 451 to ensure that the material box conveyor belt 451 moves horizontally back and forth, and to prevent the material box 42 at the bottom of the chute from sagging or interfering.

[0045] In this embodiment, in order to transfer the plug and prevent interference from the outward movement of the robot arm 32, a rotating receiving mechanism 46 is also included. The rotating receiving mechanism 46 includes a rotating component 461, a connecting rod 462, and two chute top material boxes 463. The rotating component 461 is a rotary cylinder or a rotary motor. The two chute top material boxes 463 are installed at both ends of the connecting rod 462. The rotating end of the rotating component 461 is fixedly connected to the middle of the connecting rod 462. One chute top material box 463 is located inside the plug removal device 3, and the other chute top material box 463 is located above the input end of the chute 41. A top switch plate 464 and a switch plate reciprocating component 465 that drives the top switch plate 464 to open and close the bottom of the chute top material box 463 are installed at the bottom of each chute top material box 463. Similarly, the switch plate reciprocating component 465 is a telescopic cylinder. Thus, after the robotic arm 32 picks up the plug and places it into the top material box 463 of the chute located in the plug removal device 3, the rotating component 461 rotates 180 degrees, and the top material box 463 of the chute rotates to the top of the chute 41. Then, the switch plate telescopic component 422 drives the bottom switch plate 421 to open the top material box 463 of the chute, and the plug falls down along the chute 41 into the bottom material box 42 of the chute. Then, the material box belt conveyor 45 operates, driving the bottom material box 42 of the chute to move above the corresponding receiving box 43. Then, the switch plate reciprocating component 465 drives the top switch plate 464 to operate, and the plug falls into the receiving box 43, completing the collection of the plug.

[0046] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A wheel hub cap automatic removal machine characterized by, The device includes an electrical control cabinet (1) and a vision inspection device (2), a plug removal device (3), a plug receiving device (4) connected to the electrical control cabinet (1), and a hub conveying device (5) for driving the hub (12) to pass sequentially through the vision inspection device (2) and the plug removal device (3). The plug removal device (3) includes a robot arm (32) for clamping the plug in the bolt hole (121) and placing it into the plug receiving device (4). The plug receiving device (4) includes a chute (41) on one side of the plug removal device (3) for receiving the plug clamped by the robot arm (32), a chute bottom material box (42) for receiving the plug that slides down in the chute (41), a receiving box (43) for classifying and receiving different plugs, and a material box driving device (44) for driving the chute bottom material box (42) to reciprocate on multiple receiving boxes (43). The bottom of the chute bottom material box (42) is equipped with a... The bottom switch plate (421) and the drive bottom switch plate (421) open and close the switch plate telescopic component (422) at the bottom of the bottom material box (42) of the chute; it also includes a rotating receiving mechanism (46), the rotating receiving mechanism (46) includes a rotating component (461), a connecting rod (462) and two chute top material boxes (463), the two chute top material boxes (463) are installed at both ends of the connecting rod (462), the rotating end of the rotating component (461) is fixedly connected to the middle of the connecting rod (462), one of the chute top material boxes (463) is located in the cap removal device (3), and the other chute top material box (463) is located above the input end of the chute (41), and a top switch plate (464) and a drive top switch plate (464) to open and close the switch plate reciprocating component (465) at the bottom of any of the chute top material boxes (463) are installed.

2. The wheel hub cap automatic removal machine according to claim 1, wherein, The visual inspection device (2) includes an inspection frame (21) and a light shield (22), a light source (23) and a bolt hole inspection camera (24) mounted on the inspection frame (21). The light source (23) and the bolt hole inspection camera (24) are mounted on the top inside the light shield (22). The bolt hole inspection camera (24) faces the wheel hub (12) on the wheel hub conveying device (5).

3. The wheel hub cap automatic removal machine according to claim 2, wherein, The hub conveying device (5) is a hub belt conveyor that includes a hub conveyor belt.

4. The wheel hub cap automatic removal machine of claim 1, wherein, The moving end of the robotic arm (32) is equipped with a cap holding mechanism (33). The cap holding mechanism (33) includes a switching rotating component (331), a spherical cap adsorption clamp (332) installed on the rotating end of the switching rotating component (331), and a cap holding clamp with a rod (333). The spherical cap adsorption clamp (332) includes a negative pressure suction head (3321) for adsorbing the spherical cap (10). The cap holding clamp with a rod (3333) includes a rod gripper (3331) for clamping the rod (111) of the cap with a rod (11) by relative movement.

5. The automatic wheel hub plug removal machine according to claim 4, characterized in that, The rod-type plug clamp (333) is a pneumatic three-jaw chuck (334), and the rod jaw (3331) is mounted on the jaw (3341) of the three-jaw chuck (334).

6. The automatic wheel hub plug removal machine according to claim 5, characterized in that, The rod gripper (3331) has an L-shaped structure. One end of the L-shaped structure is mounted on the claw (3341) by a fastener, and the other ends of the multiple L-shaped structures form a rod clamping channel (3342).

7. The automatic wheel hub plug removal machine according to claim 4, characterized in that, The robotic arm (32) includes an upper fixed platform (321), a robot main body (322), a robot linkage (323), and a lower fixed platform (324). The robot main body (322) is mounted on the upper fixed platform (321). The upper end of the robot linkage (323) is connected to the robot main body (322), and the lower end is connected to the lower fixed platform (324). The switching rotating component (331) is mounted on the lower fixed platform (324).

8. The automatic wheel hub plug removal machine according to claim 1, characterized in that, The material box drive device (44) includes a material box belt conveyor (45), one end of the bottom material box (42) of the chute is fixed to the material box conveyor belt (451) of the material box belt conveyor (45), and a pallet (452) is installed below the material box conveyor belt (451).

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