Wheel hub handling clamp and method of clamping

Abstract

The application provides a hub carrying and clamping device and a clamping method, which comprises a support unit and a clamping unit; the support unit comprises an upper seat, a lower seat and a supporting rod; the upper seat and the lower seat are arranged in parallel and spaced apart; the supporting rod is arranged between the upper seat and the lower seat and is fixedly connected with the upper seat and the lower seat; the clamping unit comprises a gas cylinder, a connecting seat, a pull rod, a supporting rod, an upper wedge block, an arc-shaped expansion piece, a lower wedge block and a rubber ring; the lower part of the clamping unit is deeply arranged in a circular hole in the center of the hub, and the extrusion friction force generated by the hole wall of the circular hole is balanced with the gravity of the hub, so that the hub is clamped and transported by the carrying robot; the application can ensure that the hub is reliably clamped during the carrying of the hub, improve the production efficiency and reduce safety accidents.

Description

Technical Field

[0001] This invention relates to the field of mechanical device technology, specifically to a hub handling clamping device and clamping method for a handling robot. Background Technology

[0002] In modern manufacturing, material handling robots have become an indispensable part of automated production lines. They can efficiently handle various workpieces, thereby improving production efficiency and reducing labor requirements. Traditional gripping devices are usually designed with versatile jaws and chucks to grip the outside of the wheel hub and apply clamping force to pick it up. Different sizes of wheel hubs usually require matching jaws, resulting in poor versatility. When using jaws that do not perfectly match the size of the wheel hub, the jaws cannot make sufficient contact with the wheel hub. This may lead to the following problems: 1. When the gripping device cannot apply a uniform and stable clamping force to the wheel hub, the wheel hub may move or slide during handling, causing production line interruption or wheel hub damage; 2. Unstable gripping forces the robot to operate slowly to reduce the risk of wheel hub movement, reducing production efficiency; 3. Wheel hub falling off or moving during handling may pose safety risks to workers and equipment, leading to accidents. Summary of the Invention

[0003] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a wheel hub handling and clamping device and method that ensures the wheel hub is reliably clamped, improves production efficiency, and reduces safety risks.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A wheel hub handling clamping device includes a support unit and a clamping unit;

[0006] The support unit includes an upper seat, a lower seat, and a support column; the upper seat and the lower seat are arranged parallel to each other and spaced apart; the support column is arranged between the upper seat and the lower seat and is fixedly connected to the upper seat and the lower seat.

[0007] The clamping unit includes a cylinder, a connecting seat, a pull rod, a support rod, an upper wedge block, an arc-shaped expansion plate, a lower wedge block, and a rubber ring. The cylinder is fixed on the upper seat. The connecting seat is located between the upper and lower seats. The front end of the piston rod of the cylinder is fixedly connected to the connecting seat. The upper end of the pull rod is rotatably mounted on the connecting seat, and the axis of the pull rod coincides with the axis of the cylinder. The upper end of the support rod is fixedly connected to the lower seat. The support rod has a through hole to accommodate the pull rod. The pull rod passes through the through hole and is movably placed inside the support rod. The upper wedge block is sleeved on the support rod and fixedly connected to the lower seat. The lower wedge block is movably sleeved on the lower part of the support rod. The lower end of the pull rod passes through the lower wedge block and extends below the lower wedge block. A limit ring is fixedly mounted on the pull rod, located inside the lower wedge block and at the lower end of the support rod. A nut is sleeved on the lower part of the pull rod. The upper end face of the nut abuts against the lower end of the lower wedge block; the lower end face of the upper wedge block is configured as a downwardly extending first conical surface; the upper end face of the lower wedge block is configured as an upwardly extending second conical surface, the first and second conical surfaces are symmetrically arranged; an arc-shaped expansion plate is disposed between the upper and lower wedge blocks; multiple arc-shaped expansion plates are configured; multiple arc-shaped expansion plates are distributed in an equal-angle circular array around the axis of the pull rod; the upper end face of the arc-shaped expansion plate is configured as a first concave conical surface adapted to the first conical surface, and the upper end face is configured as a second concave conical surface adapted to the second conical surface, the first conical surface and the first concave conical surface slide in contact, and the second conical surface and the second concave conical surface slide in contact; an arc-shaped groove is provided on the arc-shaped expansion plate; the arc-shaped grooves at the same height position on multiple arc-shaped expansion plates form a circular groove; a rubber ring is sleeved in the arc-shaped groove.

[0008] Preferably, it further includes a locking unit; the locking unit includes a motor, a driving gear, a driven gear, a fixed ring sleeve, a moving ring sleeve, and a locking plate; the motor is fixed on the connecting seat; the driving gear is disposed on the output shaft of the motor; the driven gear is disposed on the pull rod and meshes with the driving gear for transmission; the moving ring sleeve is fixedly connected to the bottom of the pull rod; the fixed ring sleeve is fixed on the lower end face of the lower wedge block, and the fixed ring sleeve is sleeved on the outside of the moving ring sleeve; the lower end face of the fixed ring sleeve and the lower end face of the moving ring sleeve are flush; the locking plate is disposed below the fixed ring sleeve and the moving ring sleeve; a first column is fixedly disposed on the lower end face of the fixed ring sleeve; a second column is fixedly disposed on the lower end face of the moving ring sleeve; the locking plate is provided with a circular groove adapted to the second column, and the locking plate is rotatably disposed on the second column through the circular groove; the upper end face of the locking plate is provided with an elongated hole for accommodating the first column, and the first column is slidably disposed in the elongated hole; a fan-shaped friction block is integrally disposed on the side of the locking plate away from the circular groove.

[0009] Preferably, multiple locking plates are configured; the multiple locking plates are arranged in a circular array with the axis of the moving ring sleeve as the center.

[0010] Preferably, the clamping unit further includes a positioning ring, a guide rod, and a spring; the positioning ring is slidably sleeved on the upper wedge block; the lower end of the guide rod is fixedly connected to the upper wedge block, and the upper end is fixedly connected to the lower seat; the positioning ring is provided with a guide hole for accommodating the guide rod to pass through; the spring is sleeved on the guide rod; the upper end of the spring abuts against the lower seat, and the lower end abuts against the positioning ring.

[0011] Preferably, an anti-slip pad is fixedly provided on the outer surface of the arc-shaped expansion plate; a connecting ear plate is fixedly provided on the upper seat.

[0012] Preferably, the clamping unit further includes a proximity switch; the proximity switch is fixedly mounted on the lower base, with its front end facing the positioning ring.

[0013] Preferably, the locking unit further includes a limiting plate, a limiting rod, and a screw; the limiting plate is disposed below the fixed ring sleeve; the limiting rod is vertically fixed to the upper end face of the limiting plate; the fixed ring sleeve is provided with a limiting hole adapted to the limiting rod, and the limiting rod is inserted into the limiting hole; multiple limiting rods are configured, with one limiting rod between every two adjacent locking pieces; a first screw hole is provided on the side of the fixed ring sleeve, and a second screw hole adapted to the first screw hole is provided on the limiting rod; the screw passes through the first screw hole and is threadedly connected to the second screw hole, at which time the lower end face of the locking piece is in frictional contact with the upper end face of the limiting plate.

[0014] A clamping method for a wheel hub handling clamping device includes the following steps:

[0015] S1, Wheel hub clamping

[0016] A transport robot equipped with a gripping device drives to the wheel hub and uses its robotic arm to move the gripping device to the center of the wheel hub above the circular hole.

[0017] The robotic arm lowers the gripping device, allowing the limiting plate, the fixed ring sleeve, the lower wedge block, the arc-shaped expansion plate, and the upper wedge block to enter the circular hole in sequence. The lower end face of the positioning ring is in contact with the wheel hub until the positioning ring triggers the proximity switch, stopping the lowering action.

[0018] The piston rod of the cylinder drives the connecting seat, motor, pull rod, and lower wedge block to move upward synchronously. At this time, the upper wedge block and support rod remain stationary relative to the wheel hub.

[0019] When the lower wedge block moves upward, the vertical distance between it and the upper wedge block decreases. The first concave cone and the second concave cone of the arc-shaped expansion piece slide along the first cone surface of the upper wedge block and the second cone surface of the lower wedge block, respectively, so that the arc-shaped expansion piece moves outward along the radial direction of the support rod until the outer side of the arc-shaped expansion piece abuts against the circular hole wall of the contact hub.

[0020] The cylinder stops moving and remains in that state;

[0021] S2, State Lock

[0022] After the cylinder stops moving, the motor starts and drives the pull rod to rotate inside the support rod through the meshing of the drive gear and the driven gear. The support rod drives the moving ring sleeve to rotate inside the fixed ring sleeve. The second column on the fixed ring sleeve pulls the locking plate to move synchronously. The first column slides in the strip groove of the locking plate, causing the fan-shaped friction block of the locking plate to move in a direction away from the axis of the fixed ring sleeve. This causes the fan-shaped friction block to extend from between the fixed ring sleeve and the limiting plate and abut against the circular hole wall of the contact hub.

[0023] S3, Wheel hub placement

[0024] The motor rotates in the opposite direction, causing the fan-shaped friction block to retract between the fixed ring sleeve and the limiting plate, disengaging from the hub. The piston rod of the cylinder moves downward, causing the lower wedge block to move away from the upper wedge block. Under the elastic action of the rubber ring, the arc-shaped expansion plate is pulled back to its initial state, disengaging from the hub. The mechanical arm then removes the clamping device from the circular hole of the hub, completing the placement of the hub.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] In this invention, the robotic arm on the handling robot moves to insert the lower part of the clamping device into the circular hole of the wheel hub. A cylinder pulls the lever upwards, causing the lower wedge block to move upwards and compress the arc-shaped expansion plate. This causes the arc-shaped expansion plate to move radially. The friction generated by the outer surface of the arc-shaped expansion plate pressing against the wall of the circular hole in the wheel hub counteracts the weight of the wheel hub, lifting it up. This method is not limited by the outer diameter of the wheel hub, providing stable clamping force and preventing the wheel hub from accidentally falling. The arc-shaped expansion plate can expand within a certain range to accommodate clamping operations on wheel hubs with various hole diameters. After the arc-shaped expansion plate is fixed to the wheel hub, a motor drives the lever to rotate. The movement of the moving ring relative to the fixed ring causes the locking plate to rotate and press against the wall of the circular hole in the wheel hub, locking the arc-shaped expansion plate in place. This prevents the friction generated by the arc-shaped expansion plate from decreasing due to cylinder leakage, thus ensuring operational safety and preventing the wheel hub from accidentally falling. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0029] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0030] Figure 4 for Figure 2 A magnified view of a section at point B in the middle;

[0031] Figure 5 for Figure 2 A magnified view of a section at point C;

[0032] Figure 6 This is an exploded view of the structure of the present invention;

[0033] Figure 7 This is a cross-sectional structural diagram of the present invention;

[0034] Figure 8 This is a schematic diagram showing the connection state of the locking plate with the moving ring sleeve and the fixed ring sleeve in this invention;

[0035] Figure 9 This is a schematic diagram showing the connection state of the moving ring sleeve and the fixed ring sleeve in this invention;

[0036] Figure 10 This is a schematic diagram of the tie rod in this invention;

[0037] Figure 11 This is a schematic diagram of the connecting seat in the present invention;

[0038] Figure 12 This is a schematic diagram of the lower wedge block in this invention;

[0039] Figure 13 This is a schematic diagram of the structure of the moving ring sleeve in this invention;

[0040] Figure 14 This is a schematic diagram of the upper wedge block in this invention;

[0041] Figure 15 This is a schematic diagram of the locking plate in this invention;

[0042] Figure 16 This is a schematic diagram of the limiting plate in this invention.

[0043] In the picture:

[0044] 1. Cylinder; 2. Connecting ear plate; 3. Motor; 4. Drive gear; 5. Driven gear; 6. Pull rod; 7. Support rod; 8. Spring; 9. Upper wedge block; 10. Rubber ring; 11. Lower wedge block; 12. Locking plate; 13. Limiting plate; 14. First screw hole; 15. Fixed ring sleeve; 16. Arc-shaped expansion plate; 17. Positioning ring; 18. Lower seat; 19. Support column; 20. Connecting seat; 21. Upper seat; 22. Proximity switch; 23. Guide rod; 24. Moving ring sleeve; 25. Limiting ring; 26. Nut; 27. Long slot; 28. First column; 29. ​​Limiting rod; 30. Screw; 31. Limiting hole; 32. Second column; 33. Second conical surface; 34. First conical surface; 35. Circular groove; 36. Fan-shaped friction block; 37. Second screw hole. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings.

[0046] like Figures 1 to 7 , Figures 10 to 15 As shown, a wheel hub handling and clamping device is connected to the robotic arm of a handling robot and used as a dedicated robotic arm. It is powered and controlled by the handling robot and includes a support unit and a clamping unit.

[0047] The support unit includes an upper seat 21, a lower seat 18, and a support column 19; the upper seat 21 and the lower seat 18 are arranged parallel to each other at intervals; the support column 19 is arranged between the upper seat 21 and the lower seat 18 and is threadedly fixed to the upper seat 21 and the lower seat 18 at both ends respectively.

[0048] The clamping unit includes a cylinder 1, a connecting seat 20, a pull rod 6, a support rod 7, an upper wedge block 9, an arc-shaped expansion plate 16, a lower wedge block 11, and a rubber ring 10. The cylinder 1 is fixed on the upper seat 21, with the piston rod of the cylinder 1 facing downwards. The connecting seat 20 is located between the upper seat 21 and the lower seat 18. The front end of the piston rod of the cylinder 1 is fixedly connected to the connecting seat 20. A bearing is provided at the upper end of the pull rod 6, and a chamber for accommodating the bearing is provided inside the connecting seat 20. The pull rod 6 is rotatably mounted on the connecting seat 20 via the bearing. On the upper part, the axis of the pull rod 6 coincides with the axis of the cylinder 1; the upper end of the support rod 7 is fixedly connected to the lower seat 18; the support rod 7 has a through hole to accommodate the pull rod 6; the pull rod 6 passes through the through hole and is movably placed inside the support rod 7, and can rotate and move up and down along the axis of the support rod 7; the upper wedge block 9 is sleeved on the support rod 7 and fixedly connected to the lower seat 18; the lower wedge block 11 is movably sleeved on the lower part of the support rod 7; the pull rod 6 The lower end of the lever 6 passes through the lower wedge block 11 and extends below the lower wedge block 11, and the lever 6 is rotatable relative to the lower wedge block 11; a limit ring 25 is fixedly provided on the lever 6, the limit ring 25 is located inside the lower wedge block 11 and at the lower end of the support rod 7; a nut 26 is sleeved on the lower part of the lever 6, and the upper end face of the nut 26 abuts against the lower end of the lower wedge block 11. When the lever 6 slides along the axis of the support rod 7 inside the support rod 7, it will clamp the lower wedge block 11 through the limit ring 25 and the nut 26. They move together; the lower end face of the upper wedge block 9 is set as a downwardly extending first conical surface 34; the upper end face of the lower wedge block 11 is set with an upwardly extending second conical surface 33, and the first conical surface 34 and the second conical surface 33 are symmetrically arranged; the arc-shaped expansion plate 16 is arranged between the upper wedge block 9 and the lower wedge block 11; multiple arc-shaped expansion plates 16 are arranged; multiple arc-shaped expansion plates 16 are arranged in an equal-angle circular array around the axis of the pull rod 6 on the outside of the support rod 7 between the upper wedge block 9 and the lower wedge block 11;

[0049] The upper end face of the arc-shaped expansion plate 16 is configured as a first concave conical surface that matches the first conical surface 34, and the upper end face is configured as a second concave conical surface that matches the second conical surface 33. The first conical surface 34 and the first concave conical surface slide in contact, and the second conical surface 33 and the second concave conical surface slide in contact. An arc-shaped groove is provided on the arc-shaped expansion plate 16. The arc-shaped grooves at the same height position on multiple arc-shaped expansion plates 16 form a circular groove. The rubber ring 10 is sleeved in the arc-shaped groove. When the pull rod 6 pulls the lower wedge block 11 to move upward, the second conical surface 33 of the lower wedge block 11 squeezes the second concave conical surface of the arc-shaped expansion plate 16, causing the arc-shaped expansion plate 16 to move outward along the radial direction of the pull rod 6 until the outer side of the arc-shaped expansion plate 16 squeezes and contacts the circular hole wall of the wheel hub. The squeezing friction between the arc-shaped expansion plate 16 and the circular hole wall forms a clamping force to facilitate lifting the wheel hub.

[0050] Furthermore, to prevent air leakage from cylinder 1 from reducing the force exerted on the wheel hub by the arc-shaped expansion plate 16, which could lead to the wheel hub falling off, a locking unit is also provided; such as Figure 2 , Figure 5 , Figure 6 , Figure 8 , Figure 9 , Figure 12 , Figure 14 As shown, the locking unit includes a motor 3, a driving gear 4, a driven gear 5, a fixed ring sleeve 15, a moving ring sleeve 24, and a locking plate 12. The motor 3 is fixed on the connecting seat 20 and moves up and down synchronously with the connecting seat 20. The driving gear 4 is mounted on the output shaft of the motor 3 and rotates with the output shaft of the motor 3. The driven gear 5 is mounted on the pull rod 6 and meshes with the driving gear 4 for transmission. After the motor 3 starts, it drives the pull rod 6 to rotate. The moving ring sleeve 24 is fixedly connected to the bottom of the pull rod 6. The fixed ring sleeve 15 is fixed to the lower wedge block 1. On the lower end face of the fixed ring sleeve 15, the fixed ring sleeve 15 is sleeved on the outside of the moving ring sleeve 24; the lower end face of the fixed ring sleeve 15 and the lower end face of the moving ring sleeve 24 are flush; the locking piece 12 is disposed below the fixed ring sleeve 15 and the moving ring sleeve 24; a first column 28 is fixedly disposed on the lower end face of the fixed ring sleeve 15; a second column 32 is fixedly disposed on the lower end face of the moving ring sleeve 24; the locking piece 12 is provided with a circular groove 35 that is adapted to the second column 32, and the locking piece 12 is rotatably disposed on the second column 32 through the circular groove 35; the locking piece The upper end face of 12 is provided with an elongated hole 27 to accommodate the first post 28. The first post 28 is slidably disposed in the elongated hole 27. When the moving ring sleeve 24 rotates, it can drive the locking piece 12 to move together, so that the first post 28 slides in the elongated hole 27. When the first post 28 is located at the end of the elongated hole 27 that is closest to the second post 32, the end of the locking piece 12 that is away from the first post 28 extends out to the outside of the fixed ring sleeve 15. When the cylinder 1 is in the retracted state, a fan-shaped friction block 36 is integrally provided on the side of the lock plate 12 away from the circular groove 35. The fan-shaped friction block 36 makes frictional contact with the wall of the circular hole of the wheel hub. When the cylinder 1 leaks air, the friction between the fan-shaped friction block 36 and the wall of the circular hole of the wheel hub keeps the distance between the fan-shaped friction block 36 and the upper wedge block 9 unchanged. That is, the arc-shaped expansion plate 16 will not move in the direction of the axis of the pull rod 6. The friction between the arc-shaped expansion plate 16 and the wheel hub is stable, so that the wheel hub will not slip.

[0051] Furthermore, such as Figure 8 As shown, multiple locking plates 12 are configured; the multiple locking plates 12 are arranged in a circular array around the axis of the moving ring sleeve 24, which provides greater friction and can also distribute the reaction force on the locking plates 12 to prevent the locking plates 12 from being stretched and deformed.

[0052] Furthermore, such as Figure 1 , Figure 2 , Figure 7 As shown, the clamping unit also includes a positioning ring 17, a guide rod 23, and a spring 8; the positioning ring 17 is slidably sleeved on the upper wedge block 9; the lower end of the guide rod 23 is fixedly connected to the upper wedge block 9, and the upper end is fixedly connected to the lower seat 18; the positioning ring 17 is provided with a guide hole for the guide rod 23 to pass through; the spring 8 is sleeved on the guide rod 23; the upper end of the spring 8 abuts against the lower seat 18, and the lower end abuts against the positioning ring 17; when the robotic arm drives the clamping device to move downward, the lower end face of the positioning ring 17 abuts against the upper end face of the hub, and the positioning ring 17 can move upward along the guide rod 23, playing a role in downward pressure buffering, preventing the clamping device from being inserted too deeply and causing damage to the parts or hub.

[0053] Furthermore, an anti-slip pad layer is fixedly provided on the outer surface of the arc-shaped expansion plate 16 to enhance friction and prevent the wheel hub from being scratched; such as Figure 1 As shown, a connecting ear plate 2 is fixedly installed on the upper seat 21 for connecting with the robotic arm.

[0054] Furthermore, such as Figure 2 As shown, the clamping unit also includes a proximity switch 22; the proximity switch 22 is fixedly mounted on the lower seat 18, and the front end of the proximity switch 22 is positioned facing the positioning ring 17. When the robotic arm inserts the clamping device into the round hole of the hub, the upper end face of the hub abuts against the positioning ring 17 and pushes the positioning ring 17 upward until the positioning ring 17 triggers the proximity switch 22, and the cylinder 1 is stopped by the control of the handling robot.

[0055] Furthermore, such as Figure 2 , Figure 5 , Figure 16 As shown, the locking unit also includes a limiting plate 13, a limiting rod 29, and a screw 30; the limiting plate 13 is located below the fixed ring sleeve 15; the limiting rod 29 is vertically fixed to the upper end face of the limiting plate 13; the fixed ring sleeve 15 is provided with a limiting hole 31 that matches the limiting rod 29, and the limiting rod 29 is inserted into the limiting hole 31; multiple limiting rods 29 are provided, with one limiting rod 29 between every two adjacent locking plates 12, and the rotation angle of the locking plate 12 is affected by the limiting rods 29 on both sides. The 9-point restriction restricts the movement of the locking piece 12 to a certain range. The side of the fixed ring sleeve 15 is provided with a first screw hole 14, and the limiting rod 29 is provided with a second screw hole 37 that matches the first screw hole 14. The screw 30 passes through the first screw hole 14 and is threadedly connected to the second screw hole 37. At this time, the lower end face of the locking piece 12 is in frictional contact with the upper end face of the limiting plate 13. The limiting plate 13 protects the locking piece 12 and prevents it from accidentally falling off the first column 28 and the second column 32.

[0056] A clamping method for a wheel hub handling clamping device includes the following steps:

[0057] S1, Wheel hub clamping

[0058] A transport robot equipped with a gripping device drives to the wheel hub and uses its robotic arm to move the gripping device to the center of the wheel hub above the circular hole.

[0059] The robotic arm lowers the gripping device, so that the limiting plate 13, the fixed ring sleeve 15, the lower wedge block 11, the arc-shaped expansion plate 16, and the upper wedge block 9 enter the circular hole in sequence. The lower end face of the positioning ring 17 is in contact with the wheel hub until the positioning ring 17 triggers the proximity switch 22 and stops the lowering action.

[0060] The piston rod of cylinder 1 drives the connecting seat 20, motor 3, pull rod 6, and lower wedge block 11 to move upward synchronously. At this time, the upper wedge block 9 and support rod 7 remain stationary relative to the hub.

[0061] When the lower wedge block 11 moves upward, the vertical distance between it and the upper wedge block 9 decreases. The first concave cone and the second concave cone of the arc-shaped expansion piece 16 slide along the first cone surface 34 of the upper wedge block 9 and the second cone surface 33 of the lower wedge block 11, respectively, so that the arc-shaped expansion piece 16 moves outward along the radial direction of the support rod 7 until the outer side of the arc-shaped expansion piece 16 abuts against the circular hole wall of the contact hub.

[0062] Cylinder 1 stops operating and remains in that state;

[0063] S2, State Lock

[0064] After cylinder 1 stops operating, motor 3 starts and drives pull rod 6 to rotate inside support rod 7 through the meshing of drive gear 4 and driven gear 5. Support rod 7 drives moving ring sleeve 24 to rotate inside fixed ring sleeve 15. Second column 32 on fixed ring sleeve 15 pulls lock plate 12 to move synchronously. First column 28 slides in the strip groove of lock plate 12, so that the fan-shaped friction block 36 of lock plate 12 moves away from the axis of fixed ring sleeve 15, so that the fan-shaped friction block 36 extends from between fixed ring sleeve 15 and limit plate 13 and abuts against the circular hole wall of contact hub.

[0065] S3, Wheel hub placement

[0066] The motor 3 rotates in the opposite direction, causing the fan-shaped friction block 36 to retract between the fixed ring sleeve 15 and the limiting plate 13, thus disengaging from the hub. The piston rod of the cylinder 1 moves downward, causing the lower wedge block 11 to move away from the upper wedge block 9. Under the elastic action of the rubber ring 10, the arc-shaped expansion plate 16 is pulled back to its initial state, and the arc-shaped expansion plate 16 disengages from the hub. The mechanical arm then removes the clamping device from the circular hole of the hub, completing the placement of the hub.

[0067] Those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

Claims

1. A wheel hub handling and clamping device, characterized in that, Includes support units and clamping units; The support unit includes an upper seat (21), a lower seat (18), and a support column (19); the upper seat (21) and the lower seat (18) are arranged parallel to each other at intervals; the support column (19) is arranged between the upper seat (21) and the lower seat (18) and is fixedly connected to the upper seat (21) and the lower seat (18); The clamping unit includes a cylinder (1), a connecting seat (20), a pull rod (6), a support rod (7), an upper wedge block (9), an arc-shaped expansion plate (16), a lower wedge block (11), and a rubber ring (10); the cylinder (1) is fixed on the upper seat (21); the connecting seat (20) is located between the upper seat (21) and the lower seat (18); the front end of the piston rod of the cylinder (1) is fixedly connected to the connecting seat (20); the upper end of the pull rod (6) is rotatably mounted on the connecting seat (20), and the axis of the pull rod (6) coincides with the axis of the cylinder (1); the upper end of the support rod (7) is connected to the lower seat (18). 8) Fixed connection; the support rod (7) has a through hole to accommodate the pull rod (6); the pull rod (6) passes through the support rod (7) through the through hole and is movably placed inside the support rod (7); the upper wedge block (9) is sleeved on the support rod (7) and fixedly connected to the lower seat (18); the lower wedge block (11) is movably sleeved on the lower part of the support rod (7); the lower end of the pull rod (6) passes through the lower wedge block (11) and extends to the lower part of the lower wedge block (11); a limit ring (25) is fixedly provided on the pull rod (6), the limit ring (25) is located inside the lower wedge block (11) and is positioned At the lower end of the support rod (7); a nut (26) is sleeved on the lower part of the pull rod (6), and the upper end face of the nut (26) abuts against the lower end of the lower wedge block (11); the lower end face of the upper wedge block (9) is configured as a downwardly extending first conical surface (34); the upper end face of the lower wedge block (11) is configured with an upwardly extending second conical surface (33), and the first conical surface (34) and the second conical surface (33) are symmetrically arranged; an arc-shaped expansion plate (16) is arranged between the upper wedge block (9) and the lower wedge block (11); multiple arc-shaped expansion plates (16) are arranged; multiple arc-shaped expansion plates (16) are used to pull The rod (6) is arranged in an equal-angle circular array with its axis as the center; the upper end face of the arc-shaped expansion plate (16) is set as a first concave conical surface that matches the first conical surface (34), and the upper end face is set as a second concave conical surface that matches the second conical surface (33). The first conical surface (34) slides in contact with the first concave conical surface, and the second conical surface (33) slides in contact with the second concave conical surface; an arc-shaped groove is provided on the arc-shaped expansion plate (16); multiple arc-shaped expansion plates (16) with arc-shaped grooves at the same height position form a circular groove; a rubber ring (10) is sleeved in the arc-shaped groove; It also includes a locking unit; the locking unit includes a motor (3), a driving gear (4), a driven gear (5), a fixed ring sleeve (15), a moving ring sleeve (24), and a locking plate (12); the motor (3) is fixed on the connecting seat (20); the driving gear (4) is set on the output shaft of the motor (3); the driven gear (5) is set on the pull rod (6) and meshes with the driving gear (4) for transmission; the moving ring sleeve (24) is fixedly connected to the bottom of the pull rod (6); the fixed ring sleeve (15) is fixed on the lower end face of the lower wedge block (11), and the fixed ring sleeve (15) is sleeved on the outside of the moving ring sleeve (24); the lower end face of the fixed ring sleeve (15) and the lower end face of the moving ring sleeve (24) are flush; the locking plate (12) The locking plate (12) is set below the fixed ring sleeve (15) and the moving ring sleeve (24); a first column (28) is fixedly set on the lower end surface of the fixed ring sleeve (15); a second column (32) is fixedly set on the lower end surface of the moving ring sleeve (24); a circular groove (35) adapted to the second column (32) is provided on the locking plate (12), and the locking plate (12) is rotatably set on the second column (32) through the circular groove (35); an elongated hole (27) for accommodating the first column (28) is provided on the upper end surface of the locking plate (12), and the first column (28) is slidably set in the elongated hole (27); a fan-shaped friction block (36) is integrally set on the side of the locking plate (12) away from the circular groove (35).

2. The wheel hub handling and clamping device as described in claim 1, characterized in that, Multiple locking plates (12) are configured; the multiple locking plates (12) are arranged in a circular array with the axis of the moving ring sleeve (24) as the center.

3. The wheel hub handling and clamping device as described in claim 2, characterized in that, The clamping unit also includes a positioning ring (17), a guide rod (23), and a spring (8); the positioning ring (17) is slidably sleeved on the upper wedge block (9); the lower end of the guide rod (23) is fixedly connected to the upper wedge block (9), and the upper end is fixedly connected to the lower seat (18); the positioning ring (17) is provided with a guide hole for the guide rod (23) to pass through; the spring (8) is sleeved on the guide rod (23); the upper end of the spring (8) abuts against the lower seat (18), and the lower end abuts against the positioning ring (17).

4. The wheel hub handling and clamping device as described in claim 1, characterized in that, An anti-slip pad is fixedly provided on the outer surface of the arc-shaped expansion plate (16); a connecting ear plate (2) is fixedly provided on the upper seat (21).

5. A wheel hub handling and clamping device as described in claim 3, characterized in that, The clamping unit also includes a proximity switch (22); the proximity switch (22) is fixedly mounted on the lower seat (18), and the front end of the proximity switch (22) is positioned toward the positioning ring (17).

6. The wheel hub handling and clamping device as described in claim 5, characterized in that, The locking unit also includes a limiting plate (13), a limiting rod (29), and a screw (30); the limiting plate (13) is located below the fixed ring sleeve (15); the limiting rod (29) is vertically fixed on the upper end face of the limiting plate (13); the fixed ring sleeve (15) is provided with a limiting hole (31) that matches the limiting rod (29), and the limiting rod (29) is inserted into the limiting hole (31); multiple limiting rods (29) are provided, and one limiting rod (29) is provided between each two adjacent locking pieces (12); the side of the fixed ring sleeve (15) is provided with a first screw hole (14), and the limiting rod (29) is provided with a second screw hole (37) that matches the first screw hole (14); the screw (30) passes through the first screw hole (14) and is threadedly connected to the second screw hole (37), at which time the lower end face of the locking piece (12) is in frictional contact with the upper end face of the limiting plate (13).

7. A clamping method for a wheel hub handling clamping device, based on the wheel hub handling clamping device of claim 6, characterized in that, Includes the following steps: S1, Wheel hub clamping A transport robot equipped with a gripping device drives to the wheel hub and uses its robotic arm to move the gripping device to the center of the wheel hub above the circular hole. The robotic arm lowers the clamping device, so that the limiting plate (13), the fixed ring sleeve (15), the lower wedge block (11), the arc-shaped expansion plate (16), and the upper wedge block (9) enter the round hole in sequence. The lower end face of the positioning ring (17) fits against the hub until the positioning ring (17) triggers the proximity switch (22) and stops the lowering action. The piston rod of cylinder (1) drives the connecting seat (20), motor (3), pull rod (6) and lower wedge block (11) to move upward synchronously. At this time, the upper wedge block (9) and support rod (7) remain stationary relative to the hub. When the lower wedge block (11) moves upward, the vertical distance between it and the upper wedge block (9) decreases. The first concave cone and the second concave cone of the arc-shaped expansion piece (16) slide along the first cone surface (34) of the upper wedge block (9) and the second cone surface (33) of the lower wedge block (11), respectively, so that the arc-shaped expansion piece (16) moves outward along the radial direction of the support rod (7) until the outer side of the arc-shaped expansion piece (16) abuts against the circular hole wall of the contact hub. Cylinder (1) stops operating and remains in that state; S2, State Lock After the cylinder (1) stops moving, the motor (3) starts and drives the pull rod (6) to rotate inside the support rod (7) through the meshing transmission of the drive gear (4) and the driven gear (5). The support rod (7) drives the moving ring sleeve (24) to rotate inside the fixed ring sleeve (15). The second column (32) on the fixed ring sleeve (15) pulls the locking piece (12) to move synchronously. The first column (28) slides in the strip groove of the locking piece (12), so that the fan-shaped friction block (36) of the locking piece (12) moves in a direction away from the axis of the fixed ring sleeve (15), so that the fan-shaped friction block (36) extends from between the fixed ring sleeve (15) and the limiting plate (13) and abuts against the circular hole wall of the contact hub. S3, Wheel hub placement The motor (3) rotates in the opposite direction, causing the fan-shaped friction block (36) to retract between the fixed ring sleeve (15) and the limiting plate (13), thus disengaging from the hub. The piston rod of the cylinder (1) moves downward, causing the lower wedge block (11) to move away from the upper wedge block (9). Under the elastic action of the rubber ring (10), the arc-shaped expansion plate (16) is pulled back to its initial state, and the arc-shaped expansion plate (16) disengages from the hub. The mechanical arm removes the clamping device from the round hole of the hub, thus completing the placement of the hub.

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