Detection device and detection method

Abstract

The invention discloses detection equipment and a detection method, the detection equipment is used for hub defect detection, and the detection equipment comprises a main body part, a bearing part, a driving part, a first image acquisition module and a second image acquisition module. The bearing part is used for bearing the hub, and the driving part is connected with the body part and suitable for driving the hub to a preset position. The first image acquisition module is suitable for detecting a hub at a preset position. The first image acquisition module and the second image acquisition module are located on the two opposite sides of the bearing part correspondingly, and the second image acquisition module is suitable for detecting the hub at the preset position. Wherein the first image acquisition module is used for acquiring at least one of bolt hole information, included angle information, spoke information, window information, rim outer wall information, center hole information and wheel edge information of a hub. And the second image acquisition module is used for acquiring back cavity information of the hub and / or rim inner wall information of the hub. The hub defect detection device can efficiently and comprehensively complete hub defect detection.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel hub detection, and in particular to a detection device and a detection method. Background Art

[0002] As a core component and safety feature of a vehicle's running system, the manufacturing process and quality of automotive wheels directly impact driving safety and overall vehicle performance. Current mainstream wheel manufacturing methods are prone to defects such as pinholes, air holes, shrinkage cavities, uneven density, and surface roughness due to process characteristics. Furthermore, the low hardness of aluminum during processing can easily lead to cosmetic damage such as bumps and scratches. Traditional inspection relies primarily on manual visual inspection, but due to limitations in human eye precision, fatigue, and subjective judgment, it struggles to efficiently identify minor defects (such as fine cracks and inclusions) or meet the demands of high-speed assembly line production. This can lead to missed inspections and misjudgments, and results in high labor costs.

[0003] Existing wheel hub inspection equipment lacks systematicity and comprehensiveness, making it difficult to complete comprehensive wheel hub inspections. This results in low inspection efficiency and difficulty ensuring quality. For example, traditional inspection processes may require transferring the wheel hub between multiple different equipment and workstations, which not only increases operational complexity and time costs but also can lead to omissions and duplication of work during the inspection process. Furthermore, poor connectivity between different inspection equipment can also affect overall inspection efficiency. Summary of the Invention

[0004] The main purpose of the present invention is to provide a detection device and a detection method that can complete the wheel hub defect detection work efficiently and comprehensively.

[0005] To achieve the above objectives, some embodiments of the present invention provide a wheel hub inspection device for wheel hub defect detection, comprising: Main body, A bearing portion, used for bearing the wheel hub; A driving portion connected to the main body portion, the driving portion being adapted to drive the wheel hub to a preset position; a first image acquisition module connected to the main body, the first image acquisition module being adapted to detect a wheel hub at a preset position; a second image acquisition module connected to the main body, wherein the first image acquisition module and the second image acquisition module are located on opposite sides of the bearing portion in a vertical direction, and the second image acquisition module is suitable for detecting the wheel hub at a preset position; The first image acquisition module is used to obtain at least one of the bolt hole information, angle information, spoke information, window information, rim outer wall information, center hole information, and wheel edge information of the wheel hub; The second image acquisition module is used to obtain the back cavity information of the hub and / or the rim inner wall information of the hub.

[0006] In some embodiments, the main body includes station 1, station 2, station 3, station 4, station 5, and station 6, and the inspection device includes a transmission structure, and the station 1, station 2, station 3, station 4, station 5, and station 6 are respectively connected by the transmission structure, and the transmission structure is suitable for transmitting the wheel hub between adjacent stations; Among them, station one is configured as a wheel type identification and valve hole positioning station, station two is configured as a bolt hole detection and hub angle detection station, station three is configured as a spoke detection station, station four is configured as a hub window detection and rim outer wall detection station, station five is configured as a center hole detection and wheel edge detection station, and station six is ​​configured as a hub back cavity and rim inner wall detection station.

[0007] In some embodiments, workstation one, workstation two, workstation three, workstation four, workstation five, and workstation six are connected in sequence, and a transmission structure connects adjacent workstations.

[0008] In some embodiments, station one includes a wheel hub centering mechanism, a wheel hub rotation mechanism, and a wheel hub profile and valve hole positioning image acquisition module. The wheel hub centering and rotation mechanism is used to adjust the valve hole of the wheel hub to a first position. The wheel hub profile and valve hole positioning image acquisition module is connected to the main body. The wheel hub profile and valve hole positioning image acquisition module is used to obtain standard parameters of the wheel hub at the first position. Among them, the wheel hub includes a roller and a cylinder in the center, the wheel hub rotating mechanism rotates the motor, the roller is connected to the upper side of the load-bearing part, the cylinder and the rotating motor are arranged on the lower side of the load-bearing part, the cylinder is connected to the roller, the roller is used to drive the wheel hub to move to the first position, and the rotating motor is used to adjust the position of the valve hole so that the wheel hub is located in the first position.

[0009] In some embodiments, workstation two includes a hub centering mechanism, a hub rotation mechanism, a surface light source, a hub angle image acquisition module, and a bolt hole image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to the second position. The surface light source is connected to the main body. The surface light source is used to provide light to the hub at the second position. The hub angle image acquisition module and the bolt hole image acquisition module are both connected to the main body. The hub angle image acquisition module is suitable for obtaining the angle information of the hub at the second position, and the bolt hole image acquisition module is suitable for obtaining the bolt hole information of the hub at the second position.

[0010] In some embodiments, workstation three includes a hub centering mechanism, a hub rotation mechanism, a surface light source and a spoke image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate to adjust the hub to a third position. The surface light source is connected to the main body in a circumferential direction in the vertical direction. The surface light source is used to provide illumination to the hub at the third position. The spoke image acquisition module is connected to the main body. The spoke image acquisition module is suitable for obtaining the spoke information of the hub at the third position.

[0011] In some embodiments, work station four includes a hub centering mechanism, a hub rotation mechanism, a hub window image acquisition module and a rim outer wall image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to a fourth position. The hub window image acquisition module and the rim outer wall image acquisition module are both connected to the main body. The hub window image acquisition module is suitable for obtaining window information of the hub at the fourth position, and the rim outer wall image acquisition module is suitable for obtaining rim outer wall information of the hub at the fourth position.

[0012] In some embodiments, workstation five includes a hub centering mechanism, a hub rotation mechanism, a hub center hole image acquisition module and a wheel edge image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to the fifth position. The hub center hole image acquisition module and the wheel edge image acquisition module are both connected to the main body. The hub center hole image acquisition module is suitable for obtaining the center hole information of the hub at the fifth position, and the wheel edge image acquisition module is suitable for obtaining the wheel edge information of the hub at the fifth position.

[0013] In some embodiments, work station six includes a hub centering mechanism, a hub rotation mechanism, a hub back cavity image acquisition module and a rim inner wall image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to the sixth position. The hub back cavity image acquisition module and the rim inner wall image acquisition module are both connected to the main body. The hub back cavity image acquisition module is located below the bearing part. The bearing part has a hollow area. The hollow area is used to pass the line of sight of the hub back cavity image acquisition module. The hub back cavity image acquisition module is suitable for obtaining the back cavity information of the hub at the sixth position, and the rim inner wall image acquisition module is suitable for obtaining the rim inner wall information of the hub at the sixth position.

[0014] An embodiment of the second aspect of the present invention provides a detection method for detecting any of the above detection devices, the detection method comprising: The driving unit drives the wheel hub to move to the first position, and the wheel hub shape and valve hole positioning image acquisition module obtains standard parameters of the wheel hub at the first position; The driving unit drives the wheel hub to move to a second position, and the wheel hub angle image acquisition module obtains the angle information of the wheel hub at the second position, and the angle information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a first detection result; and / or, The driving unit drives the wheel hub to move to a second position, and the bolt hole image acquisition module obtains bolt hole information of the wheel hub at the second position, and the bolt hole information of the wheel hub is used to compare with standard parameters of the wheel hub to obtain a second detection result; and / or, The driving unit drives the wheel hub to move to a third position, and the spoke image acquisition module obtains the spoke information of the wheel hub at the third position, and the spoke information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a fourth detection result; and / or, The driving unit drives the wheel hub to move to a fourth position, and the wheel hub window image acquisition module obtains window information of the wheel hub at the fourth position, and the window information of the wheel hub is used to compare with standard parameters of the wheel hub to obtain a fifth detection result; and / or, The driving unit drives the wheel hub to move to a fourth position, and the wheel rim outer wall image acquisition module obtains wheel rim outer wall information of the wheel hub at the fourth position, and the wheel rim outer wall information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a sixth detection result; and / or, The driving unit drives the wheel hub to move to a fifth position, and the wheel hub center hole image acquisition module obtains the center hole information of the wheel hub at the fifth position, and the center hole information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a seventh detection result; and / or, The driving unit drives the wheel hub to move to a fifth position, and the wheel edge image acquisition module obtains wheel edge information of the wheel hub at the fifth position, and the wheel edge information of the wheel hub is used to compare with standard parameters of the wheel hub to obtain an eighth detection result; and / or, The driving unit drives the wheel hub to move to a sixth position, and the wheel hub back cavity image acquisition module obtains back cavity information of the wheel hub at the sixth position, and the back cavity information of the wheel hub is used to compare with standard parameters of the wheel hub to obtain a ninth detection result; and / or, The driving unit drives the wheel hub to move to a sixth position, and the wheel rim inner wall image acquisition module obtains wheel rim inner wall information of the wheel hub at the sixth position, and the wheel rim inner wall information is used to compare with standard parameters of the wheel hub to obtain a tenth detection result; At least one of the first detection result, the second detection result, the third detection result, the fourth detection result, the fifth detection result, the sixth detection result, the seventh detection result, the eighth detection result, the ninth detection result, and the tenth detection result is output to obtain a final detection result.

[0015] According to the above embodiments, the beneficial effects of the present invention are: The inspection device of the present invention comprises a main body, a supporting portion, a driving portion, a first image acquisition module, and a second image acquisition module. The main body serves as the support and connection for the entire inspection device, and is provided with mounting locations for various workstations and related components. The supporting portion is used to carry the wheel hub to be inspected, which is placed on the supporting portion for subsequent inspection operations. The driving portion is connected to the main body and drives the wheel hub to a preset position, ensuring that the wheel hub can accurately reach each inspection station for different inspection items. The first image acquisition module is connected to the main body and is used to inspect the wheel hub at a preset position. It can obtain at least one of the following information: bolt hole information, angle information, spoke information, window information, rim outer wall information, center hole information, and wheel rim information, thereby performing comprehensive inspection of the outer portion of the wheel hub. The second image acquisition module is connected to the main body and is located on opposite sides of the supporting portion in the vertical direction. The second image acquisition module is primarily used to obtain information about the back cavity of the wheel hub and / or the inner wall of the rim of the wheel hub, enabling inspection of the inner portion of the wheel hub.

[0016] This layout allows the two image acquisition modules to simultaneously capture detailed information about the wheel hub from different angles, improving inspection efficiency and accuracy. This design allows even complex wheel shapes or subtle defects to be effectively identified. For example, when the wheel hub is in a preset position, the first image acquisition module can clearly capture the details of the hub's outer surface, while the second image acquisition module can penetrate the hollowed-out area and scan the hub's internal structure. This complementary approach enhances the comprehensiveness of inspection, eliminating the need to repeatedly flip the wheel hub to inspect its various locations, greatly improving inspection efficiency.

[0017] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1a A schematic structural diagram of a detection device in one embodiment of the present invention; Figure 1b is a schematic diagram of the hub structure observed from the first perspective; Figure 1c is a schematic diagram of the hub structure observed from a second viewing angle; Figure 2 Schematic diagram of the structure of a workstation 1 viewed from a first viewing angle according to an embodiment of the present invention; Figure 3 Schematic diagram of the structure of station 1 viewed from a second viewing angle according to an embodiment of the present invention; Figure 4 1 is a schematic structural diagram of a workstation 1 viewed from a third viewing angle according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a workstation 2 viewed from a first viewing angle according to an embodiment of the present invention; Figure 6 Schematic diagram of the structure of the second workstation observed from a second viewing angle according to an embodiment of the present invention; Figure 7 Schematic diagram of the structure of the second workstation observed from a third viewing angle according to an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the second workstation observed from a fourth viewing angle according to an embodiment of the present invention; Figure 9 Schematic diagram of the structure of station three observed from a first viewing angle according to an embodiment of the present invention; Figure 10 Schematic diagram of the structure of station three observed from a second viewing angle according to an embodiment of the present invention; Figure 11 Schematic diagram of the structure of station 3 observed from a third viewing angle according to an embodiment of the present invention; Figure 12 Schematic diagram of the structure of the workstation 4 observed from a first viewing angle according to an embodiment of the present invention; Figure 13 Schematic diagram of the structure of the workstation 4 viewed from a second viewing angle according to an embodiment of the present invention; Figure 14 Schematic diagram of the structure of the workstation 4 viewed from a third viewing angle according to an embodiment of the present invention; Figure 15 This is a schematic structural diagram of a workstation five viewed from a first viewing angle according to an embodiment of the present invention; Figure 16 Schematic diagram of the structure of the workstation 5 viewed from a second viewing angle according to an embodiment of the present invention; Figure 17 Schematic diagram of the structure of the workstation 6 viewed from a first viewing angle according to an embodiment of the present invention; Figure 18 Schematic diagram of the structure of the workstation 6 viewed from a second viewing angle according to an embodiment of the present invention; Figure 19 Schematic diagram of the structure of the workstation 6 viewed from a third viewing angle according to an embodiment of the present invention; Figure 20 This is a schematic structural diagram of the workstation six observed from a fourth viewing angle according to an embodiment of the present invention.

[0020] Description of Figure Numbers: Figure 2-Figure 4 : Workstation 10; surface light source 101; bracket 102; transmission line base plate 103; base 104; wheel hub shape and valve hole positioning image acquisition module 105; wheel hub centering mechanism 106; wheel hub rotation mechanism 107; code reader 108; Figure 5-Figure 8 : Station 2 20; surface light source 201; bracket 202; hub centering mechanism 203; hub rotation mechanism 204; bolt hole image acquisition module 205; hub angle image acquisition module 206; fisheye rod group 207; Figures 9-11 : Station three 30; transmission line base plate 301; hub centering mechanism 302; hub rotation mechanism 303; surface light source 304; bracket 305; centering roller 306; spoke image acquisition module 307; Figure 12-14 : Workstation four 40; hub centering mechanism 401; hub rotating mechanism 402; hub window image acquisition module 403; rim outer wall image acquisition module 404; roller transmission line 405; hub centering wheel 406; Figure 15-16 : Workstation five 50; hub centering mechanism 501; hub rotation mechanism 502; hub center hole image acquisition module 503; wheel edge image acquisition module 504; Figures 17-20 : Workstation six 60; hub centering mechanism 601; hub rotation mechanism 602; hub back cavity image acquisition module 603; rim inner wall image acquisition module 604.

[0021] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or", "and / or" or "and / or" appear in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] In the related art, the detection device of the wheel hub lacks systematicity and comprehensiveness in design, resulting in missed inspections in some areas. The reasons are as follows: the method in the existing technology is based on a robotic arm, which uses different workstations to realize the inspection of the front, back and bolt holes of the wheel hub. However, due to the structural limitations of each workstation, the angle limitations of the robotic arm and the variety of wheel hub types, it is difficult to achieve good imaging and inspection of each part of the wheel hub, such as the front and side of the spoke, etc., and the solution lacks inspection of the side of the rim.

[0026] Refer to Figures 1 to Figure 20 The detection device and detection method according to the embodiment of the present invention are described. Figures 1a to 1c The inspection device of the present invention comprises a main body, a supporting portion, a driving portion, a first image acquisition module, and a second image acquisition module. The main body serves as the support and connection for the entire inspection device, and is provided with mounting locations for various workstations and related components. The supporting portion is used to carry the wheel hub to be inspected, and the wheel hub is placed on the supporting portion for subsequent inspection operations. The driving portion is connected to the main body and drives the wheel hub to a preset position, ensuring that the wheel hub can accurately reach each inspection station for different inspection items. The first image acquisition module is connected to the main body and is used to inspect the wheel hub at a preset position. It can obtain at least one of the following information: bolt hole information, angle information, spoke information, window information, rim outer wall information, center hole information, and wheel rim information, thereby performing a multi-faceted inspection of the outer portion of the wheel hub. The second image acquisition module is connected to the main body and is located on opposite sides of the supporting portion in the vertical direction. The second image acquisition module is primarily used to obtain information about the back cavity of the wheel hub and / or the inner wall of the rim of the wheel hub, thereby enabling inspection of the inner portion of the wheel hub.

[0027] This layout allows the two image acquisition modules to simultaneously capture detailed information about the wheel hub from different angles, improving inspection efficiency and accuracy. This design allows even complex wheel shapes or subtle defects to be effectively identified. For example, when the wheel hub is in a preset position, the first image acquisition module can clearly capture the details of the hub's outer surface, while the second image acquisition module can penetrate the hollowed-out area and scan the hub's internal structure. This complementary approach enhances the comprehensiveness of inspection, eliminating the need to repeatedly flip the wheel hub to inspect its various locations, greatly improving inspection efficiency.

[0028] In some embodiments, the main body includes workstations 1, 2, 3, 4, 5, and 6. The inspection equipment also includes a transfer structure, with each workstation connected by the transfer structure. The transfer structure is used to transfer the wheel hub between adjacent workstations, enabling automatic transfer of the wheel hub between different inspection stations. Workstation 1 is configured as a wheel type identification and valve hole positioning station. Its main function is to identify the wheel hub model and locate the valve hole position, providing basic positioning and identification information for subsequent inspection work. Workstation 2 is configured as a bolt hole inspection and hub angle inspection station. Using corresponding inspection devices, the bolt holes and angle of the wheel hub are inspected to determine whether these parts meet quality standards. Workstation 3 is configured as a spoke inspection station for inspecting the spoke portion of the wheel hub. Workstation 4 is configured as a hub window inspection and rim outer wall inspection station. The hub window and rim outer wall are inspected to determine the appearance and structural integrity of the wheel hub. Station five is configured as a center hole inspection and wheel rim inspection station, primarily used to inspect the center hole and wheel rim of the wheel hub. Station six is ​​configured as a wheel hub back cavity and rim inner wall inspection station, capable of performing comprehensive inspections of the wheel hub back cavity and rim inner wall, enabling inspection of the wheel hub's internal structure.

[0029] By dividing the inspection equipment into multiple workstations with different functions and using a transmission structure to realize the transmission of the wheel hub between the workstations, the wheel hub can complete various inspection items in sequence in a complete system. This not only improves the comprehensiveness and systematicness of the inspection, but also reduces the time cost and error risk caused by the poor connection of multiple devices in traditional inspection methods, effectively improving the efficiency and quality of wheel hub inspection.

[0030] Reference Figure 1aIn some embodiments, workstation one, workstation two, workstation three, workstation four, workstation five, and workstation six are connected in sequence, and a transmission structure connects adjacent workstations. Each workstation is responsible for a specific type of inspection task, ensuring that the wheel hub can move smoothly from one workstation to the next, thereby achieving a comprehensive and efficient inspection process. This design allows the wheel hub to go through a series of continuous inspection steps in a single system without the need to transfer between multiple independent devices. For example, when the wheel hub completes the task of workstation one, the transmission structure will smoothly transfer it to workstation two for further detailed inspection. Due to the close connection and seamless transition between the various workstations, not only the overall inspection efficiency is improved, but also the risk of errors caused by frequent adjustments to the wheel hub position is reduced. In addition, by optimizing the function of each workstation, it can ensure that the inspection of different parts of the wheel hub is more accurate and comprehensive, thereby improving the reliability of the final inspection results.

[0031] Reference Figures 2 to 4 In some embodiments, workstation 10 includes a hub centering mechanism 106, a hub rotation mechanism 107, and a hub wheel profile and valve hole positioning image acquisition module 105. The hub centering and rotation mechanism is used to adjust the valve hole of the hub to a first position. The hub wheel profile and valve hole positioning image acquisition module 105 is connected to the main body. The hub wheel profile and valve hole positioning image acquisition module 105 is used to obtain standard parameters of the hub at the first position. The hub centering mechanism includes a roller and a cylinder. The hub rotation mechanism 107 is a rotating motor. The roller is connected to the upper side of the support portion. The cylinder is located on the lower side of the support portion. The cylinder is connected to the roller. The roller is used to drive the hub to the first position. The rotating motor is used to adjust the position of the valve hole so that the hub is in the first position.

[0032] Specifically, station 10, as the starting station of the entire inspection process, is configured as a wheel type identification and valve hole positioning station. The main part of station 10 includes a base 104, a transmission line base plate 103 and a bracket 102. The base 104 serves as the basic support structure of the entire station, providing a stable installation platform for the various components above. The transmission line base plate 103 is fixedly mounted on the base 104, and a roller transmission line is installed above it through a roller mounting plate for carrying and preliminarily transmitting the wheel hub. The bracket 102 is fixedly mounted on the transmission line base plate 103 to support other key components, such as the light source and image acquisition module.

[0033] Station 10 also includes a hub centering and rotation mechanism, a surface light source 101, a code reader 108, and a hub profile and valve hole positioning image acquisition module 105. The hub centering and rotation mechanism includes four centering rollers, a cylinder, and a rotary motor. The cylinder is fixedly mounted below the transmission line base plate 103 via a mounting base 104 and a connecting plate. The rotary motor is fixedly mounted below the mounting base 104 and connected to the centering roller directly above via a synchronous connecting shaft. The centering roller is rotatably mounted above the mounting base 104 and located above the roller transmission line. During operation, the cylinder drives the four centering rollers to clamp and center the hub inward, ensuring that the hub is centered in station 10. The rotary motor then rotates the centering rollers via the synchronous connecting shaft, adjusting the hub's valve hole position to the first position. The surface light source 101 is mounted on a bracket 102, providing uniform lighting conditions during hub image acquisition, ensuring that the image acquisition module can clearly capture the hub image. The barcode reader 108 is fixedly mounted below the transmission line baseplate 103 via a mounting plate. It is primarily used to read the QR code on the back of the wheel hub, thereby obtaining basic wheel identification information. The wheel hub profile and valve hole positioning image acquisition module 105 is fixedly mounted on the bracket 102 and comprises a linear motor, guide rails, a slider, and a camera. The linear motor drives the camera along the guide rails, allowing the camera to be adjusted to the appropriate working distance, enabling precise image capture of the wheel hub profile and valve hole positions. This allows the wheel hub's standard parameters to be determined, providing baseline data for subsequent inspections.

[0034] In some embodiments, regarding the workflow of station 10, specifically: The wheel hub enters station 10 from the production line and rolls to the central area of ​​station 10 through the roller transmission line.

[0035] When the wheel hub reaches the center of station 10, it stops moving. At this time, the cylinder drives the four centering rollers to clamp and center the wheel hub inward to ensure that the wheel hub is accurately positioned in the center of station 10.

[0036] The code reader 108 installed under the transmission line base plate 103 reads the QR code information on the back of the wheel hub. At the same time, the camera on the bracket 102 collects the wheel hub image through the auxiliary lighting of the surface light source 101, and uses feature extraction and matching technology to identify the key edge information of the wheel hub, accurately identify the wheel hub model, and send the model information to the subsequent PLC control systems of stations two to six, so that the subsequent stations can adjust the corresponding detection parameters and equipment positions in advance according to the wheel hub model.

[0037] Based on the valve positioning algorithm, the collected wheel hub image is analyzed to obtain the offset angle of the hub valve hole. Then, the servo motor drives the center roller to rotate, driving the hub to rotate to the initial zero angle according to the offset angle, realizing precise positioning of the valve hole direction and ensuring the consistency of the hub orientation during subsequent workstation inspections.

[0038] After the initial angle correction is completed, the center roller moves to the two sides of the drum material channel to the original position, preparing for the next step of the wheel hub transmission.

[0039] After the center roller moves to its initial position, the system checks the status of the wheel at Station 2. If a wheel is being inspected at Station 2, the wheel at Station 10 remains stationary, waiting for a signal from Station 2 indicating the inspection is complete. If no wheel is being inspected at Station 2, the roller conveyor line is controlled to rotate, moving the wheel toward Station 2 to continue the inspection process.

[0040] Reference Figures 5 to 8 In some embodiments, workstation two 20 includes a hub centering mechanism 203, a hub rotation mechanism 204, a surface light source 201, a hub angle image acquisition module 206, and a bolt hole image acquisition module 205. The hub centering mechanism 203 and the hub rotation mechanism 204 cooperate to adjust the hub to the second position. The surface light source 201 is connected to the main body. The surface light source 201 is used to provide light to the hub at the second position. The hub angle image acquisition module 206 and the bolt hole image acquisition module 205 are both connected to the main body. The hub angle image acquisition module 206 is suitable for obtaining the angle information of the hub at the second position. The bolt hole image acquisition module 205 is suitable for obtaining the bolt hole information of the hub at the second position.

[0041] Station 20, a key step in the wheel hub inspection process, primarily inspects bolt holes and wheel angles. Utilizing a high-precision image acquisition module, a stable wheel hub centering and rotation mechanism, and a precise light source control system, it ensures comprehensive, no-blind-angle inspection of wheel hub bolt holes and angles, providing reliable data support for subsequent quality assessments.

[0042] Specifically, in some embodiments, workstation 20 includes a hub centering structure, a hub rotation mechanism 204, a bolt hole image acquisition module 205, a hub angle image acquisition module 206, and two surface light sources 201. The hub centering structure includes four centering rollers, a synchronous connecting shaft and synchronous belt, and a rotary motor. The four centering rollers are mounted on the synchronous belt and can follow its movement. When the inspection process is initiated, the centering rollers retract inward, driven by the synchronous belt, precisely clamping and centering the hub, ensuring that the hub center is aligned with the central axis of the optical inspection system in workstation 20, providing an accurate initial position for subsequent image acquisition. The synchronous connecting shaft is connected to the rotary motor, and its terminal gear meshes with the synchronous belt. The rotary motor drives the synchronous connecting shaft to rotate, thereby driving the synchronous belt to achieve the retraction and extension of the centering rollers. The precise transmission ratio ensures stable and controllable movement distance and speed of the centering rollers. The rotary motor serves as the power source for the hub centering mechanism 203 and is mounted on the mounting base below the transmission line base. With high torque output and fast response characteristics, it can drive the synchronous belt and centering roller to complete the hub centering operation in a short time, and fine-tune the hub position as needed during the detection process to ensure detection accuracy.

[0043] The wheel hub rotating mechanism 204 comprises a fisheye rod group 207 and a rotary drive device. The fisheye rod group 207 is mounted on the lifting device of the wheel hub rotating mechanism 204. When the wheel hub is lifted off the roller transmission line, the fisheye rod group 207 is stretched open and pressed against the inner wall of the wheel hub. The fisheye rod group 207 can adapt to the inner wall shape of wheel hubs of different diameters, ensuring full contact and stable support with the inner wall of the wheel hub. At the same time, its surface is treated with wear resistance to extend its service life. The rotary drive device drives the fisheye rod group 207 and the wheel hub to rotate synchronously. The rotation speed is adjustable and can be infinitely adjusted within the range of 0-60rpm according to the requirements of bolt hole and angle detection. During the rotation process, the rotation angle is fed back in real time by a high-precision encoder to ensure that the bolt hole and angle can be accurately rotated to the center of the field of view of the image acquisition module.

[0044] The bolt hole image acquisition module 205 comprises a linear motor and guide rail slider assembly, a light source bracket 202, a dome light source, and five cameras. The linear motor is mounted on the bracket 202 and works in conjunction with the guide rail slider to drive the camera in linear motion along the guide rail. The linear motor offers high-precision positioning capabilities, enabling rapid movement of the camera to the optimal working distance and acquisition position based on the wheel hub model and bolt hole location information. The dome light source is mounted on the light source bracket 202, which is fixed next to the camera. The dome light source utilizes diffuse illumination, effectively reducing glare from the wheel hub surface, ensuring even light distribution at the bolt hole locations and improving image contrast. The light source's brightness is adjustable, tailored to the wheel hub material and color, ensuring clear, shadow-free images. The cameras utilize high-resolution industrial cameras, with five cameras positioned at specific angles around the wheel hub. These cameras can simultaneously capture images of bolt holes in different locations, enabling multi-angle, all-around inspection. Each camera is equipped with a separate lens, whose focal length can be adjusted based on inspection requirements, ensuring both detailed capture of bolt holes and a wide field of view.

[0045] The wheel hub angle image acquisition module 206 includes a linear motor, guide rails, a slider, and a camera. Similar to the linear motor drive system in the bolt hole image acquisition module 205, these motors are responsible for driving the camera in a direction perpendicular to the wheel hub's rotational axis, adjusting the camera's position to accommodate the angle detection requirements of wheels of varying specifications. The camera utilizes a high-resolution industrial camera, mounted at a specially designed angle to accurately capture images of the wheel hub's angle. Lens distortion correction technology ensures that the captured angle images accurately reflect the wheel hub's actual geometry, providing reliable data for subsequent image analysis.

[0046] Two surface light sources 201 are mounted on a bracket 202 and arranged around the wheel hub. In some embodiments, the surface light sources 201 utilize high-brightness LEDs, which offer long life and high brightness. During operation, the surface light sources 201 provide uniform illumination of the wheel hub surface from various angles, eliminating blind spots and highlighting the contours and surface defects of bolt holes and angled areas. The illumination angle of the surface light sources 201 is adjustable, for example, within a range of 30°-120°, allowing for optimized illumination based on actual inspection requirements.

[0047] In some embodiments, regarding the workflow of station 2 20, specifically: The wheel hub is transferred from Station 1 to Station 2 20, passing through the roller conveyor line and entering the central area of ​​Station 2 20. At this point, the system retrieves the corresponding inspection parameters from the database based on the wheel hub model information sent by Station 1, including camera exposure time, light source brightness, and wheel hub rotation speed. It also presets the bolt hole image acquisition module 205 and the wheel hub angle image acquisition module 206 to their initial acquisition positions.

[0048] The wheel hub stops near the center of Station 2 (20). A linear motor drives four centering rollers to clamp and center the hub. Driven by a timing belt, these rollers precisely locate the hub's center, ensuring alignment with the central axis of the optical inspection system at Station 2 (20). Once centered, the rollers move toward the sides of the roller channel to their initial positions, preparing for subsequent rotational inspection.

[0049] The hub rotation mechanism 204 below the conveyor line floor is activated, lifting the hub off the roller conveyor line and to a height preset in the database based on the hub model. Once lifted, the fisheye rod assembly 207 opens and presses against the inner wall of the hub, ensuring the hub is stable and reliable during rotation.

[0050] The wheel hub rotation mechanism 204 begins to rotate, driving the wheel hub and fisheye rod assembly 207 to rotate synchronously. During this rotation, the bolt hole image acquisition module 205 and the wheel hub angle image acquisition module 206 simultaneously initiate image acquisition. The five cameras in the bolt hole image acquisition module 205 aim at the wheel hub bolt holes from different angles. When the bolt holes rotate to the center of the camera's field of view, the cameras are triggered to capture images. Simultaneously, the cameras in the wheel hub angle image acquisition module 206 aim at the angled areas to capture images. The surface light source system 201 provides uniform lighting according to preset parameters, ensuring that the captured images are clear, free of shadows and reflections.

[0051] All captured images are transmitted in real time via a high-speed data transmission interface to the defect detection software for processing and analysis. Based on a deep learning neural network algorithm, the defect detection software performs analysis on bolt hole images, including hole diameter measurement, hole position accuracy testing, and surface crack identification. It also performs operations such as angle measurement, edge sharpness testing, and surface defect identification on wheel hub angle images. The analysis results are compared with standard wheel hub parameters to determine whether defects exist in the bolt hole and angle area, generating a primary inspection result (bolt hole inspection result) and a secondary inspection result (angle inspection result).

[0052] After image acquisition is completed, the hub stops rotating, the hub rotating mechanism 204 rotates to the initial position, the fisheye rod group 207 retracts to the original position, and the hub rotating mechanism 204 retreats to the initial position below the transmission line, preparing for the detection of the next hub.

[0053] After the hub rotation mechanism 204 returns to its initial position, the system obtains the hub status at station 3. If a hub is being inspected at station 3, the hub at station 20 remains stationary, awaiting a signal indicating the hub inspection is complete at station 3. If no hub is being inspected at station 3, the roller conveyor line is controlled to rotate, driving the hub toward station 3 to continue the spoke inspection process.

[0054] When the wheel hub leaves station 2 20, the bolt hole image acquisition module 205 and the wheel hub angle image acquisition module 206 are reset to their initial positions and angles driven by the linear motor, and all light sources are turned off at the same time, completing this inspection cycle and preparing for the next wheel hub inspection.

[0055] Reference Figures 9 to 11 In some embodiments, workstation three 30 includes a hub centering mechanism 302, a hub rotation mechanism 303, a surface light source 304 and a spoke image acquisition module 307. The hub centering mechanism 302 and the hub rotation mechanism 303 cooperate to adjust the hub to a third position. The surface light source 304 is connected to the main body in a circumferential direction in a vertical direction. The surface light source 304 is used to provide illumination to the hub at the third position. The spoke image acquisition module 307 is connected to the main body. The spoke image acquisition module 307 is suitable for obtaining spoke information of the hub at the third position.

[0056] Station 30 is used to identify various spoke defects, such as cracks, deformations, and holes, to ensure the safety and reliability of the wheel hub under load. Through a high-precision image acquisition system, flexible mechanical adjustment mechanisms, and a uniform lighting system, the spokes can be inspected from all angles, generating detailed image information that provides critical data support for subsequent quality assessments.

[0057] Specifically, workstation three 30 includes a hub centering mechanism 302, a hub rotation mechanism 303, four surface light sources 304, and a spoke image acquisition module 307. The hub centering mechanism 302 includes four centering rollers 306, a synchronous connecting shaft and synchronous belt, and a rotating motor. The four centering rollers 306 are mounted on the synchronous belt and can flexibly adjust their position as the synchronous belt moves. When the wheel hub enters workstation three 30, the centering rollers 306 rapidly retract inward, firmly clamping the hub in the center position. This ensures precise alignment between the hub center and the central axis of the detection optical system in workstation three 30, providing an accurate initial position for subsequent image acquisition. The synchronous connecting shaft is connected to the rotating motor, and its end gear tightly meshes with the synchronous belt. The rotating motor drives the synchronous connecting shaft to rotate, which in turn drives the synchronous belt, achieving the retraction and extension of the centering rollers 306. The transmission system features a high-precision transmission ratio, ensuring precise control of the movement distance and speed of the centering rollers 306 and rapid response. The rotating motor serves as the power source of the centering mechanism and is installed on the mounting base below the transmission line base plate 301. It has the ability to start and stop quickly, and can complete the hub centering operation in a short time. At the same time, the hub position can be fine-tuned during the detection process to ensure detection accuracy. Its output torque is stable, ensuring that the centering roller 306 has a uniform and reliable clamping force on the hub. The hub rotation mechanism 303 includes a fisheye rod group and a rotary drive device. The fisheye rod group is installed on the jacking device of the hub rotation mechanism 303. After jacking the hub, it is stretched and pressed against the inner wall of the hub. The fisheye rod group adopts a special multi-point contact structure that can adapt to the inner wall shape of hubs of different diameters, ensuring full contact and stable support with the inner wall of the hub, preventing the hub from shifting or shaking during rotation. Its surface has been hardened and has high wear resistance and a long service life. The rotary drive device drives the fisheye rod group and the hub to rotate synchronously, and the rotary drive device has a high-precision speed regulation function. During the rotation process, the built-in high-precision encoder provides real-time feedback on the rotation angle information, ensuring that the spoke area can be accurately rotated to the center of the field of view of the image acquisition module, thereby achieving comprehensive detection of all areas of the spoke. Four surface light sources 304 are evenly mounted on the bracket 305 and distributed in a ring around the hub. For example, the surface light source 304 uses a high-brightness, uniform LED light source with long life and high brightness characteristics. Through a special optical design, the surface light source 304 provides uniform illumination for the hub and spokes from different angles, eliminating blind spots and making the outline and surface details of the spokes clearly visible. The emitting angle of the surface light source 304 can be adjusted within the range of 30°-120° to adapt to different spoke shapes and detection requirements, such as 45°, to ensure that the captured image has good contrast and clarity.

[0058] The spoke image acquisition module 307 includes a double-ring guide rail system, a linear motor and pulley combination, and multiple cameras. The double-ring guide rail system consists of two concentric circular guide rails, which are fixedly mounted under the bracket 305 by a hanging tube and a mounting plate. The circular guide rail provides a stable circular motion trajectory for the camera, ensuring that the camera can perform 360° blind-angle detection around the hub spokes. The guide rail adopts high-precision processing technology to ensure the stability and accuracy of the camera during movement. Regarding the linear motor and pulley combination, specifically, the four linear motors are evenly distributed, and their end drive gears are engaged with the circular guide rail. The linear motor drives the camera to perform circular motion along the circular guide rail, while the pulley is fixed to the end of the motor through the pulley mounting plate. The pulley is slidably connected to the circular guide rail to further ensure the stability and accuracy of the camera movement. The linear motor has high response speed and high positioning accuracy, and can quickly adjust the camera to the optimal detection position. The spoke image acquisition module 307 is equipped with eleven cameras. Eight of these cameras, arranged in four groups of two, are mounted on the pulley mounting plate and move along the circular guide rails. Two cameras are mounted below the suspension tube, extending through openings beneath the light source to inspect the spoke bottom area. One camera is mounted on the circular mounting plate, located between the two rings, to inspect the spoke center area. All cameras are high-resolution industrial cameras with excellent color reproduction and low noise, capable of capturing even the smallest spoke defects. The cameras are equipped with lenses of varying focal lengths, which can be changed based on inspection requirements to balance capturing spoke detail and the overall field of view.

[0059] In some embodiments, regarding the workflow of station three 30, specifically: The wheel hub is transferred from Station 2 to Station 3 30, passing through a roller conveyor line and entering the central area of ​​Station 3 30. Based on the wheel hub model information sent from Station 1, the system retrieves the corresponding inspection parameters from the database, including camera exposure time, light source brightness, and wheel hub rotation speed, and presets the spoke image acquisition module 307 to the initial acquisition position.

[0060] The wheel hub stops moving after reaching the center of station three 30. The linear motor drives the four centering rollers 306 to clamp and center the wheel hub inward, accurately positioning the wheel hub at the detection center of station three 30. After the centering is completed, the centering rollers 306 move to the sides of the roller channel to the initial point, preparing for the subsequent rotation test.

[0061] The hub rotation mechanism 303 beneath the conveyor line base 301 activates, lifting the hub off the roller conveyor line and to a preset height in the database based on the hub model. Once lifted, the fisheye rod assembly opens, pressing against the hub's inner wall to ensure stable and reliable rotation.

[0062] The hub rotation mechanism 303 begins to rotate, driving the wheel hub and fisheye rod assembly to rotate synchronously. During this rotation, the spoke image acquisition module 307 simultaneously initiates image acquisition. Multiple cameras mounted on a dual-circular guide rail system aim at the hub and spokes from different angles. As the wheel hub rotates, the cameras, driven by linear motors, move along the circular guide rails, enabling all-around, multi-angle inspection of the spokes. The surface light source system 304 provides uniform illumination according to preset parameters, ensuring clear images free of shadows and reflections.

[0063] All captured images are transmitted in real time via a high-speed data transmission interface to defect detection software for processing and analysis. A deep learning neural network algorithm performs operations on spoke images, including crack identification, hole detection, and deformation analysis. Image enhancement and adaptive threshold segmentation algorithms are also used to further improve image quality and accurately identify various spoke defects. The analysis results are compared with standard wheel hub parameters to generate the fourth inspection result (spoke inspection result).

[0064] After image acquisition is completed, the hub stops rotating, the hub rotating mechanism 303 rotates to the initial position, the fisheye rod group retracts to the original position, and the hub rotating mechanism 303 retreats to the initial position below the transmission line to prepare for the detection of the next hub.

[0065] After the hub rotation mechanism 303 returns to its initial position, the system obtains the hub status at station 4. If a hub is being inspected at station 4, the hub at station 3 30 remains stationary, awaiting a signal indicating the hub inspection is complete at station 4. If no hub is being inspected at station 4, the roller conveyor line is controlled to rotate, driving the hub toward station 4 to continue the subsequent hub window inspection and rim outer wall inspection processes.

[0066] When the hub leaves the workstation 3 30 , the spoke image acquisition module 307 is reset to the initial position and angle under the drive of the linear motor, and all surface light sources 304 are turned off at the same time, completing the current detection cycle and preparing for the next hub detection.

[0067] Reference Figures 12 to 14 In some embodiments, workstation four 40 includes a hub centering mechanism 401, a hub rotation mechanism 402, a hub window image acquisition module 403 and a rim outer wall image acquisition module 404. The hub centering mechanism 401 and the hub rotation mechanism 402 cooperate to adjust the hub to a fourth position. The hub window image acquisition module 403 and the rim outer wall image acquisition module 404 are both connected to the main body. The hub window image acquisition module 403 is suitable for obtaining window information of the hub at the fourth position, and the rim outer wall image acquisition module 404 is suitable for obtaining rim outer wall information of the hub at the fourth position.

[0068] Station 40 inspects the hub window and rim outer wall, accurately identifying the window size and shape, as well as surface defects on the rim outer wall, such as scratches and dents, to ensure the hub's appearance quality and assembly accuracy. Station 40 utilizes a high-precision image acquisition system, flexible mechanical adjustment devices, and a uniform lighting system to capture comprehensive images of the hub window and rim outer wall, providing detailed data for subsequent quality assessments.

[0069] Specifically, station four 40 includes a hub centering mechanism 401, a hub rotation mechanism 402, a hub window image acquisition module 403 and a rim outer wall image acquisition module 404. The hub centering mechanism 401 includes four centering rollers, a synchronous connecting shaft and a synchronous belt and a rotating motor. The four centering rollers are mounted on the synchronous belt and adjust their positions as the synchronous belt moves. When the hub is in place, the centering rollers retract inwards to stably clamp the hub in the center, ensuring that the hub center is precisely aligned with the central axis of the detection optical system of station four 40, providing an accurate initial position for subsequent image acquisition. The roller surface is made of a material with a high friction coefficient to prevent the hub from slipping when centered, ensuring accurate and stable positioning. The synchronous connecting shaft is connected to the rotating motor, and the end gear is tightly engaged with the synchronous belt. The rotating motor drives the synchronous connecting shaft to rotate, driving the synchronous belt to move, and realizing the extension and retraction of the centering roller. The transmission system has high transmission accuracy, ensuring that the moving distance and speed of the centering roller are accurately controllable and responsive. The rotating motor serves as the power source for the centering mechanism and is installed on the mounting base below the transmission line base. It has the ability to start and stop quickly, enabling the hub centering operation to be completed in a short period of time. At the same time, the hub position can be fine-tuned during the inspection process to ensure inspection accuracy. The output torque is stable, ensuring that the centering roller has a uniform and reliable clamping force on the hub. The hub rotation mechanism 402 includes a fisheye rod assembly and a rotary drive device. The fisheye rod assembly is mounted on the jacking device of the hub rotation mechanism 402. After jacking the hub, it is spread open and pressed against the inner wall of the hub. The fisheye rod assembly adopts an arc-shaped profiling structure that adapts to the inner wall shape of hubs of different diameters, ensuring stable and reliable rotation of the hub and preventing displacement and shaking. Its surface is hardened, highly wear-resistant, and has a long service life. The rotary drive device drives the fisheye rod assembly to rotate synchronously with the hub. During rotation, a built-in high-precision encoder provides real-time feedback on the rotation angle, ensuring that the hub window and each part of the rim outer wall are accurately rotated to the center of the image acquisition module's field of view, enabling comprehensive inspection.

[0070] The hub window image acquisition module 403 includes a linear motor, a guide rail and a slider, a light source bracket, a dome light source and two cameras. The linear motor is installed on the bracket and cooperates with the guide rail slider to drive the camera to move linearly along the guide rail. The linear motor has high-precision positioning and can quickly adjust the camera to the optimal acquisition position. The light source bracket is fixed next to the camera, and the dome light source is installed on it. The diffuse reflection lighting of the dome light source can reduce the reflection on the hub surface, make the light in the window area uniform, and improve the image contrast. The brightness of the light source is adjustable to adapt to hubs of different materials and colors. The camera uses a high-resolution industrial camera with high frame rate acquisition capability. The camera installation angle is specially designed to accurately capture the hub window image, and the lens distortion correction technology ensures that the acquired image truly reflects the window geometry, providing reliable data for subsequent analysis.

[0071] The wheel rim outer wall image acquisition module 404 includes a linear motor, a guide rail and a slider, a light source bracket, a curved and special-shaped light source, and four cameras. The linear motor, guide rail and slider are similar to the linear motor drive system of the wheel hub window image acquisition module 403, and are responsible for driving the camera to move in a direction perpendicular to the axis of rotation of the wheel hub and adjusting the camera position to meet the requirements of wheel rim outer wall inspection for wheels of different specifications. The light source bracket is fixed next to the camera, and the curved and special-shaped light source is installed on it. The light source conforms to the curved surface of the wheel rim outer wall, providing uniform lighting, eliminating blind spots in lighting, highlighting surface defects on the wheel rim outer wall, and improving image quality. All four cameras are high-resolution industrial cameras with excellent color reproduction and low noise characteristics. Multiple cameras are arranged around the wheel hub, and can simultaneously capture images of different parts of the wheel rim outer wall to achieve all-round inspection. Each camera is equipped with an independent lens with an interchangeable focal length, taking into account both detail capture and field of view.

[0072] In some embodiments, regarding the workflow of workstation 40, specifically: The wheel hub is transferred from station three to station four (40), where it is fed into the center of station four (40) by a roller conveyor (405). Based on the wheel hub model information transmitted from station one, the system retrieves inspection parameters from a database, including camera exposure time, light source brightness, and wheel hub rotation speed. It also presets the positions of the hub window image acquisition module (403) and the rim outer wall image acquisition module (404).

[0073] When the wheel hub reaches the center of station 4, it stops. A linear motor drives four centering rollers to clamp and center the wheel hub, ensuring its center is aligned with the central axis of the inspection optical system. Once centering is complete, the centering rollers return to their home position, ready for rotational inspection.

[0074] The hub rotation mechanism 402 under the transmission line base is activated, lifting the hub off the roller transmission line 405 and raising it to a height preset in the database based on the hub model. After lifting, the fisheye rod assembly opens and presses against the inner wall of the hub to ensure stable rotation.

[0075] The hub rotation mechanism 402 rotates, driving the hub and fisheye rod assembly. The hub window image acquisition module 403 and the rim outer wall image acquisition module 404 simultaneously initiate image acquisition. Driven by linear motors, the two cameras of the hub window image acquisition module 403 move along guide rails, focusing on the window area. A dome-shaped light source provides uniform illumination. The four cameras of the rim outer wall image acquisition module 404 capture images from multiple angles around the outer rim wall. A curved, shaped light source ensures uniform illumination. All images are transmitted in real time via a high-speed data transmission interface to the defect detection software for processing and analysis.

[0076] Based on a deep learning neural network algorithm, the defect detection software performs dimensional measurement and shape analysis on the window image and identifies defects such as scratches and dents on the rim outer wall image. The analysis results are compared with standard wheel parameters to generate the fifth test results (window test) and the sixth test results (rim outer wall test).

[0077] After image acquisition is completed, the hub stops rotating, the hub rotating mechanism 402 is reset, the fisheye rod group is retracted, and the hub rotating mechanism 402 retreats to the initial position below the transmission line to prepare for the next detection cycle.

[0078] After the hub rotating mechanism 402 returns to its initial position, the system obtains the hub status of station 5. If there is a hub detection at station 5, the hub at station 40 is on standby; if not, the roller transmission line 405 rotates and the hub moves to station 5.

[0079] When the wheel hub leaves the workstation 40, the wheel hub window image acquisition module 403 and the wheel rim outer wall image acquisition module 404 are reset under the drive of the linear motor, all light sources are turned off, and the current detection cycle is completed to prepare for the next task.

[0080] Reference Figures 15 and 16 In some embodiments, workstation five 50 includes a hub centering mechanism 501, a hub rotation mechanism 502, a hub center hole image acquisition module 503 and a wheel edge image acquisition module 504. The hub centering mechanism 501 and the hub rotation mechanism 502 cooperate to adjust the hub to the fifth position. The hub center hole image acquisition module 503 and the wheel edge image acquisition module 504 are both connected to the main body. The hub center hole image acquisition module 503 is suitable for obtaining the center hole information of the hub at the fifth position, and the wheel edge image acquisition module 504 is suitable for obtaining the wheel edge information of the hub at the fifth position.

[0081] Station 50 inspects the wheel hub center hole and rim, ensuring the dimensional accuracy and surface quality of the center hole and the integrity and defect-freeness of the rim. This ensures the precise and reliable assembly of the wheel hub to the vehicle axle, while also avoiding safety hazards caused by rim defects. A high-precision image acquisition system, precise wheel hub positioning and rotation mechanism, and a uniform and stable light source system enable comprehensive inspection of the center hole and rim, providing critical data for overall wheel hub quality assessment.

[0082] Specifically, station five 50 includes a hub centering mechanism 501, a hub rotation mechanism 502, a hub center hole image acquisition module 503, and a wheel edge image acquisition module 504. The hub centering mechanism 501 includes four centering rollers, a synchronous connecting shaft and a synchronous belt, and a rotating motor. The four centering rollers are mounted on the synchronous belt and can flexibly adjust their positions as the synchronous belt moves. When the hub enters station five 50, the centering rollers retract inwards, stably clamping the hub in the center position, ensuring that the hub center is precisely aligned with the central axis of the detection optical system of station five 50, providing an accurate initial position for subsequent image acquisition. The roller surface is made of a high-friction coefficient material, which effectively prevents the hub from sliding during the centering process, ensuring the accuracy and stability of positioning. The synchronous connecting shaft is connected to the rotating motor, and its end gear is tightly engaged with the synchronous belt. The rotating motor drives the synchronous connecting shaft to rotate, thereby driving the synchronous belt to move, realizing the telescopic movement of the centering roller. The transmission system has a high-precision transmission ratio, ensuring that the moving distance and speed of the centering roller are precisely controllable and responsive. The rotating motor serves as the power source of the centering mechanism and is installed on the mounting base below the transmission line base. It has the ability to start and stop quickly, and can complete the hub centering operation in a short time. At the same time, the hub position can be fine-tuned during the detection process to ensure detection accuracy. Its output torque is stable, ensuring that the clamping force of the centering roller on the hub is uniform and reliable. The hub rotation mechanism 502 includes a fisheye rod group and a rotary drive device. The fisheye rod group is installed on the jacking device of the hub rotation mechanism 502. After jacking the hub, it is stretched and pressed against the inner wall of the hub. The fisheye rod group adopts an arc-shaped profiling structure, which can adapt to the inner wall shape of hubs of different diameters, ensuring that the hub is stable and reliable during rotation, and preventing displacement or shaking. Its surface is hardened and has high wear resistance and a long service life. The rotary drive device drives the fisheye rod group and the wheel hub to rotate synchronously. During the rotation process, the built-in high-precision encoder provides real-time feedback of the rotation angle information, ensuring that the center hole and each part of the wheel rim can be accurately rotated to the center position of the field of view of the image acquisition module, thereby realizing comprehensive detection of the center hole and wheel rim.

[0083] The wheel hub center hole image acquisition module 503 includes a linear motor, a guide rail and slider, a light source bracket, a dome light source, and three cameras. The linear motor is mounted on the bracket and cooperates with the guide rail slider to drive the camera to move linearly along the guide rail. The linear motor has high-precision positioning capabilities, allowing the camera to quickly adjust to the optimal acquisition position to ensure the accuracy of the center hole image acquisition. The light source bracket is fixed next to the camera, and the dome light source is mounted on it. The dome light source uses diffuse reflection lighting, which can effectively reduce reflections on the center hole surface, evenly distribute light in the center hole area, improve image contrast, ensure that the captured image is clear and shadow-free, and highlight the detailed features of the center hole. All three cameras are high-resolution industrial cameras with high frame rate acquisition capabilities, capable of capturing tiny defects in the center hole, such as scratches, burrs, and dimensional deviations. The camera mounting angles are specially designed to enable inspection of the center hole from different directions. Lens distortion correction technology ensures that the captured image truly reflects the geometric shape of the center hole, providing reliable data for subsequent image analysis.

[0084] The wheel rim image acquisition module 504 comprises a linear motor, a guide rail and slider, two light source brackets, two quarter-dome light sources, and two cameras. Similar to the linear motor drive system in the hub center hole image acquisition module 503, this system drives the camera in a direction perpendicular to the hub's rotational axis, adjusting the camera position to accommodate the rim inspection requirements of different wheel sizes and ensuring precise alignment of the camera at the wheel rim. The light source bracket is fixed next to the camera, upon which the quarter-dome light source is mounted. The light source design conforms to the curved surface of the wheel rim, providing uniform illumination and avoiding image quality issues caused by uneven illumination. This allows for clear visualization of surface defects such as cracks and dents. Both cameras utilize high-resolution industrial cameras with excellent color reproduction and low noise. The camera mounting angles and positions are optimized to enable inspection of the wheel rim from multiple angles, ensuring comprehensive, no-blind-angle inspection. Each camera is equipped with a separate lens, which can be replaced with lenses of varying focal lengths based on inspection requirements to balance capturing wheel rim details and the overall field of view.

[0085] In some embodiments, regarding the workflow of workstation five 50, specifically: The wheel hub is transferred from Station 4 to Station 5 50, where it enters the central area of ​​Station 5 50 via a roller conveyor line. Based on the wheel hub model information sent from Station 1, the system retrieves the corresponding inspection parameters from the database, including camera exposure time, light source brightness, and wheel hub rotation speed. It also presets the hub center hole image acquisition module 503 and wheel rim image acquisition module 504 to their initial acquisition positions.

[0086] The wheel hub stops near the center of station 50. A linear motor drives four centering rollers to clamp and center the hub, ensuring precise alignment between the hub center and the central axis of the inspection optical system at station 50. Once centered, the centering rollers move toward the sides of the roller channel to their initial positions, preparing for subsequent rotational inspection.

[0087] The hub rotation mechanism 502 beneath the conveyor line floor activates, lifting the hub off the roller conveyor line and to a height preset in the database based on the hub model. Once lifted, the fisheye rod assembly opens, resting against the hub's inner wall to ensure stability and reliability during rotation.

[0088] The hub rotation mechanism 502 begins to rotate, driving the hub and fisheye rod assembly to rotate synchronously. During this rotation, the hub center hole image acquisition module 503 and the wheel rim image acquisition module 504 simultaneously initiate image acquisition. Driven by a linear motor, the three cameras in the center hole image acquisition module move along guide rails, focusing on the center hole. A dome light source provides uniform illumination. The two cameras in the wheel rim image acquisition module 504 capture images from multiple angles around the wheel rim. A quarter-dome light source ensures uniform illumination. All captured images are transmitted in real time via a high-speed data transmission interface to the defect detection software for processing and analysis.

[0089] Based on a deep learning neural network algorithm, the defect detection software performs dimensional measurement, shape analysis, and surface defect identification (such as scratches and burrs) on center hole images, and contour detection, crack identification, and dent analysis on rim images. The analysis results are compared with standard wheel hub parameters to generate the seventh and eighth inspection results (center hole and rim).

[0090] After image acquisition is completed, the wheel hub stops rotating, the wheel hub rotating mechanism 502 rotates to the initial position, the fisheye rod group retracts to the original position, and the wheel hub rotating mechanism 502 retreats to the initial position below the transmission line, preparing for the detection of the next wheel hub.

[0091] After the hub rotation mechanism 502 returns to its initial position, the system obtains the status of the hub at station 6. If a hub is being inspected at station 6, the hub at station 50 remains stationary, waiting for a signal indicating the hub inspection is complete at station 6. If no hub is being inspected at station 6, the roller conveyor line is controlled to rotate, driving the hub toward station 6 to continue the subsequent hub back cavity and rim inner wall inspection process.

[0092] When the wheel hub leaves workstation five 50, the wheel hub center hole image acquisition module 503 and the wheel edge image acquisition module 504 are reset to their initial positions and angles driven by the linear motor, and all light sources are turned off at the same time, completing this inspection cycle and preparing for the next wheel hub inspection.

[0093] Reference Figures 17 to 20 In some embodiments, the workstation six 60 includes a hub centering mechanism 601, a hub rotation mechanism 602, a hub back cavity image acquisition module 603 and a rim inner wall image acquisition module 604. The hub centering mechanism 601 and the hub rotation mechanism 602 cooperate to adjust the hub to the sixth position. The hub back cavity image acquisition module 603 and the rim inner wall image acquisition module 604 are both connected to the main body. The hub back cavity image acquisition module 603 is located below the bearing part, and the bearing part has a hollow area. The hollow area is used to pass the line of sight of the hub back cavity image acquisition module 603. The hub back cavity image acquisition module 603 is suitable for obtaining the back cavity information of the hub at the sixth position, and the rim inner wall image acquisition module 604 is suitable for obtaining the rim inner wall information of the hub at the sixth position.

[0094] Station 60, the final step in wheel hub inspection, inspects the hub back cavity and rim inner wall. This comprehensive inspection aims to identify potential defects in the back cavity and inner wall, such as corrosion, cracks, and foreign matter, ensuring the overall quality and reliability of the hub. This in-depth inspection of the hub's internal structure provides a solid guarantee for safe use.

[0095] Specifically, station six (60) includes a hub centering and rotation mechanism, a hub back cavity image acquisition module (603), and a rim inner wall image acquisition module (604). The hub centering and rotation mechanism includes four centering rollers, two linear motors, a guide rail, and a rotary motor. The four centering rollers are mounted on a slider connected to the guide rail. The linear motor drives the slider along the guide rail, enabling the centering rollers to flexibly adjust their positions, achieving precise centering of the hub. The linear motor, mounted at the end of the guide rail, drives the slider to move the centering rollers along the guide rail, ensuring that the centering rollers accurately hold the hub in the center position. It features high-precision control capabilities, ensuring precise control of the centering rollers' movement distance and speed. The rotary motor is fixed below one of the sliders and connected to the centering roller directly above via a synchronous connecting shaft. When the rotary motor is activated, it drives the centering rollers and the hub to rotate synchronously, achieving a uniform and stable rotation speed, ensuring continuous and complete image acquisition. Its output torque is precisely calibrated to ensure stable hub rotation without damaging the hub.

[0096] The wheel hub back cavity image acquisition module 603 comprises a camera mounting plate, a linear motor, a guide rail, a slider, a light source bracket, a surface light source, and five cameras. The camera mounting plate is driven by a linear motor, moving linearly along the guide rail. The slider connects the camera to the guide rail, ensuring smooth camera movement. The linear motor provides high-precision positioning, allowing the camera to quickly adjust to the optimal acquisition position for precise inspection of back cavity details. The light source bracket is fixed next to the camera, upon which the surface light source is mounted. The surface light source utilizes a special diffuse reflection design, providing uniform illumination of the back cavity, effectively reducing shadows and uneven illumination, allowing for clear visualization of the internal structure and improving image quality. All five cameras utilize high-resolution, high-sensitivity industrial cameras with excellent low-light performance and a wide dynamic range, enabling them to capture even the smallest defects within the back cavity. The camera mounting angles are optimized to provide comprehensive coverage of different areas of the back cavity, ensuring that no inspection area is missed. Each camera is equipped with an independent lens, which can be replaced with lenses of different focal lengths based on inspection requirements to balance capturing back cavity details and the overall field of view.

[0097] The rim inner wall image acquisition module 604 comprises a linear motor, a guide rail, a slider, two bar-shaped light sources, and two cameras. Similar to the linear motor drive system of the hub back cavity image acquisition module 603, the linear motor drives the camera along the guide rail, adjusting the camera position to accommodate the rim inner wall inspection requirements of different hub specifications and ensuring precise alignment of the camera on the rim inner wall. Two bar-shaped light sources are mounted on either side of the camera. They utilize a linear focusing design that concentrates light onto the rim inner wall, providing high-intensity, uniform linear illumination. This effectively illuminates the narrow space within the rim inner wall, making surface defects clearly visible. Both cameras utilize high-resolution industrial cameras with excellent color reproduction and low noise. The camera mounting positions are carefully designed to enable inspection of the rim inner wall from multiple angles, ensuring comprehensive, no-blind-angle inspection. Each camera is equipped with an independent lens, which can be replaced with lenses of different focal lengths to meet the inspection requirements of varying rim inner wall curvatures.

[0098] In some embodiments, regarding the workflow of workstation six 60, specifically: The wheel hub is transferred from Station 5 to Station 6 (60), where it enters the central area of ​​Station 6 (60) via a roller conveyor line. Based on the wheel hub model information sent from Station 1, the system retrieves the corresponding inspection parameters from the database, including camera exposure time, light source brightness, and wheel hub rotation speed. It also presets the wheel hub back cavity image acquisition module (603) and the rim inner wall image acquisition module (604) to their initial acquisition positions.

[0099] The wheel hub stops near the center of station 60. A linear motor drives four centering rollers to clamp and center the hub, ensuring precise alignment between the hub center and the central axis of the inspection optical system at station 60. Once centered, the centering rollers move toward the sides of the drum to their initial positions, preparing for subsequent rotational inspection.

[0100] The rotary motor starts, driving the wheel hub to rotate at a constant speed. During this rotation, the hub back cavity image acquisition module 603 and the rim inner wall image acquisition module 604 simultaneously begin image acquisition. Driven by linear motors, the five cameras in the back cavity image acquisition module move along guide rails, aiming at the back cavity area, with a surface light source providing uniform illumination. The two cameras in the rim inner wall image acquisition module 604 capture images from multiple angles around the inner rim wall, with a strip light source ensuring uniform illumination. All captured images are transmitted in real time via a high-speed data transmission interface to the defect detection software for processing and analysis.

[0101] Based on a deep learning neural network algorithm, the defect detection software performs operations such as corrosion detection, crack detection, and foreign object identification on back cavity images, and scratch detection and dent detection on rim inner wall images. The analysis results are compared with standard wheel hub parameters to generate the ninth and tenth test results (back cavity detection) and (rim inner wall detection).

[0102] After image acquisition is complete, the wheel stops rotating and the center rollers move to their original positions on either side of the drum channel. At this point, the control system determines whether the wheel is good or defective based on the analysis results of the central control software and controls the drum conveyor line to transport the wheel to the corresponding channel for automatic sorting.

[0103] After the centering roller moves to the initial point, it drives the hub back cavity image acquisition module 603 and the rim inner wall image acquisition module 604 to reset to the initial position and angle, turns off all light sources, completes this detection cycle, and prepares for the next hub detection.

[0104] An embodiment of the second aspect of the present invention provides a detection method, which is used in the detection device of any of the above embodiments. The detection method includes: S101: The driving unit drives the wheel hub to move to a first position, and the wheel hub shape and valve hole positioning image acquisition module obtains standard parameters of the wheel hub at the first position; S102: The driving unit drives the wheel hub to move to the second position, and the wheel hub angle image acquisition module obtains the angle information of the wheel hub at the second position, and the angle information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a first detection result; and / or, the driving unit drives the wheel hub to move to the second position, and the bolt hole image acquisition module obtains the bolt hole information of the wheel hub at the second position, and the bolt hole information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a second detection result; and / or, the driving unit drives the wheel hub to move to the third position, and the spoke image acquisition module obtains the spoke information of the wheel hub at the third position, and the spoke information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a fourth detection result; and / or, the driving unit drives the wheel hub to move to the fourth position, and the wheel hub window image acquisition module obtains the window information of the wheel hub at the fourth position, and the window information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a fifth detection result; and / or, the driving unit drives the wheel hub to move to the fourth position, and the rim outer wall image acquisition module obtains the rim outer wall of the wheel hub at the fourth position. Wall information, the rim outer wall information of the hub is used to be compared with the standard parameters of the hub to obtain a sixth detection result; and / or, the driving unit drives the hub to move to the fifth position, the hub center hole image acquisition module obtains the center hole information of the hub at the fifth position, and the center hole information of the hub is used to be compared with the standard parameters of the hub to obtain a seventh detection result; and / or, the driving unit drives the hub to move to the fifth position, the edge image acquisition module obtains the edge information of the hub at the fifth position, and the edge information of the hub is used to be compared with the standard parameters of the hub to obtain an eighth detection result; and / or, the driving unit drives the hub to move to the sixth position, the hub back cavity image acquisition module obtains the back cavity information of the hub at the sixth position, and the back cavity information of the hub is used to be compared with the standard parameters of the hub to obtain a ninth detection result; and / or, the driving unit drives the hub to move to the sixth position, the rim inner wall image acquisition module obtains the rim inner wall information of the hub at the sixth position, and the rim inner wall information of the hub is used to be compared with the standard parameters of the hub to obtain a tenth detection result; S103: Output at least one of the first detection result, the second detection result, the third detection result, the fourth detection result, the fifth detection result, the sixth detection result, the seventh detection result, the eighth detection result, the ninth detection result, and the tenth detection result to obtain a final detection result.

[0105] Below, refer to Figures 1a to 20 , based on the above content, the detection equipment and detection method of this application are systematically explained: After the wheel hub is manufactured and processed, it flows from the upstream equipment into the wheel hub inspection equipment and passes through stations one to six in sequence, achieving a 360° full inspection of different models of wheel hubs without blind spots. The specific inspection process is as follows: 1. The wheel hub is transported to the center of station 1 via the roller conveyor at station 1. A barcode reader below the conveyor and a camera above the conveyor are used to extract and match key wheel hub edge information, accurately identify the wheel hub model, and provide position information for subsequent station machine control. Edge detection and Hough transform are used to accurately locate the direction of the wheel hub valve hole, ensuring consistent orientation of the wheel hub in subsequent inspection locations. The specific implementation process is as follows: A. The wheel hub enters station one from the production line and rolls on the roller conveyor line, thereby driving the wheel hub to move to the center of station one; B. When the wheel hub reaches the center of station one, it stops moving. The cylinder drives the four centering rollers to clamp and center the wheel hub inward to ensure that the wheel hub is located in the center of station one.

[0106] C. The QR code on the back of the wheel hub is read by the code reader below the material channel, and the wheel hub image is captured by the camera above the material channel to identify the wheel hub model. The wheel hub model is then sent to the PLCs in warehouses 2 to 6. The PLCs in warehouses 2 to 6 compare the received wheel hub model with their respective databases, control the cameras and machinery in their respective warehouses to the corresponding positions in advance, and set the camera exposure and light source brightness in their respective warehouses to the corresponding parameters in advance.

[0107] D. After identifying the wheel model, the upper linear motor drives the camera up and down to the appropriate camera working distance.

[0108] E. Collect images and obtain the offset angle of the wheel hub based on the valve positioning algorithm. The servo motor drives the center roller to rotate, thereby driving the wheel hub to rotate to the initial zero angle according to the offset angle.

[0109] F. Repeat step C above to reposition and correct the angle of the wheel hub.

[0110] G. After the initial angle correction is completed, the center roller moves to both sides of the roller channel to its original position.

[0111] H. After the center roller moves to the initial position, the status of the hub in station 2 is obtained. If there is a hub in station 2 undergoing testing, the hub in station 1 remains stationary and waits for the signal that the hub in station 2 has completed testing. If there is no hub in station 2 undergoing testing, the roller transmission line is controlled to roll, thereby driving the hub to move.

[0112] Second, the wheel hub enters workstation 2. Based on the position information provided by workstation 1, workstation 2 plans the mechanical movement and synchronously adjusts the lighting parameters and camera shooting angle. The bolt hole image acquisition module and the wheel hub angle image acquisition module collect wheel hub angle and bolt hole images from multiple angles without blind spots. A neural network is designed based on the features of the wheel hub angle and bolt hole images to realize the detection of the wheel hub bolt holes and wheel hub angle. The specific implementation process is as follows: A. The wheel hub enters station two from the production line and rolls on the roller transmission line, driving the wheel hub to move to the center of station two. At the same time, based on the wheel hub model information sent by station one and compared with the database, the bolt hole image acquisition module and the wheel hub angle image acquisition module are driven to the corresponding positions and angles, and the camera exposure and light source brightness corresponding to the wheel hub model are set to the corresponding parameters.

[0113] B. When the wheel hub reaches the center of Station 2, it stops moving. The linear motor drives the four centering wheels to clamp and center the wheel hub inward, ensuring that the wheel hub is located in the center of Station 2. After centering is completed, the centering wheels move to the sides of the roller channel to the initial point.

[0114] C. The hub rotating mechanism under the transmission line bottom plate lifts the hub off the roller transmission line and lifts it to the set height according to the hub model (obtained from the database) D. The fisheye rod assembly of the hub rotating mechanism is stretched out and pressed against the inner wall of the hub; then the rotating mechanism rotates to drive the hub to rotate.

[0115] E. As the wheel hub rotates, the bolt hole image acquisition module and the hub angle image acquisition module acquire images. When the bolt hole reaches the center of the module's field of view, the bolt hole image acquisition module is triggered to capture an image. When the hub angle reaches the center of the module's field of view, the angle image acquisition module is triggered to capture an image. All captured images are processed and analyzed by the defect detection software, and the inspection results from the secondary storage are sent to the central control software.

[0116] F. After image acquisition is completed, the hub stops rotating and the hub rotating mechanism rotates to its initial position; the fisheye rod group of the hub rotating mechanism retracts to its original position; and the hub rotating mechanism retracts to its initial position below the transmission line.

[0117] G. After the hub rotation mechanism returns to the initial position, the hub status of station three is obtained. If there is a hub being tested in station three, the hub of station two remains stationary and waits for the signal that the hub of station three has completed testing. If there is no hub being tested in station three, the roller transmission line is controlled to roll, thereby driving the hub to move.

[0118] H. When the wheel hub leaves the second bin, the bolt hole image acquisition module and the wheel hub angle image acquisition module are driven to reset to their initial positions and angles, and all light sources are turned off.

[0119] After leaving the second warehouse, the wheel hub is transported to the center of the third warehouse via the third warehouse roller conveyor. Based on the point information provided by the first warehouse, the dual-ring camera path is independently planned and controlled to ensure the consistency of the image captured for each type of wheel hub. A combination of high and low exposure acquisition is used to effectively handle wheels of various materials. The spoke front detection camera module and the spoke side detection camera module capture images of various special-shaped spokes without blind spots. A neural network is designed based on the characteristics of the wheel hub and spoke, and image enhancement and adaptive threshold segmentation algorithms are used to achieve spoke detection of the wheel hub. The specific implementation process is as follows: A. The wheel hub enters station three from the production line and rolls on the roller transmission line, driving the wheel hub to move to the center of station three. At the same time, based on the wheel hub model information sent by station one, it is compared with the database, and the spoke image acquisition module is driven to the corresponding position and angle, and the camera exposure and light source brightness corresponding to the wheel hub model are set to the corresponding parameters.

[0120] B. When the wheel hub reaches the center of station 3, it stops moving. The linear motor drives the four centering wheels to clamp and center the wheel hub inward, ensuring that the wheel hub is in the center of station 3. After centering is completed, the centering wheels move to the sides of the roller channel to the initial point.

[0121] C. The hub rotating mechanism under the transmission line bottom plate lifts the hub off the roller transmission line and lifts it to the set height according to the hub model (obtained from the database) D. The fisheye rod assembly of the hub rotating mechanism is stretched out and pressed against the inner wall of the hub; then the rotating mechanism rotates to drive the hub to rotate.

[0122] E. As the wheel hub rotates, the spoke image acquisition module captures images: When the spoke reaches the center of its field of view, it triggers image acquisition. All captured images are processed and analyzed by the defect detection software, and the inspection results from the three bins are sent to the central control software.

[0123] F. After image acquisition is completed, the hub stops rotating and the hub rotating mechanism rotates to its initial position; the fisheye rod group of the hub rotating mechanism retracts to its original position; and the hub rotating mechanism retracts to its initial position below the transmission line.

[0124] G. After the wheel hub rotation mechanism returns to the initial position, the status of the hub in station 4 is obtained. If there is a hub in station 4 undergoing inspection, the hub in station 3 remains stationary and waits for the signal that the hub in station 4 has completed inspection. If there is no hub in station 4 undergoing inspection, the roller transmission line is controlled to roll, thereby driving the hub to move.

[0125] H. When the wheel hub leaves the third bin, the spoke image acquisition module is driven to reset to the initial position and angle, and all light sources are turned off.

[0126] Fourth, after leaving the third warehouse, the wheel hub is transported to the center of the fourth warehouse via the fourth warehouse roller conveyor. Based on the point information provided by the first warehouse, the mechanical movement is planned, and the lighting parameters and shooting angle are adjusted synchronously. The wheel hub window detection camera module and the rim detection camera module are used to collect images of the wheel hub window and the wheel hub sidewall. A neural network is designed based on the image features of the wheel hub window and the wheel hub sidewall to realize the wheel hub window detection and rim detection. The specific implementation process is as follows: A. The wheel hub enters station four from the production line and rolls on the roller transmission line, driving the wheel hub to move to the center of station four. At the same time, based on the wheel hub model information sent by station one and compared with the database, the wheel hub window image acquisition module and the rim sidewall image acquisition module are driven to the corresponding position and angle, and the camera exposure and light source brightness corresponding to the wheel hub model are set to the corresponding parameters.

[0127] B. When the wheel hub reaches the center of station 4, it stops moving. The linear motor drives the four centering wheels to clamp and center the wheel hub inward, ensuring that the wheel hub is in the center of station 4. After centering is completed, the centering wheels move to the sides of the roller channel to the initial point.

[0128] C. The hub rotating mechanism under the transmission line bottom plate lifts the hub off the roller transmission line and lifts it to the set height according to the hub model (obtained from the database) D. The fisheye rod assembly of the hub rotating mechanism is stretched out and pressed against the inner wall of the hub; then the rotating mechanism rotates to drive the hub to rotate.

[0129] E. When the wheel hub rotates, the hub window image acquisition module and the hub angle image acquisition module acquire images. When the hub window rotates to the center of the hub window image acquisition module's field of view, the hub window image acquisition module is triggered to capture an image. When the rim outer wall rotates to the center of the rim sidewall image acquisition module's field of view, the rim sidewall image acquisition module is triggered to capture an image. All captured images are processed and analyzed by the defect detection software, and the inspection results of the four bins are sent to the central control software.

[0130] F. After image acquisition is completed, the hub stops rotating and the hub rotating mechanism rotates to its initial position; the fisheye rod group of the hub rotating mechanism retracts to its original position; and the hub rotating mechanism retracts to its initial position below the transmission line.

[0131] G. After the hub rotation mechanism returns to the initial position, the status of the hub in station five is obtained. If there is a hub in station five undergoing inspection, the hub in station four remains stationary and waits for the signal that the hub in station five has completed inspection. If there is no hub in station five undergoing inspection, the roller transmission line is controlled to roll, thereby driving the hub to move.

[0132] H. When the wheel hub leaves the fourth compartment, the wheel hub window image acquisition module and the rim sidewall image acquisition module are driven to reset to their initial positions and angles, and all light sources are turned off.

[0133] After leaving the fourth warehouse, the wheel hub is transported to the center of the fifth warehouse via the fifth warehouse roller conveyor. Based on the point information provided by the first warehouse, the mechanical movement is planned, and the lighting parameters and shooting angle are adjusted synchronously. The wheel hub center hole detection camera module and the wheel rim detection camera module are used to collect images of the wheel hub center hole and wheel rim. A neural network is designed based on the characteristics of the wheel hub center hole and wheel rim images to realize the wheel hub center hole detection and wheel rim detection. The specific implementation process is as follows: A. The wheel hub enters station five from the production line and rolls on the roller transmission line, driving the wheel hub to move to the center of station five. At the same time, based on the wheel hub model information sent by station one and compared with the database, the center hole image acquisition module and the wheel edge image acquisition module are driven to the corresponding positions and angles, and the camera exposure and light source brightness corresponding to the wheel hub model are set to the corresponding parameters.

[0134] B. When the wheel hub reaches the center of station 5, it stops moving. The linear motor drives the four centering wheels to clamp and center the wheel hub inward, ensuring that the wheel hub is in the center of station 5. After centering is completed, the centering wheels move to the sides of the roller channel to the initial point.

[0135] C. The hub rotating mechanism under the transmission line bottom plate lifts the hub off the roller transmission line and lifts it to the set height according to the hub model (obtained from the database) D. The fisheye rod assembly of the hub rotating mechanism is stretched out and pressed against the inner wall of the hub; then the rotating mechanism rotates to drive the hub to rotate.

[0136] E. As the wheel hub rotates, the center hole image acquisition module and the rim image acquisition module capture images. When the center hole reaches the center of the rim's field of view, the module is triggered to capture an image. When the rim reaches the center of the rim's field of view, the module is triggered to capture an image. All captured images are processed and analyzed by the defect detection software, and the inspection results from the four bins are sent to the central control software.

[0137] F. After image acquisition is completed, the hub stops rotating and the hub rotating mechanism rotates to its initial position; the fisheye rod group of the hub rotating mechanism retracts to its original position; and the hub rotating mechanism retracts to its initial position below the transmission line.

[0138] G. After the hub rotation mechanism returns to the initial position, the status of the hub in station six is ​​obtained. If there is a hub in station six undergoing inspection, the hub in station five remains stationary and waits for the signal that the hub in station six has completed inspection. If there is no hub in station six undergoing inspection, the roller transmission line is controlled to roll, thereby driving the hub to move.

[0139] H. When the wheel hub leaves the fifth bin, the center hole image acquisition module and the center image acquisition module are driven to reset to the initial position and angle, and all light sources are turned off.

[0140] 6. After leaving the fifth warehouse, the wheel hub is transported to the center of the sixth warehouse via the sixth warehouse roller conveyor. Based on the point information provided by the first warehouse, the mechanical movement is planned, and the lighting parameters and shooting angles are adjusted synchronously. The wheel hub enamel inspection camera module, the spoke back inspection camera module, the rim back inspection camera module, and the wheel hub inner wall inspection camera module are used to collect images of the wheel hub back cavity and inner wall. Based on the characteristics of the wheel hub back cavity and inner wall images, the wheel hub back cavity and inner wall are inspected. The specific implementation process is as follows: A. The wheel hub enters station six from the production line and rolls on the roller transmission line, driving the wheel hub to move to the center of station six. At the same time, based on the wheel hub model information sent by station one and compared with the database, the wheel hub back cavity image acquisition module and the rim inner wall image acquisition module are driven to the corresponding positions and angles, and the camera exposure and light source brightness corresponding to the wheel hub model are set to the corresponding parameters.

[0141] B. When the wheel hub reaches the center of station six, it stops moving. The linear motor drives the four centering wheels to clamp inward and center the wheel hub to ensure that the wheel hub is located in the center of station six.

[0142] C. The servo motor drives the center roller to rotate, thereby driving the wheel hub to rotate; D. As the wheel rotates, the hub back cavity image acquisition module and the rim inner wall image acquisition module capture images. When the hub back cavity rotates to the center of the module's field of view, the hub back cavity image acquisition module is triggered to capture images. When the rim inner wall rotates to the center of the module's field of view, the rim inner wall image acquisition module is triggered to capture images. All captured images are processed and analyzed by defect detection software, and the inspection results from the four stations are sent to the central control software. The central control software integrates the inspection results from all stations to determine whether the wheel is a good or defective product.

[0143] E. After image acquisition is completed, the wheel hub stops rotating and the center roller moves to the two sides of the drum material channel to the initial point; F. After the center roller moves to the initial point, it controls the roller transmission line to roll, thereby driving the hub to move. The analysis results of the central control software determine whether the hub flows to the good product channel or the defective product channel.

[0144] G. When the wheel hub leaves the sixth bin, the wheel hub back cavity image acquisition module and the rim side wall image acquisition module are driven to reset to the initial position and angle, and all light sources are turned off.

[0145] In summary, the inspection equipment and method of this application not only enable comprehensive wheel hub inspection, but also feature rationally designed workstations, significantly improving inspection efficiency and accuracy. Specifically, the entire production line is designed so that each workstation collaborates to capture images of each part of the wheel hub. Workstation 1 identifies the wheel shape, and subsequent workstations adjust the mechanical position accordingly.

[0146] In addition, this application also has the following beneficial effects: 1. Modular design facilitates equipment maintenance and upgrades; 2. Intelligent inspection process: easy to operate, automatic positioning and identification of wheel hubs, no manual intervention required, improving inspection efficiency; 3. Compatible with more than 130 different types of wheels: The light and dark field acquisition system and multi-angle lighting design automatically adjust the light source brightness and exposure parameters for wheels made of different materials, such as steel, aluminum alloy, magnesium alloy, and carbon fiber; Innovative flexible mechanical design, multi-degree-of-freedom camera movement, suitable for wheels of different shapes, sizes and shapes; 4.360° full inspection of special-shaped wheels without blind spots: Use high-resolution industrial cameras to ensure clear and detailed images of the wheel surface; Precisely locate the wheel hub angle and use multi-angle lighting design to eliminate light and shadow effects and improve image quality; 5. No secondary damage: Through flexible control, high-precision detection and balanced speed control are achieved to ensure that the wheel hub does not suffer secondary damage during transmission. 6.13 seconds high speed beat: Autonomous optimization of mechanical motion planning and control, multi-system concurrent processing, real-time image acquisition, processing and transmission technology.

[0147] 7. Efficient algorithm detection: The defect recognition algorithm based on deep learning can accurately identify various types of minor defects; Unique image enhancement and filtering technology highlights defect features and improves detection accuracy; Adaptive threshold segmentation technology automatically adjusts parameters according to different wheel materials and surface characteristics.

[0148] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A detection device for wheel hub defect detection, characterized in that: include: Main body, a bearing portion, used for bearing the wheel hub; a driving portion connected to the main body, wherein the driving portion is adapted to drive the wheel hub to a preset position; a first image acquisition module connected to the main body, wherein the first image acquisition module is suitable for detecting the wheel hub at the preset position; a second image acquisition module connected to the main body, wherein the first image acquisition module and the second image acquisition module are located on opposite sides of the bearing portion in a vertical direction, and the second image acquisition module is adapted to detect the wheel hub at the preset position; The first image acquisition module is used to obtain at least one of the bolt hole information, angle information, spoke information, window information, rim outer wall information, center hole information, and wheel edge information of the wheel hub; The second image acquisition module is used to obtain the back cavity information of the wheel hub and / or the rim inner wall information of the wheel hub.

2. The detection device according to claim 1, characterized in that The main body includes a first station, a second station, a third station, a fourth station, a fifth station, and a sixth station. The detection device includes a transmission structure. The first station, the second station, the third station, the fourth station, the fifth station, and the sixth station are respectively connected by the transmission structure. The transmission structure is suitable for transmitting the wheel hub between adjacent stations. Among them, the workstation one is configured as a wheel type identification and valve hole positioning workstation, the workstation two is configured as a bolt hole detection and hub angle detection workstation, the workstation three is configured as a spoke detection workstation, the workstation four is configured as a hub window detection and rim outer wall detection workstation, the workstation five is configured as a center hole detection and wheel edge detection workstation, and the workstation six is ​​configured as a hub back cavity and rim inner wall detection workstation.

3. The detection device according to claim 2, characterized in that The workstation 1, the workstation 2, the workstation 3, the workstation 4, the workstation 5 and the workstation 6 are connected in sequence, and the transmission structure connects adjacent workstations.

4. The detection device according to claim 2, characterized in that The workstation 1 includes a wheel hub centering mechanism, a wheel hub rotating mechanism, and a wheel hub profile and valve hole positioning image acquisition module. The wheel hub centering and rotating mechanism is used to adjust the valve hole of the wheel hub to a first position. The wheel hub profile and valve hole positioning image acquisition module is connected to the main body and is used to obtain standard parameters of the wheel hub at the first position. Among them, the wheel hub includes a roller and a cylinder in the center, the wheel hub rotating mechanism rotates the motor, the roller is connected to the upper side of the bearing part, the cylinder and the rotating motor are arranged on the lower side of the bearing part, the cylinder is connected to the roller, the roller is used to drive the wheel hub to move to the first position, and the rotating motor is used to adjust the position of the valve hole so that the wheel hub is located in the first position.

5. The detection device according to claim 2, characterized in that The workstation two includes a wheel hub centering mechanism, a wheel hub rotation mechanism, a surface light source, a wheel hub angle image acquisition module and a bolt hole image acquisition module. The wheel hub centering mechanism and the wheel hub rotation mechanism cooperate with each other to adjust the wheel hub to the second position. The surface light source is connected to the main body. The surface light source is used to provide light to the wheel hub at the second position. The wheel hub angle image acquisition module and the bolt hole image acquisition module are both connected to the main body. The wheel hub angle image acquisition module is suitable for obtaining the angle information of the wheel hub at the second position, and the bolt hole image acquisition module is suitable for obtaining the bolt hole information of the wheel hub at the second position.

6. The detection device according to claim 2, characterized in that The workstation three includes a hub centering mechanism, a hub rotation mechanism, a surface light source and a spoke image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate with each other to adjust the hub to a third position. The surface light source is connected to the main body in a circumferential direction in the vertical direction. The surface light source is used to provide illumination to the hub at the third position. The spoke image acquisition module is connected to the main body and is suitable for obtaining the spoke information of the hub at the third position.

7. The detection device according to claim 2, characterized in that The workstation four includes a hub centering mechanism, a hub rotation mechanism, a hub window image acquisition module and a rim outer wall image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to a fourth position. The hub window image acquisition module and the rim outer wall image acquisition module are both connected to the main body. The hub window image acquisition module is suitable for obtaining window information of the hub at the fourth position, and the rim outer wall image acquisition module is suitable for obtaining rim outer wall information of the hub at the fourth position.

8. The detection device according to claim 2, characterized in that The workstation five includes a hub centering mechanism, a hub rotation mechanism, a hub center hole image acquisition module and a wheel edge image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to the fifth position. The hub center hole image acquisition module and the wheel edge image acquisition module are both connected to the main body. The hub center hole image acquisition module is suitable for obtaining the center hole information of the hub at the fifth position, and the wheel edge image acquisition module is suitable for obtaining the wheel edge information of the hub at the fifth position.

9. The detection device according to claim 2, characterized in that: The workstation six includes a hub centering mechanism, a hub rotation mechanism, a hub back cavity image acquisition module and a rim inner wall image acquisition module. The hub centering mechanism and the hub rotation mechanism cooperate together to adjust the hub to the sixth position. The hub back cavity image acquisition module and the rim inner wall image acquisition module are both connected to the main body. The hub back cavity image acquisition module is located below the bearing part. The bearing part has a hollow area. The hollow area is used to pass the line of sight of the hub back cavity image acquisition module. The hub back cavity image acquisition module is suitable for obtaining the back cavity information of the hub at the sixth position, and the rim inner wall image acquisition module is suitable for obtaining the rim inner wall information of the hub at the sixth position.

10. A detection method, characterized in that: Used to detect the detection device according to any one of claims 1 to 9, the detection method comprising: The driving unit drives the wheel hub to move to a first position, and the wheel hub shape and valve hole positioning image acquisition module obtains standard parameters of the wheel hub at the first position; The driving unit drives the wheel hub to move to a second position, and the wheel hub angle image acquisition module obtains the wheel hub angle information at the second position, and the wheel hub angle information is used to compare with the standard parameters of the wheel hub to obtain a first detection result; and / or, The driving unit drives the wheel hub to move to a second position, and the bolt hole image acquisition module obtains bolt hole information of the wheel hub at the second position, and the bolt hole information of the wheel hub is used to compare with standard parameters of the wheel hub to obtain a second detection result; and / or, The driving unit drives the wheel hub to move to a third position, and the spoke image acquisition module obtains the spoke information of the wheel hub at the third position, and the spoke information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a fourth detection result; and / or, The driving unit drives the wheel hub to move to a fourth position, and the wheel hub window image acquisition module obtains window information of the wheel hub at the fourth position, and the wheel hub window information is used to compare with standard parameters of the wheel hub to obtain a fifth detection result; and / or, The driving unit drives the wheel hub to move to a fourth position, and the wheel rim outer wall image acquisition module obtains wheel rim outer wall information of the wheel hub at the fourth position, and the wheel rim outer wall information is used to compare with the standard parameters of the wheel hub to obtain a sixth detection result; and / or, The driving unit drives the wheel hub to move to a fifth position, and the wheel hub center hole image acquisition module obtains the center hole information of the wheel hub at the fifth position, and the center hole information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a seventh detection result; and / or, The driving unit drives the wheel hub to move to a fifth position, and the wheel hub image acquisition module obtains wheel hub information at the fifth position, and the wheel hub information is used to compare with standard parameters of the wheel hub to obtain an eighth detection result; and / or, The driving unit drives the wheel hub to move to a sixth position, and the wheel hub back cavity image acquisition module obtains back cavity information of the wheel hub at the sixth position, and the back cavity information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a ninth detection result; and / or, The driving unit drives the wheel hub to move to a sixth position, and the rim inner wall image acquisition module obtains rim inner wall information of the wheel hub at the sixth position, and the rim inner wall information of the wheel hub is used to compare with the standard parameters of the wheel hub to obtain a tenth detection result; At least one of the first detection result, the second detection result, the third detection result, the fourth detection result, the fifth detection result, the sixth detection result, the seventh detection result, the eighth detection result, the ninth detection result and the tenth detection result is output to obtain a final detection result.

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