A conveying on-line device for hub machining

Abstract

This invention relates to the field of wheel hub conveying technology and discloses a conveying and loading device for wheel hub processing, aiming to address the shortcomings of existing technologies in achieving stable and precise suspension and conveying of wheel hubs. This invention utilizes a purely mechanical locking structure composed of a support member on the hanger, a limit rod, and a spring. By leveraging the weight of the wheel hub, a self-locking effect is achieved, effectively preventing wheel hub displacement and detachment, while supporting synchronous transfer across multiple workstations. In conjunction with the built-in visual data fusion module, recipe library management module, and central control module in the control cabinet, a closed-loop electrical control logic is constructed. This, along with the linkage of a height-measuring light curtain and a visual camera, enables precise identification of both wheel hub height and pattern characteristics. The coordinated action of the centering and calibration components and the lifting and rotating components ensures accurate wheel hub transfer and positioning, solving the core problem of disconnect between identification and execution in traditional systems. Furthermore, the dynamic linkage of a synchronous encoder, dual tracking sensors, and a six-axis robotic arm achieves precise and coordinated wheel hub conveying and loading.

Description

Technical Field

[0001] This invention relates to the field of wheel hub conveying technology, and in particular to a conveying and loading device for wheel hub processing. Background Technology

[0002] After being processed and formed, aluminum alloy wheels need to undergo surface painting. The painting is carried out by an automatic painting robot. When going online, the wheel hub needs to be placed on the conveyor line first, and then the robot will transfer the wheel hub to the overhead conveyor line for painting.

[0003] Chinese Patent Publication No. CN120156871A discloses a wheel hub intelligent suspension conveying device, including a guide conveying frame; a guide groove is set on the guide conveying frame, and the length direction of the guide groove is the same as the conveying direction of the guide conveying frame; multiple positioning grooves are provided, and the multiple positioning grooves are distributed at intervals along the length direction of the guide groove, so that the wheel hub can switch between multiple states during conveying, which improves its applicability and other advantages.

[0004] Regarding the above and existing related technologies, the inventors believe that the following defects often exist: The device uses the elastic action of the torsion spring to enable the pressure cylinder to press against the side wall of the wheel hub. However, due to the elasticity of the torsion spring, the pressure cylinder is in a position relatively close to the wheel hub hanger before the wheel hub is put on the line. In reality, the two ends of the wheel hub protrude outward compared to the middle. Therefore, the direct spring action of the torsion spring can easily make the pre-suspended space narrow, which is not conducive to the robot placing the wheel hub directly on the wheel hub hanger. It is easy to cause the entire guide frame to shake during suspension. Therefore, there is room for improvement. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing technology is not easy to stably and accurately suspend and transport wheel hubs. To this end, we propose a conveying and loading device for wheel hub processing.

[0006] To achieve the above objectives, this application adopts the following technical solution: a conveying and loading device for wheel hub processing, comprising a suspended conveying system. The suspended conveying system includes vertically parallel I-shaped guide rails and a suspension chain. Multiple hangers are suspended through the inside of the suspension chain. The top of each hanger slides along the inner side of the I-shaped guide rail via guide wheels. Multiple symmetrically distributed support members are slidably mounted on the horizontal axis of each hanger. The outer side of the inner end of each support member is connected to the inner wall of the hanger by a transverse spring. Limiting components are provided on the longitudinal axis of each hanger. The number of limiting components corresponds one-to-one with the number of support members. Each limiting component includes a limiting rod that is longitudinally slidably mounted on the longitudinal axis of the hanger. The top and bottom of the inner end of the limiting rod are connected to the hanger. The inner wall is connected to a longitudinal spring. A connecting rod is fixed to the inner end of the support member on the side away from the limiting rod. A connecting rope is connected to one side of the connecting rod and the inner end of the limiting rod. A guide roller is fixed inside the hanger. The connecting rope is distributed in an L-shape around the guide roller in the hanger. When the support member slides horizontally outward under the action of the wheel hub's gravity, it synchronously drives the connecting rope to move, causing the limiting rod on the opposite side to slide vertically downward until it squeezes and contacts the wheel hub. A mechanical transfer system is set on one side of the suspended conveyor system. A synchronous tracking probe is set between the mechanical transfer system and the suspended conveyor system. A six-axis robotic arm and a tracking sensor B are respectively set on one side of the synchronous tracking probe. The tracking sensor B is located below the tracking sensor A.

[0007] Preferably, the moving distance of the support is greater than the moving distance of the center of gravity from the moment the hub contacts the support until it is fully placed. The limiting rod and the support have the same structure. The support includes a slider that is slidably mounted on the horizontal axis of the hanger. A long rod is provided through the inside of the slider. A limiting sleeve is fixed to the outer end of the long rod. A placement groove is provided on the outer side of the limiting sleeve. A protrusion is provided on the outer side of the slider. A groove is provided on the inner wall of the hanger. The groove is located at the maximum displacement of the slider. The protrusion and the groove are engaged with each other.

[0008] Preferably, a linear conveying system is installed on the side of the mechanical transfer system away from the suspended conveying system. The outer sides of the linear conveying system and the mechanical transfer system are jointly surrounded by a U-shaped wall. A control cabinet is installed on the outer side of the U-shaped wall. The linear conveying system passes through the feed inlet opened on one side of the U-shaped wall. The mechanical transfer system includes a six-axis robotic arm fixed to one side of the suspended conveying system. A three-jaw chuck is installed at the top of the six-axis robotic arm. A clamping assembly is installed at the bottom of the three-jaw chuck, which is symmetrically arranged on the left and right. There are three sets of clamping assemblies, and each set of clamping assemblies has two clamping assemblies. The number of clamping assemblies is matched with the number of support members and limit rods. The interval between adjacent sets of clamping assemblies is equal to the distance between adjacent sets of support members and limit rods.

[0009] Preferably, the clamping assembly includes a clamping plate slidably mounted on the bottom of the three-jaw holder. Each outer end of the clamping plate is equipped with a claw, the clamping surface of which is curved and the curvature of the curved surface conforms to the curvature of the wheel hub waist. A cylinder push rod C is fixed on one side of the clamping plate, and one end of the cylinder push rod C is connected to the inner wall of the three-jaw holder. The clamping plate slides horizontally along the transverse side of the three-jaw holder.

[0010] Preferably, the height of tracking sensor A is located between the I-shaped guide rail and the hanging chain, the number of tracking sensors B is adapted to the number of components of the clamping assembly, and the spacing between adjacent tracking sensors B is adapted to the spacing between adjacent clamping assemblies.

[0011] Preferably, the linear conveying system includes a single-row roller conveyor, one end of which extends through to the inside of the U-shaped wall and is connected to a double-row roller conveyor. A hub positioning sensor is installed on the outer side of the top of the double-row roller conveyor. A bracket is fixed on the side of the U-shaped wall feed inlet near the single-row roller conveyor. Height measuring light curtains are installed on both sides of the bracket, and a vision camera is fixed on the top of the bracket.

[0012] Preferably, a centering alignment assembly is installed on both sides of the double-row roller conveyor. The centering alignment assembly includes an alignment roller fixed to the bottom of the double-row roller conveyor. A connecting horizontal plate is fixed to one end of the alignment roller. A cylinder push rod B is fixed to both ends of one side of the connecting horizontal plate. The top end of the cylinder push rod B passes through a guide hole opened at the top of the double-row roller conveyor. The moving direction of the cylinder push rod B is parallel to the axial direction of the rollers on the double-row roller conveyor.

[0013] Preferably, a cross groove is fixed at the center of the top of the double-row roller conveyor, and a lifting and rotating assembly is provided inside the cross groove. The lifting and rotating assembly includes a cross tray installed inside the cross groove. A rotating shaft is fixed at the center of the bottom end of the cross tray. The bottom end of the rotating shaft extends through to the bottom of the double-row roller conveyor. Guide rods are evenly fixed at the bottom of the double-row roller conveyor. A lifting plate is sleeved on the outside of the guide rods. A servo motor is fixed at the center of the lifting plate. The output end of the servo motor is fixedly connected to the bottom end of the rotating shaft. Cylinder push rods A are installed on both sides of the top of the lifting plate. The top ends of the cylinder push rods A are fixedly connected to the bottom of the double-row roller conveyor.

[0014] Preferably, the control cabinet has a built-in visual data fusion module, a formula library management module, and a central control module. The visual data fusion module is connected to the height measurement light curtain and the visual camera signal. The central control module is connected to the visual data fusion module, the formula library management module, cylinder push rod B, cylinder push rod A, and the servo motor signal.

[0015] Preferably, the central control module is connected to the hub positioning sensor, the double-row roller conveyor, the synchronous encoder on the chain drive end, the tracking sensor A, the tracking sensor B, and the controller signal of the six-axis robotic arm.

[0016] The technical effects and advantages of this invention are as follows:

[0017] In this invention, a purely mechanical locking structure composed of a support member, a limiting rod, and a spring on the hanger is used to achieve a self-locking effect on the wheel hub by utilizing its gravity, effectively preventing wheel hub displacement and detachment, while supporting synchronous transfer across multiple workstations. Combined with the visual data fusion module, formula library management module, and central control module built into the control cabinet, a closed-loop electrical control logic is constructed. This, along with the height measurement light curtain and visual camera, enables precise identification of both wheel hub height and pattern characteristics, adapting to the flexible production needs of multiple wheel hub models. Model matching and parameter retrieval can be completed without manual programming. The coordinated action of the centering calibration component and the lifting and rotating component ensures the accuracy of wheel hub transfer and positioning, improving the continuity of the entire conveying and assembly process. The dynamic linkage of the synchronous encoder, dual tracking sensors, and six-axis robotic arm achieves precise coordination of picking and placing the wheel hub while it is in motion, avoiding collisions and deviations during wheel hub placement, significantly improving production cycle time and the continuity of the assembly process, ensuring full automation, high precision, and high stability of the entire process from wheel hub identification, positioning, transfer, and conveying. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the clamping components of the present invention;

[0021] Figure 3 This is a three-dimensional schematic diagram of the suspended conveying system of the present invention;

[0022] Figure 4 This is a three-dimensional structural diagram of the support member of the present invention;

[0023] Figure 5 This is a schematic diagram of the three-dimensional structure of the limiting component distribution of the present invention;

[0024] Figure 6 This is a schematic diagram of the planar structure of the synchronous tracking probe distribution according to the present invention;

[0025] Figure 7 This is a schematic diagram of the distributed three-dimensional structure of the linear conveying system of the present invention;

[0026] Figure 8 This is a three-dimensional structural diagram of the double-row roller conveyor table of the present invention;

[0027] Figure 9This is a schematic diagram of the three-dimensional structure of the lifting and rotating assembly of the present invention;

[0028] Figure 10 This is a schematic diagram of the internal module structure of the control cabinet of the present invention.

[0029] Legend: 1. Linear Conveying System; 11. Single-row Roller Conveyor; 12. Double-row Roller Conveyor; 121. Cross Groove; 122. Lifting and Rotating Assembly; 1221. Cross Tray; 1222. Servo Motor; 1223. Lifting Plate; 1224. Cylinder Push Rod A; 1225. Guide Rod; 1226. Rotating Shaft; 123. Centering Alignment Assembly; 1231. Cylinder Push Rod B; 1232. Connecting Horizontal Plate; 1233. Alignment Roller; 13. Hub Position Sensor; 2. Mechanical Transfer System; 21. Six-axis Robotic Arm; 22. Three-jaw Frame; 23. Clamping Assembly; 231. Clamping Plate; 232. Claw Hand; 233. Cylinder Push Rod 3. Suspended Conveying System; 31. Hanger; 32. I-shaped Guide Rail; 33. Hanging Chain; 34. Support Component; 341. Slider; 342. Long Rod; 343. Limiting Sleeve; 3431. Placement Slot; 35. Transverse Spring; 36. Limiting Assembly; 361. Limiting Rod; 362. Connecting Rope; 363. Connecting Rod; 364. Guide Roller; 365. Longitudinal Spring; 4. Synchronous Tracking Measuring Rod; 41. Tracking Sensor A; 42. Tracking Sensor B; 5. U-shaped Wall; 51. Bracket; 6. Control Cabinet; 61. Visual Data Fusion Module; 62. Formula Library Management Module; 63. Central Control Module; 7. Height Measurement Light Curtain; 8. Visual Camera. Detailed Implementation

[0030] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0031] Example 1: Refer to Figures 1-6As shown, the present invention provides a technical solution: a conveying and loading device for wheel hub processing, including a suspended conveying system 3. The suspended conveying system 3 consists of I-shaped guide rails 32 and a chain 33 arranged in parallel. A synchronous encoder is installed at the drive end of the chain 33. Multiple hangers 31 are suspended through the inside of the chain 33. The top of each hanger 31 slides along the inner side of the I-shaped guide rail 32 via guide wheels. Multiple symmetrically distributed support members 34 are slidably mounted on the horizontal axis of each hanger 31. The outer side of the inner end of each support member 34 is connected to the inner wall of the hanger 31 by a transverse spring 35. Limiting components 36 are provided on the longitudinal axis of each hanger 31. The number of limiting components 36 corresponds one-to-one with the number of support members 34. Each limiting component 36 includes a limiting rod 361 slidably mounted longitudinally on the longitudinal axis of the hanger 31. The top and bottom of the inner end of the limiting rod 361 are connected to the hanger 31. A longitudinal spring 365 is connected to the inner wall of the 1. A connecting rod 363 is fixed to the inner end of the support member 34 on the side away from the limiting rod 361. A connecting rope 362 is connected to one side of the connecting rod 363 and the inner end of the limiting rod 361. A guide roller 364 is fixed inside the hanger 31. The connecting rope 362 passes around the guide roller 364 to form an L-shape and is distributed in the hanger 31. When the support member 34 slides horizontally outward under the action of the wheel hub's gravity, it synchronously drives the connecting rope 362 to move, causing the limiting rod 361 on the opposite side to slide vertically downward until it squeezes and contacts the wheel hub. A mechanical transfer system 2 is set on one side of the suspended conveying system 3. A synchronous tracking probe 4 is set between the mechanical transfer system 2 and the suspended conveying system 3. A six-axis robotic arm 21 and a tracking sensor B42 are respectively set on one side of the synchronous tracking probe 4. The tracking sensor B42 is located below the tracking sensor A41.

[0032] Tracking sensor A41 detects the passing hanger 31, and synchronous encoders determine the position of hanger 31 in real time during the conveying process. Then, tracking sensor B42 monitors the hub held on the mechanical transfer system 2 and controls the mechanical transfer system 2 to adjust the position of the hub, so that the position of the hub held on the mechanical transfer system 2 and the hanger 31 are synchronously corresponding, thereby realizing the precise transfer of the hub. This reduces the shaking interference of the hanger 31 when the hub is placed during the transfer process, and avoids the termination of the conveying, achieving the effect of releasing the hub while it is moving. In addition, with the help of support component 34, transverse spring 35 and limiting component 36, the gravity of the hub during the docking process on the hanger 31 is used to achieve self-clamping and limiting effect on the hub at four angles, thereby effectively preventing the hub from detaching due to the self-shaking of the hanger 31 after docking, and improving the stability of the hub during long-distance conveying on the suspended conveying system 3.

[0033] like Figures 3-6As shown: the moving distance of the support member 34 is greater than the moving distance of the center of gravity after the hub contacts the support member 34 and is fully placed, ensuring that the gap between the limiting rod 361 and the support member 34 at the initial docking stage will not obstruct the placement of the hub. The limiting rod 361 and the support member 34 have the same structure. The support member 34 includes a slider 341 that is slidably mounted on the horizontal axis of the hanger 31. A long rod 342 is provided through the inside of the slider 341. A limiting sleeve 343 is fixed to the outer end of the long rod 342. A placement groove 3431 is opened on the outer side of the limiting sleeve 343. A protrusion is provided on the outer side of the slider 341. A groove is provided on the inner wall of the hanger 31. The groove is located at the maximum displacement of the slider 341. The protrusion and the groove are engaged with each other.

[0034] The placement slot 3431 can be used to hold the edge of the wheel hub, thereby improving the stability of the wheel hub on the support 34. At the same time, in conjunction with the function of the limiting rod 361, it can fix four points on the wheel hub. Furthermore, the engagement of the protrusion and the groove can further limit the position of the support 34 and the limiting rod 361 after they are moved, thereby further ensuring the reliability of the wheel hub after placement and reducing the impact of the shaking generated by the hanger 31 during the transportation process on the position of the wheel hub.

[0035] like Figure 2 As shown: A linear conveyor system 1 is set on the side of the mechanical transfer system 2 away from the suspended conveyor system 3. The outer sides of the linear conveyor system 1 and the mechanical transfer system 2 are surrounded by a U-shaped wall 5. A control cabinet 6 is installed on the outer side of the U-shaped wall 5. The linear conveyor system 1 passes through the feed inlet opened on one side of the U-shaped wall 5. The mechanical transfer system 2 includes a six-axis robotic arm 21 fixed to the side of the suspended conveyor system 3. A three-jaw frame 22 is installed at the top of the six-axis robotic arm 21. A clamping assembly 23 is installed at the bottom of the three-jaw frame 22, which is symmetrically arranged on the left and right. There are three sets of clamping assemblies 23, and each set of clamping assemblies 23 has two clamping assemblies. The number of clamping assemblies 23 is matched with the number of support members 34 and limit rods 361. The interval between adjacent sets of clamping assemblies 23 is equal to the distance between adjacent sets of support members 34 and limit rods 361.

[0036] By utilizing the matching relationship between the number of components, multiple wheel hubs can be transferred and transported at once, greatly improving the transport efficiency.

[0037] like Figure 2 As shown: The clamping assembly 23 includes a clamping plate 231 slidably mounted on the bottom of the three-jaw frame 22. Each end of the clamping plate 231 is equipped with a claw 232. The clamping surface of the claw 232 is curved, and the curvature of the curved surface conforms to the curvature of the wheel hub waist. A cylinder push rod C233 is fixed on one side of the clamping plate 231. One end of the cylinder push rod C233 is connected to the inner wall of the three-jaw frame 22. The cylinder push rod C233 contains a self-locking valve block to ensure that there is no loss of force when the power and air are cut off, thus ensuring safety. The clamping plate 231 slides horizontally along the transverse side of the three-jaw frame 22.

[0038] The structure of the claw 232 is used to improve the fit when clamping the wheel hub, ensuring that the wheel hub will not fall off when it is suspended and transferred. At the same time, since the claw 232 only clamps the waist of the wheel hub near the center, it does not affect the contact between the bottom of the wheel hub and the support 34 during placement, as well as the subsequent separation of the clamping assembly 23 and the wheel hub.

[0039] like Figure 6 As shown: the height of the tracking sensor A41 is located between the I-shaped guide rail 32 and the hanging chain 33; the number of tracking sensors B42 is adapted to the number of components of the clamping assembly 23; and the spacing between adjacent tracking sensors B42 is adapted to the spacing between adjacent clamping assemblies 23.

[0040] By using the synchronous encoder at the drive end of the hanging chain 33 in conjunction with the tracking sensor A41 for signal connection, the moving speed and time relationship of the hanging chain 33 are determined, so that the tracking sensor A41 can locate the position of the passing hanger 31 at any time. Then, in conjunction with the tracking sensor B42, the position of the hub on the three-jaw frame 22 can be synchronously located, ensuring that the hub and the placement position on the hanger 31 are in a one-to-one correspondence, so as to facilitate accurate placement and reduce the swaying of the hanger 31 during placement, achieving a moving placement effect and ensuring the conveying efficiency of the entire conveying system.

[0041] Working principle: First, the wheel hub is placed horizontally on the linear conveyor system 1 and conveyed according to the arrow direction of the linear conveyor system 1 in the attached diagram. When the wheel hub reaches the preset station, the mechanical transfer system 2 is started by the control cabinet 6, which controls the three-jaw chuck 22 to move accordingly according to the pre-set movement line. The three-jaw chuck 22 is initially horizontal, so that the top of the wheel hub presses against the bottom of the three-jaw chuck 22. At the same time, the cylinder push rod C233 is activated to shorten, so that the left and right distributed cylinder push rods C233 move inward simultaneously to achieve the clamping effect on the waist of the wheel hub. Then, the three-jaw chuck 22 is moved to the side of the suspended conveyor system 3 and turned into a vertical position. During this process, the position of the just passed hanger 31 is determined by the synchronous encoder and the left and right tracking sensor A41, and the tracking sensor B42 is used to detect and control the mechanical transfer system 2 to adjust the position of the wheel hub on the three-jaw chuck 22. When the hanger 31 and the wheel hub are in the corresponding position, the mechanical transfer system 2 is activated to move, so that the three-jaw chuck 22 first moves forward to approach the hanger 31, so that the wheel hub is in the upper and lower positions. Between the support member 34 and the limiting rod 361, the mechanical transfer system 2 is activated to move the three-jaw chuck 22 downwards, so that the bottom end of the hub contacts the support member 34, with the edge of the hub located on the placement groove 3431. As the hub descends, it generates a pushing force on the two long rods 342 distributed on the left and right, causing the two support members 34 to move outwards to their maximum movement distance. At this time, the protrusion on the slider 341 engages with the corresponding groove. Due to the movement of the support member 34, the slider 341 pulls the connecting rod 363 to move, thus connecting the... One end of the rope 362 is pulled, which in turn drives the other side limit rod 361 to automatically descend until it squeezes and limits the upper edge of the hub. Since the limit rod 361 and the support member 34 have the same structure, the outer edge of the hub is limited by the limit sleeve 343 to prevent the hub from moving back and forth. Furthermore, due to the limitation between the support member 34 and the limit rod 361, the hub is prevented from moving up, down, left, and right. Since the hanging chain 33 is always in a moving state, the hub is always in a conveying state, which improves the overall conveying efficiency.

[0042] Example 2: Refer to Figures 7-9 As shown in Example 1, by using the height measuring light curtain 7, vision camera 8 and lifting and rotating assembly 122, the model of wheel hub with different heights and patterns can be identified in real time online. This enables automatic adaptive adjustment of the position of the wheel hub valve hole and the moving path and gripping point of the mechanical transfer system 2, thereby improving the continuity and automation of the conveying and transfer action.

[0043] like Figure 7As shown: The linear conveying system 1 includes a single-row roller conveyor 11. One end of the single-row roller conveyor 11 extends through the inner side of the U-shaped wall 5 and is connected to a double-row roller conveyor 12. A hub positioning sensor 13 is installed on the outer side of the top of the double-row roller conveyor 12. A bracket 51 is fixed on the side of the feed inlet of the U-shaped wall 5 near the single-row roller conveyor 11. Height measuring light curtains 7 are installed on both sides of the bracket 51. A vision camera 8 is fixed on the top of the bracket 51.

[0044] A single-row roller conveyor 11 is used for conveying and transferring the wheel hubs before the main work. A double-row roller conveyor 12 is used to determine the transfer station for a single wheel hub. The wheel hub arrival sensor 13 detects that the wheel hubs have arrived at the transfer station. When multiple transfer stations detect the arrival of the wheel hubs, the signal is sent to the control cabinet 6. The control cabinet 6 then controls the start of the three-jaw chuck 22 to move to the corresponding clamping station and uses the clamping assembly 23 to perform synchronous clamping work on the multiple wheel hubs that have arrived at the transfer station. Of course, the control cabinet 6, as well as the height measuring light curtain 7 and the vision camera 8, can be used to preset the clamping mode, such as specifying the wheel hub model to be clamped, and performing clamping and transfer for a specific model.

[0045] like Figure 8 , Figure 9 As shown: Centering alignment components 123 are installed on both sides of the double-row roller conveyor 12. The centering alignment components 123 include alignment rollers 1233 fixed to the bottom of the double-row roller conveyor 12. One end of the alignment roller 1233 is fixed with a connecting horizontal plate 1232. Both ends of one side of the connecting horizontal plate 1232 are fixed with cylinder push rods B1231. The top end of the cylinder push rod B1231 passes through the guide hole opened at the top end of the double-row roller conveyor 12. The moving direction of the cylinder push rod B1231 is parallel to the roller axis on the double-row roller conveyor 12.

[0046] The height of the passing wheel hub is first monitored online using the height measuring light curtain 7. Then, the corresponding model classification is matched by the control cabinet 6, and combined with the image of the vision camera 8, the specific model of the wheel hub and the position of the valve hole of that model are further determined by image comparison. The angle of rotation adjustment of the wheel hub is calculated based on the valve hole position of the currently conveyed wheel hub in the image. The control cabinet 6 sends a delayed signal to the centering calibration component 123 and the double-row roller conveyor 12 at the corresponding position, so that the double-row roller conveyor 12 stops and the centering calibration component 123 first performs center calibration on the wheel hub in place. By shortening the calibration roller 1233, the multiple cylinder push rods B1231 on the left and right sides move inward synchronously, thereby restricting the wheel hub to the center position on the double-row roller conveyor 12, so as to ensure that the subsequent wheel hub position axis and the rotation axis of the cross tray 1221 correspond, and to ensure that the clamping position of the clamping component 23 corresponds.

[0047] like Figure 8 , Figure 9As shown: A cross groove 121 is fixed at the center of the top of the double-row roller conveyor 12. A lifting and rotating assembly 122 is provided inside the cross groove 121. The lifting and rotating assembly 122 includes a cross tray 1221 installed inside the cross groove 121. A rotating shaft 1226 is fixed at the center of the bottom end of the cross tray 1221. The bottom end of the rotating shaft 1226 extends to the bottom of the double-row roller conveyor 12. Guide rods 1225 are evenly fixed at the bottom of the double-row roller conveyor 12. A lifting plate 1223 is sleeved on the outside of the guide rods 1225. A servo motor 1222 is fixed at the center of the lifting plate 1223. The output end of the servo motor 1222 is fixedly connected to the bottom end of the rotating shaft 1226. Cylinder push rods A1224 are installed on both sides of the top of the lifting plate 1223. The top ends of the cylinder push rods A1224 are fixedly connected to the bottom of the double-row roller conveyor 12.

[0048] Using the height-measuring light curtain 7 to detect and determine the height of the wheel hub, the control cabinet 6 calculates and controls the cylinder push rod A1224 to lift the wheel hub to a specific height, ensuring that the highest lifting height of the wheel hub is consistent across multiple workstations. Then, based on the illumination of the valve hole position of the wheel hub by the vision camera 8, the control cabinet 6 controls and calculates the required rotation angle, controls and starts the servo motor 1222, so that the cross tray 1221 lifts the wheel hub and rotates it at a certain angle, keeping the valve hole direction of the wheel hubs at multiple workstations consistent. This further improves the uniformity of the position and angle of the wheel hub when it is transferred from the linear conveyor system 1 to the suspended conveyor system 3, which is beneficial for subsequent processing.

[0049] Working principle: The wheel hub is placed on the single-row roller conveyor 11 for conveying. When the wheel hub passes the bracket 51, the height of the wheel hub is first detected by the height measuring light curtain 7 to make an initial determination of the current wheel hub model. At the same time, it is convenient to determine the lifting height of the subsequent wheel hubs. The visual camera 8 illuminates the pattern features of the wheel hub and determines the signal of the current wheel hub. It compares the preset valve hole position of this model wheel hub to calculate the required rotation adjustment angle of the wheel hub currently being conveyed. The above signals are numbered and sent to the corresponding double-row roller conveyor 12 at the rear end after a delay. When the wheel hub arrives at the sensor... When the device 13 detects that the hub is in place, it stops the current conveying action of the double-row roller conveyor 12 and starts the centering alignment component 123, so that the two sets of cylinder push rods B1231 move closer to each other, thereby aligning the hub. Then, under the control of the delay signal, the lifting and rotating component 122 is started, the cylinder push rod A1224 is shortened, and the cross tray 1221 lifts the hub. Then, the servo motor 1222 is started and rotates the hub at a certain angle so that the hub valve hole reaches a specific position. When the hubs at multiple workstations are in place, the clamping component 23 on the three-jaw chuck 22 clamps and transfers the hub.

[0050] The control cabinet 6 dynamically adjusts the movement trajectory and clamping opening and closing of the mechanical transfer system 2 and clamping component 23 based on module signals. At the same time, the module data of the control cabinet 6 pre-stores identification parameters of various wheel hub models and corresponding action parameters of the mechanical transfer system 2. Using the identification of the preceding height measuring light curtain 7 and vision camera 8, the control cabinet dynamically adjusts the action trajectory of the subsequent lifting and rotating component 122, centering and calibration component 123, mechanical transfer system 2, clamping component 23, etc., to ensure that the wheel hub can be accurately transferred to the suspended conveying system 3 for transport.

[0051] Example 3: Refer to Figure 10 As shown, based on Embodiment 1 and Embodiment 2, the control cabinet 6 enables coordinated dynamic control between various components, and can dynamically transport the wheel hub according to the wheel hub model characteristics, ensuring transport accuracy and efficiency.

[0052] like Figure 10 As shown: Control cabinet 6 has a built-in visual data fusion module 61, a formula library management module 62, and a central control module 63. The formula library management module 62 pre-stores more than 200 complete parameter formulas, including the template parameters of the wheel hub and the corresponding motion parameters of the six-axis robotic arm 21. The visual data fusion module 61 is connected to the height measuring light curtain 7 and the vision camera 8 to receive wheel hub height detection data and pattern image feature data, and generates structured recognition data through a dual feature fusion algorithm. The central control module 63 is connected to the visual data fusion module 61, the formula library management module 62, the cylinder push rod B1231, the cylinder push rod A1224, and the servo motor 1222 to receive structured recognition data, retrieve formula parameters, and send control signals to control the wheel hub lifting height and rotation angle, so that the valve hole is oriented to the preset position.

[0053] By utilizing control cabinet 6 to construct a closed-loop electronic control logic for visual recognition, formula matching, and positioning execution, the core problem of the disconnect between recognition and positioning execution in traditional systems is solved. Through the collaboration of internal modules of control cabinet 6, the entire process of automatic wheel model recognition, center calibration, and valve hole orientation is automated without manual intervention or reprogramming, adapting to the flexible production needs of more than 200 types of wheel hubs.

[0054] like Figure 10 As shown: The central control module 63 is connected to the hub positioning sensor 13, the double-row roller conveyor 12, the synchronous encoder on the drive end of the chain 33, the tracking sensor A41, the tracking sensor B42, and the controller signal of the six-axis robotic arm 21. It is used to receive the hub positioning status signal, the chain 33 moving speed signal, the hanger 31 position signal, and the hub clamping position signal, and to send synchronous tracking commands to the six-axis robotic arm 21.

[0055] By leveraging the linkage of multiple sensors, the placement deviation problem caused by the asynchronous movement of the hanger 31 and the robot during the movement of the chain was solved. Furthermore, by coordinating the grasping timing, the synchronous transfer of wheel hubs at multiple workstations was achieved, improving the production cycle. At the same time, collisions between the wheel hubs and the hanger 31 during placement were avoided. Combined with the mechanical locking structure of the hanger itself, the conveying stability after the wheel hubs were transferred was further guaranteed.

[0056] Working principle: The height-measuring light curtain 7 performs non-contact height detection on the incoming wheel hubs. The vision camera 8 captures the front pattern of the wheel hub and collects image features. Both types of raw data are simultaneously transmitted to the vision data fusion module 61 in the control cabinet 6. The vision data fusion module 61 uses a dual-dimensional fusion algorithm of height and pattern features to filter invalid data and generate structured recognition data containing height values ​​and pattern feature codes, narrowing the wheel hub model recognition range, especially for wheel hubs with the same pattern but different heights. After receiving the structured data, the central control module 63 sends a parameter retrieval command to the formula library management module 62. The formula library provides feedback on the complete set of positioning parameters for the corresponding wheel hub. When the wheel hub positioning sensor 13 detects that the wheel hub is in place, the corresponding double row of... The roller conveyor 12 stops conveying. Then, the central control module 63 first sends a telescopic command to the cylinder push rod B1231, driving the two side alignment rollers 1233 to clamp inward synchronously, calibrating the hub to the central axis of the double-row roller conveyor 12, ensuring that the subsequent rotation axis is aligned. Then, it sends a telescopic command to the cylinder push rod A1224, controlling the cross tray 1221 to lift the hub away from the roller line. At the same time, it sends a rotation command to the servo motor 1222, driving the rotating shaft 1226 to rotate the hub according to the difference between the current angle and the target angle of the valve hole, so that the valve hole is oriented to the preset position required for robot grasping. After positioning is completed, the central control module generates a "positioning ready" signal to prepare for the subsequent grasping action.

[0057] When the hub positioning sensor 13 detects that all target workstations have hubs placed, it sends a full-workstation positioning signal to the central control module 63. After receiving the signal, the central control module 63 issues a gripping command to the mechanical transfer system 2 at the waiting position, controls the cylinder push rod C233 to extend and retract, drives the gripper 232 of the clamping assembly 23 to clamp the hub waist, and transfers the hub to the transfer position, waiting to transfer the hub to the suspended conveyor system 3. At this time, the synchronous encoder installed on the drive end of the hanging chain 33 detects the moving speed of the hanging chain in real time, converts the speed signal into a pulse signal and transmits it to the central control module 63. The tracking sensor A41 continuously monitors the real-time position of the hanger 31, and the tracking sensor B42 synchronously detects the position of the hub on the clamping assembly 23. Two types of position signals are fed back to the central control module 63. The central control module 63 performs fusion calculation on the chain speed signal, the hanger position signal, and the hub clamping position signal to obtain the speed difference and position deviation that the six-axis robotic arm 21 needs to compensate for. It then sends a synchronization tracking command to the six-axis robotic arm 21 to make the clamping component 23 move at the same speed and in the same direction as the target hanger 31. When the clamping component 23 and the hanger 31 reach the preset relative position, the central control module 63 sends a placement command. The three-jaw chuck 22 approaches the hanger 31 and then descends, causing the hub to move the two left and right support members 34 outward and unfold. The control cylinder push rod C233 extends and retracts, causing the claw 232 to release the hub. The hub, relying on its own gravity, triggers the limit rod 361 of the hanger 31 to press down, completing the precise placement.

[0058] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A conveying and loading device for wheel hub processing, characterized in that, The system includes a suspended conveying system composed of parallel I-shaped guide rails and a suspension chain. Multiple hangers are suspended through the interior of the suspension chain. The top of each hanger slides along the inner side of the I-shaped guide rail via guide wheels. Multiple symmetrically distributed support members are slidably mounted on the horizontal axis of each hanger. The outer side of the inner end of each support member is connected to the inner wall of the hanger by a transverse spring. Limiting components are provided on the longitudinal axis of each hanger, with the number of limiting components corresponding one-to-one with the number of support members. Each limiting component includes a limiting rod slidably mounted longitudinally on the longitudinal axis of the hanger. The top and bottom of the inner end of the limiting rod are connected to the inner wall of the hanger by a longitudinal spring. The spring furthest from the limiting rod... A connecting rod is fixed to the inner end of one side support member of the positioning rod. A connecting rope is connected to one side of the connecting rod and the inner end of the limiting rod. A guide roller is fixed inside the hanger. The connecting rope is distributed in an L-shape around the guide roller in the hanger. When the support member slides horizontally outward under the action of the wheel hub's gravity, it synchronously drives the connecting rope to move, causing the opposite limiting rod to slide vertically downward until it squeezes and contacts the wheel hub. A mechanical transfer system is set on one side of the suspended conveying system. A synchronous tracking probe is set between the mechanical transfer system and the suspended conveying system. A six-axis robotic arm and a tracking sensor B are respectively set on one side of the synchronous tracking probe. The tracking sensor B is located below the tracking sensor A. The moving distance of the support is greater than the moving distance of the center of gravity after the hub contacts the support and is fully placed. The limiting rod and the support have the same structure. The support includes a slider that is slidably installed on the horizontal axis of the hanger. A long rod is provided through the inside of the slider. A limiting sleeve is fixed to the outer end of the long rod. A placement groove is opened on the outer side of the limiting sleeve. A protrusion is provided on the outer side of the slider. A groove is provided on the inner wall of the hanger. The groove is located at the maximum displacement of the slider. The protrusion and the groove are engaged with each other. A linear conveyor system is located on the side of the mechanical transfer system away from the suspended conveyor system. The outer sides of the linear conveyor system and the mechanical transfer system are jointly surrounded by a U-shaped wall. A control cabinet is installed on the outer side of the U-shaped wall. The linear conveyor system passes through an inlet opened on one side of the U-shaped wall. The mechanical transfer system includes a six-axis robotic arm fixed to one side of the suspended conveyor system. A three-jaw chuck is installed at the top of the six-axis robotic arm. A clamping assembly is installed at the bottom of the three-jaw chuck, which is symmetrically arranged on both sides. There are three sets of clamping assemblies, and each set has two clamping assemblies. The number of clamping assemblies is matched with the number of support members and limit rods. The interval between adjacent sets of clamping assemblies is equal to the distance between adjacent sets of support members and limit rods.

2. The conveying and loading device for wheel hub processing according to claim 1, characterized in that: The clamping assembly includes a clamping plate slidably mounted on the bottom of the three-jaw chuck. Each clamping plate has a claw attached to its outer end. The clamping surface of the claw is curved, and the curvature of the curved surface conforms to the curvature of the wheel hub waist. A cylinder push rod C is fixed to one side of the clamping plate. One end of the cylinder push rod C is connected to the inner wall of the three-jaw chuck. The clamping plate slides horizontally along the transverse direction of the three-jaw chuck.

3. The conveying and loading device for wheel hub processing according to claim 2, characterized in that: The tracking sensor A is positioned between the I-shaped guide rail and the hanging chain. The number of tracking sensors B is matched with the number of clamping components. The spacing between adjacent tracking sensors B is matched with the spacing between adjacent clamping components.

4. The conveying and loading device for wheel hub processing according to claim 1, characterized in that: The linear conveying system includes a single-row roller conveyor, one end of which extends through the inner side of the U-shaped wall and is connected to a double-row roller conveyor. A hub positioning sensor is installed on the outer side of the top of the double-row roller conveyor. A bracket is fixed on the side of the U-shaped wall feed inlet near the single-row roller conveyor. Height measuring light curtains are installed on both sides of the bracket, and a vision camera is fixed on the top of the bracket.

5. The conveying and loading device for wheel hub processing according to claim 4, characterized in that: Both sides of the double-row roller conveyor are equipped with a centering alignment assembly. The centering alignment assembly includes an alignment roller fixed to the bottom of the double-row roller conveyor. One end of the alignment roller is fixed with a connecting horizontal plate. Both ends of one side of the connecting horizontal plate are fixed with cylinder push rods B. The top end of the cylinder push rod B passes through a guide hole opened at the top of the double-row roller conveyor. The moving direction of the cylinder push rod B is parallel to the axial direction of the rollers on the double-row roller conveyor.

6. The conveying and loading device for wheel hub processing according to claim 5, characterized in that: A cross groove is fixed at the center of the top of the double-row roller conveyor. A lifting and rotating assembly is installed inside the cross groove. The lifting and rotating assembly includes a cross tray installed inside the cross groove. A rotating shaft is fixed at the center of the bottom end of the cross tray. The bottom end of the rotating shaft extends to the bottom of the double-row roller conveyor. Guide rods are evenly fixed at the bottom of the double-row roller conveyor. A lifting plate is sleeved on the outside of the guide rods. A servo motor is fixed at the center of the lifting plate. The output end of the servo motor is fixedly connected to the bottom end of the rotating shaft. Cylinder push rods A are installed on both sides of the top of the lifting plate. The top ends of the cylinder push rods A are fixedly connected to the bottom of the double-row roller conveyor.

7. The conveying and loading device for wheel hub processing according to claim 6, characterized in that: The control cabinet has a built-in visual data fusion module, a formula library management module, and a central control module. The visual data fusion module is connected to the height measurement light curtain and the visual camera signal. The central control module is connected to the visual data fusion module, the formula library management module, cylinder push rod B, cylinder push rod A, and the servo motor signal.

8. The conveying and loading device for wheel hub processing according to claim 7, characterized in that: The central control module is connected to the hub positioning sensor, the double-row roller conveyor, the synchronous encoder on the chain drive end, tracking sensor A, tracking sensor B, and the controller signal of the six-axis robotic arm.

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