Automatic grinding equipment for wheel rim and wheel flange

Abstract

The invention relates to the technical field of wheel rim grinding, in particular to automatic wheel rim flange grinding equipment which comprises a machine tool and further comprises a conveying mechanism used for conveying a wheel rim into and out of a grinding station of the machine tool; the positioning mechanism is used for aligning and positioning the rim of the wheel rim and fixing the wheel rim on the grinding station by applying pressing force in the vertical direction; the grinding mechanism is used for grinding the surface of the fixed wheel rim; a detection mechanism; and the control mechanism is used for adjusting the chamfer angle between the grinding surface of the grinding head and the surface of the wheel rim according to the variable quantity of the vibration frequency, adjusting the orientation of the chamfer angle according to the vibration displacement direction, adjusting the feeding depth of the grinding head according to the average flanging angle difference, and adjusting the moving speed of the grinding head according to the feeding depth. And controlling the grinding head to retreat under the condition that the forward resistance of the grinding motor is greater than the forward thrust. The grinding efficiency and the grinding precision are improved.

Description

Technical Field

[0001] This invention relates to the field of wheel rim grinding technology, and in particular to an automated wheel rim grinding device. Background Technology

[0002] In existing technologies, automated control and path planning involve: using PLC or CNC systems to achieve overall equipment control, combining machine vision to identify the wheel rim flange contour and wear area, and generating a precise grinding path; some equipment is equipped with a six-axis industrial robot or collaborative robot; the grinding head often adopts a multi-axis linkage design and is equipped with diamond or cubic boron nitride (CBN) grinding wheels to improve wear resistance; feed rate control is achieved through servo motor drive; and laser sensors, eddy current sensors, or 3D laser scanners are used to measure parameters such as wheel rim flange wear and contour deviation in real time. After the data is transmitted to the control system, the grinding parameters are adjusted.

[0003] Chinese Patent Publication No. CN114434249A discloses an automatic grinding device for wheel rim welding points, including a conveyor frame for conveying wheel rim blanks and an automatic grinding machine disposed on one side of the conveyor frame. The automatic grinding machine includes a frame and a telescopic grinding motor disposed on the frame. The power end of the telescopic grinding motor faces the conveyor frame, and the power end of the telescopic grinding motor is connected to an extraction rod. The top of the extraction rod is arc-shaped. Two telescopic grinding motors are disposed at intervals on the frame. A worktable is disposed below the telescopic grinding motors. Two bottom working rods are disposed at intervals on the worktable. The bottom working rods are disposed in an inverted L-shape on the worktable, and the bottom surface of the bottom working rods is arc-shaped. A clamping block is disposed below the bottom working rods. The top of the clamping block is arc-shaped. The clamping block is lifted and lowered on the worktable. The worktable is also provided with a slag-pushing mechanism for pushing away the weld slag above and below the wheel rim blank weld. Auxiliary wheels are disposed on both sides of the clamping block. The auxiliary wheel is raised and lowered on the worktable. The frame also has a grinding mechanism for grinding the weld seam of the wheel rim blank. This grinding mechanism is rotated between two telescopic grinding motors. The frame also has a drive wheel for rotating the wheel rim blank. A rotating rod is mounted on the frame and has a drive motor connected to it. The power end of the drive motor is connected to the drive wheel. The slag removal mechanism includes a drive grinding motor mounted on the worktable, and the power end of the drive grinding motor is connected to... The device is equipped with a fixed base, on which a pushing cylinder is mounted. A pushing block is connected to the power end of the pushing cylinder. A guide frame, U-shaped in design, is mounted at one end of the fixed base. The pushing block is slidably mounted at the upper and lower ends of the guide frame. The grinding mechanism includes an upper grinding rod and a lower grinding rod, both mounted vertically on a frame. A grinding motor is mounted on each of the upper and lower grinding rods, with a grinding disc attached to the power end of each motor. Therefore, the automatic grinding device for wheel rim welding points suffers from a problem during the wheel rim flanging process in the rolling process. The inconsistent linear velocities between the wheel rim edge and the upper and lower dies cause relative friction, resulting in burrs. Furthermore, the unstable contact pressure between the burrs and the positioning elements intensifies vibration during the grinding process, leading to an increase in the difference in the wheel rim flanging angle. Summary of the Invention

[0004] To address this issue, the present invention provides an automated wheel rim polishing device to overcome the problems in the prior art where, during the rim flanging process of the rolling process, the inconsistent linear velocity between the edge position of the wheel rim and the upper and lower dies leads to relative friction and the generation of burrs. Furthermore, the unstable contact pressure between the burrs and the positioning elements causes vibration to intensify during the polishing process, which in turn increases the difference in the rim flanging angle.

[0005] To achieve the above objectives, the present invention provides an automated grinding equipment for wheel rims and flanges, including a machine tool, and further comprising: A conveying mechanism, which is connected to the machine tool, is used to feed the wheels into and out of the grinding station of the machine tool; The positioning mechanism is located above the conveying mechanism to align and position the wheel rim and fix the wheel rim at the grinding station by applying a vertical clamping force. A grinding mechanism, which is connected to the positioning mechanism, is used to grind the surface of the fixed wheel rim. It includes a slide rail on the upper surface of the machine tool, a grinding head above the slide rail, and a grinding motor connected to the grinding head to apply a feed force to the grinding head. The detection mechanism, which is connected to the positioning mechanism, is used to detect the vibration frequency, vibration displacement direction, and average flange angle difference of the wheel rim. A control mechanism, which is connected to the conveying mechanism, the positioning mechanism, and the grinding mechanism respectively, is used to adjust the chamfer angle between the grinding surface of the grinding head and the surface of the wheel rim according to the change in the vibration frequency, adjust the orientation of the chamfer angle according to the vibration displacement direction, adjust the feed depth of the grinding head according to the average flange angle difference, adjust the moving speed of the grinding head according to the feed depth, and control the grinding head to retreat when the forward resistance of the grinding motor is greater than the forward thrust.

[0006] Furthermore, the conveying mechanism includes: The top plate, which is connected to the machine tool, is used to support the wheel rim; A pneumatic jack, connected to the top plate, is used to adjust the angle between the top plate and the horizontal plane by lifting the top plate.

[0007] Furthermore, the positioning mechanism includes: A movable base, which is connected above the top plate, is used to feed and retract the wheel rim; Several pairs of positive rollers, connected to the movable base, are used to apply a clamping force to the end face of the wheel rim flange. The pressure arm, positioned above the alignment roller, is used to apply a vertically downward clamping force to the wheel rim.

[0008] Furthermore, the testing institution includes: A first vision sensor, connected to the machine tool, is used to detect the vibration frequency of the wheel rim and the direction of the vibration displacement. The second vision sensor, positioned above the first vision sensor, is used to detect the flange angle of the wheel rim.

[0009] Furthermore, the control mechanism is connected to the first vision sensor and the grinding head respectively to obtain the change in the vibration frequency within a unit detection time. If the change is greater than or equal to a preset change, the chamfer angle between the grinding surface of the grinding head and the surface of the wheel rim is increased.

[0010] Furthermore, the change in vibration frequency is the absolute value of the difference between the vibration frequency detected at the end of the unit detection time and the vibration frequency detected at the beginning of the unit detection time.

[0011] Furthermore, the control mechanism is connected to the first visual sensor, the pneumatic lifting machine, and the grinding head, respectively, to obtain the vibration displacement direction when the change is greater than or equal to the preset change. If the angle between the vibration displacement direction and the horizontal direction is less than the preset angle, the movement distance of the grinding head on the slide rail is increased to adjust the orientation of the chamfer to the horizontal direction; If the angle between the vibration displacement direction and the vertical direction is less than or equal to the preset angle, the lifting distance of the pneumatic jack is increased to adjust the orientation of the tangent to the vertical direction.

[0012] Furthermore, the control mechanism is connected to the second vision sensor to obtain the flange angle and calculate the average flange angle difference of the wheel rim within the unit detection time. If the average flange angle difference is greater than or equal to a preset angle difference, the feed depth of the grinding head is increased.

[0013] Furthermore, the control mechanism is connected to the grinding motor to obtain the feed depth under the condition that the average flanging angle difference is greater than or equal to a preset angle difference. If the feed depth is greater than or equal to the preset depth, the moving speed of the grinding head is reduced.

[0014] Furthermore, the feed depth is the distance the grinding head advances into the wheel rim in a direction perpendicular to the surface of the wheel rim.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The equipment of the present invention, by setting up a conveying mechanism, a positioning mechanism, a grinding mechanism, a detection mechanism, and a control mechanism, realizes precise positioning, stable clamping, intelligent grinding, and feedback adjustment in the automated grinding process of wheel rim flanges. It effectively overcomes the problems of burrs generated at the flange edge due to the mismatch of mold linear speed in the traditional rolling process, as well as the problem of unstable contact pressure between burrs and positioning elements leading to increased vibration and increased flange angle deviation. The cutting angle of the grinding surface is dynamically adjusted by the change of vibration frequency, and the contact geometry is changed to adapt to and counteract the vibration effect, maintaining stable cutting. The orientation of the cutting angle is adjusted according to the vibration displacement direction. For example, if the vibration is mainly horizontal, the main resistance direction of the grinding surface is adjusted to be horizontal to better resist the vibration and achieve active suppression. The feed depth is adjusted according to the flange angle to grind the root of the flange. The adjustment of the feed depth increases the contact area and resistance between the grinding head and the workpiece, which can lead to motor overload, grinding head overheating, and workpiece surface burning. By adjusting the moving speed, the grinding efficiency and grinding accuracy are improved.

[0016] Furthermore, the equipment described in this invention, by setting up a pneumatic lifting machine and a top plate, can adjust the tilt angle of the top plate when the wheel rim enters and exits the grinding station, thereby achieving smooth loading and unloading, avoiding wheel rim deviation or collision during transportation, ensuring the safety and continuity of equipment operation, and providing a good initial posture basis for subsequent alignment and positioning, thus improving the stability of the grinding process.

[0017] Furthermore, the device of the present invention, by setting a movable base in conjunction with several pairs of positive rollers, applies a uniform clamping force to the end face of the wheel rim flange in the radial direction, thereby eliminating the problem of uneven grinding caused by the eccentric installation of the wheel rim; combined with the clamping arm applying a vertical clamping force, a multi-dimensional fixed constraint is formed, which effectively suppresses the loosening or vibration of the workpiece caused by the cutting reaction force during the grinding process, ensuring high rigidity and high stability of the grinding operation.

[0018] Furthermore, the device of the present invention monitors the vibration frequency and displacement direction of the wheel rim during the grinding process by setting a first vision sensor, and the control mechanism dynamically adjusts the size and orientation of the grinding head's cutting angle accordingly. By increasing the cutting angle, the grinding force is increased by reducing the contact area, and a restraining force is applied to the vibrating wheel hub to alleviate the vibration trend. The orientation of the cutting angle is adjusted according to the main vibration direction. If the vibration is mainly horizontal, the movement distance on the slide rail is increased to make the grinding direction tend to be horizontal. If the vibration is mainly vertical, the height of the pneumatic lifting machine is raised to change the relative posture of the workpiece, making the cutting angle tend to be vertical. This makes the cutting force direction of the grinding head counteract the vibration displacement direction, significantly weakening the transmission of vibration energy and preventing the further expansion of the wheel rim flange angle deviation caused by the aggravation of vibration.

[0019] Furthermore, the device of the present invention collects the flange angle information of the wheel rim flange through a second vision sensor, calculates the average flange angle difference per unit time, and when the average flange angle difference is detected to be greater than a preset standard value, there is excessive flange or burr accumulation. The removal capability is enhanced by increasing the feed depth of the grinding head. At the same time, after the feed depth reaches a certain threshold, the moving speed of the grinding head is actively reduced to extend the local grinding time, ensure sufficient finishing, and prevent scratches or excessive temperature deformation on the surface of the wheel rim due to sudden changes in the amount of grinding.

[0020] Furthermore, the device of the present invention, by setting a grinding head and a grinding motor, triggers the grinding head to retract when the resistance encountered by the grinding motor during its forward movement is greater than its set thrust, thereby performing flexible grinding and avoiding overload damage to the tool or burns on the surface of the workpiece. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the automated wheel rim grinding equipment according to an embodiment of the present invention; Figure 2 This is a front view schematic diagram of the automated wheel rim grinding equipment according to an embodiment of the present invention; Figure 3 This is a side view of the automated wheel rim grinding equipment according to an embodiment of the present invention. Figure 4 This is a top view schematic diagram of the automated wheel rim grinding equipment according to an embodiment of the present invention; The following are the symbols in the attached diagram: 1-Pressing motor, 2-Pressure arm, 3-Wheel rim, 4-Alignment roller, 5-Moving base, 6-Grinding head, 7-Slide rail, 8-Grinding motor, 9-Machine tool, 10-Top plate, 11-Pneumatic lifting machine. Detailed Implementation

[0022] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0023] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0024] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0025] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 The figures shown are, respectively, a schematic diagram of the overall structure, a front view, a side view, and a top view of the automated wheel rim grinding equipment according to an embodiment of the present invention. The present invention provides an automated wheel rim grinding equipment, including a machine tool 9, and further comprising: A conveying mechanism, which is connected to the machine tool 9, is used to feed the wheel rim 3 into and out of the grinding station of the machine tool 9; The positioning mechanism is located above the conveying mechanism to align and position the wheel rim 3 and to fix the wheel rim 3 at the grinding station by applying a vertical clamping force. The grinding mechanism, which is connected to the positioning mechanism, is used to grind the surface of the fixed wheel rim 3. It includes a slide rail 7 on the upper surface of the machine tool 9, a grinding head 6 on the slide rail 7, and a grinding motor 8 connected to the grinding head 6 to apply a feed force to the grinding head 6. The detection mechanism, which is connected to the positioning mechanism, is used to detect the vibration frequency, vibration displacement direction and average flange angle difference of the wheel rim 3. A control mechanism, which is connected to the conveying mechanism, the positioning mechanism, and the grinding mechanism, is used to adjust the chamfer angle between the grinding surface of the grinding head 6 and the surface of the wheel rim 3 according to the change in the vibration frequency, adjust the orientation of the chamfer angle according to the vibration displacement direction, adjust the feed depth of the grinding head 6 according to the average flange angle difference, adjust the moving speed of the grinding head 6 according to the feed depth, and control the grinding head 6 to retreat when the forward resistance of the grinding motor 8 is greater than the forward thrust.

[0027] Specifically, the angle adjustment range of slide rail 7 is 45°~90° according to national standards; The slide rail 7 is provided with several positioning pin holes, and the angle between every two positioning pin holes is 5°.

[0028] Specifically, diamond abrasive grains are brazed onto the surface of the grinding head 6.

[0029] In practice, the equipment described in this invention, by setting up a conveying mechanism, a positioning mechanism, a grinding mechanism, a detection mechanism, and a control mechanism, achieves precise positioning, stable clamping, intelligent grinding, and feedback adjustment in the automated grinding process of wheel rim flanges. This effectively overcomes the problems of burrs at the flange edge caused by mismatched mold linear speeds in traditional rolling processes, as well as the instability of contact pressure between burrs and positioning elements leading to increased vibration and increased flange angle deviation. The cutting angle of the grinding surface is dynamically adjusted by changing the vibration frequency, adapting to and counteracting the vibration effects by altering the contact geometry, maintaining stable cutting. The orientation of the cutting angle is adjusted according to the vibration displacement direction; for example, if the vibration is mainly horizontal, the main resistance direction of the grinding surface is adjusted to horizontal to better resist the vibration and achieve active suppression. The feed depth is adjusted according to the flange angle to grind the root of the rim. Adjusting the feed depth increases the contact area and resistance between the grinding head 6 and the workpiece, potentially leading to motor overload, overheating of the grinding head 6, and burns on the workpiece surface. Adjusting the moving speed improves grinding efficiency and precision.

[0030] In practice, by setting the slide rail 7, the grinding head 6 can be adapted to grind wheel rims 3 of different sizes.

[0031] Specifically, the grinding mechanism also includes a sliding motor connected to the grinding head for adjusting the position of the grinding head on the slide rail.

[0032] Specifically, the conveying mechanism includes: The top plate 10 is connected to the machine tool 9 and is used to support the wheel rim 3; A pneumatic lifting machine 11 is connected to the top plate 10 and is used to adjust the angle between the top plate 10 and the horizontal plane by lifting the top plate 10.

[0033] Specifically, the working process of the conveying mechanism is as follows: the pneumatic jack 11 lifts the top plate 10, and the wheel rim 3 on the top plate 10 enters the positioning mechanism. After the grinding is completed, the pneumatic jack 11 of the conveying mechanism below the positioning mechanism lifts the top plate 10 and outputs the ground wheel rim 3 to the grinding station.

[0034] In practice, the equipment described in this invention, by setting up a pneumatic lifting machine 11 and a top plate 10 to work, can adjust the tilt angle of the top plate 10 when the wheel rim 3 enters and exits the grinding station, so as to achieve smooth loading and unloading, avoid the wheel rim 3 from shifting or colliding during the conveying process, ensure the safety and continuity of equipment operation, and at the same time provide a good initial posture basis for subsequent alignment and positioning, and improve the stability of the grinding process.

[0035] Specifically, the positioning mechanism includes: The movable base 5 is connected above the top plate 10 and is used to feed and retract the wheel rim 3. Several pairs of positive rollers 4, connected to the movable base 5, are used to apply clamping force to the end face of the wheel rim 3. The pressure arm 2 is positioned above the alignment roller 4 to apply a vertically downward pressing force to the wheel rim 3.

[0036] Specifically, a pressing motor 1 is provided above the pressing arm 2 to drive the pressing arm 2 to press down.

[0037] In practice, the device of the present invention uses a movable base 5 in conjunction with several pairs of positive rollers 4 to apply a uniform clamping force to the end face of the wheel rim 3 in the radial direction, thereby eliminating the problem of uneven grinding caused by the eccentric installation of the wheel rim 3; combined with the clamping force applied in the vertical direction by the pressure arm 2, a multi-dimensional fixed constraint is formed, which effectively suppresses the loosening or vibration of the workpiece caused by the cutting reaction force during the grinding process, and ensures the high rigidity and high stability of the grinding operation.

[0038] Specifically, the positioning mechanism also includes a power servo motor connected to the movable base 5 for driving the movable base 5 to clamp the wheel rim 3 and rotate. The power servo motor drives the rollers inside the moving base 5 to rotate via sprockets and chains, thereby causing the wheel rim 3 to rotate.

[0039] Specifically, the positioning mechanism includes two movable bases 5 and eight alignment rollers 4; Two grinding heads 6 and two slide rails 7 are provided above the single movable base 5.

[0040] Specifically, the positioning mechanism includes two cylinders and two guide rails that are respectively connected to two movable bases 5 to apply feed and retraction power to the movable bases 5; One cylinder adjusts the stroke of the movable base 5 and is used to position the wheel rim 3, while the other cylinder does not participate in adjusting the stroke of the movable base 5 and is used to clamp the wheel rim 3.

[0041] Specifically, the testing institution includes: A first vision sensor, which is connected to the machine tool 9, is used to detect the vibration frequency and the vibration displacement direction of the wheel rim 3; The second vision sensor is positioned above the first vision sensor and is used to detect the flange angle of the wheel rim 3.

[0042] Specifically, the first visual sensor is a high-speed camera operating at 1000fps, and the second visual sensor is a 5-megapixel CCD camera.

[0043] Specifically, the first vision sensor captures the marked points or features on the surface of the wheel rim 3, analyzes the image sequence using Fast Fourier Transform (FFT), obtains the vibration frequency of the wheel rim 3 by calculating the vibration frequency of the marked points, and obtains the vibration displacement direction by calculating the displacement vector of the marked points. The second vision sensor captures images of the wheel rim edge, extracts the contour line using the Canny edge detection algorithm, and calculates the flange angle using Hough transform or geometric fitting.

[0044] Specifically, the control mechanism is connected to the first vision sensor and the grinding head 6 respectively, to obtain the change in the vibration frequency within a unit detection time. If the change is greater than or equal to a preset change, the angle between the grinding surface of the grinding head 6 and the surface of the wheel rim 3 is increased.

[0045] Specifically, the unit detection time is 1 second.

[0046] Specifically, under the conditions that the input power of the grinding head 6 is 1.5kw, the grinding motor 8 has a stroke of 100mm, the working pressure of the grinding motor 8 is 0.6MPa, and the first vision sensor is a high-speed camera with 1000fps, the general range of the preset change is [8Hz, 12Hz], and the preferred embodiment of the preset change is 10Hz.

[0047] Those skilled in the art will understand that the selectable range of the preset variation amount and the preferred embodiment provided in this embodiment are the values ​​that best achieve the technical problem solved by the technical solution of the present invention under the conditions that the input power of the grinding head 6 is 1.5kw, the grinding motor 8 is selected with a stroke of 100mm, the working pressure of the grinding motor 8 is 0.6MPa, and the first vision sensor is selected as a high-speed camera with 1000fps. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset variation amount according to the actual application environment and application scenario.

[0048] In practice, if the difference between the change and the preset change exceeds 1 Hz, the chamfer angle increases by 0.1°; for example, if the difference between the change and the preset change is 3 Hz and the current chamfer angle is 15°, the chamfer angle increases to 15.3°.

[0049] Specifically, the change in vibration frequency is the absolute value of the difference between the vibration frequency detected at the end of the unit detection time and the vibration frequency detected at the beginning of the unit detection time.

[0050] Specifically, the control mechanism is connected to the first vision sensor, the pneumatic lifting machine 11, and the grinding head 6, respectively, to obtain the vibration displacement direction under the condition that the change is greater than or equal to the preset change. If the angle between the vibration displacement direction and the horizontal direction is less than the preset angle, the movement distance of the grinding head 6 on the slide rail 7 is increased to adjust the orientation of the chamfer to the horizontal direction. If the angle between the vibration displacement direction and the vertical direction is less than or equal to the preset angle, the lifting distance of the pneumatic jacking machine 11 is increased to adjust the orientation of the tangent to the vertical orientation.

[0051] Specifically, the preset included angle is 45°. In practice, the device of the present invention monitors the vibration frequency and displacement direction of the wheel rim 3 during the grinding process by setting a first vision sensor, and the control mechanism dynamically adjusts the cutting angle and orientation of the grinding head 6 accordingly. By increasing the cutting angle, the grinding force is increased by reducing the contact area, and a holding force is applied to the vibrating wheel hub to alleviate the vibration trend. The cutting angle orientation is adjusted according to the main vibration direction. If the vibration is mainly horizontal, the moving distance on the slide rail 7 is increased to make the grinding direction tend to be horizontal cutting. If the vibration is mainly vertical, the height of the pneumatic lifting machine 11 is raised to change the relative posture of the workpiece, so that the cutting angle tends to be vertical. This makes the cutting force direction of the grinding head 6 counteract the vibration displacement direction, significantly weakening the transmission of vibration energy and avoiding further expansion of the flange angle deviation caused by the aggravation of vibration.

[0052] Specifically, the control mechanism is connected to the second vision sensor to obtain the flange angle and calculate the average flange angle difference of the wheel rim 3 within the unit detection time. If the average flange angle difference is greater than or equal to a preset angle difference, the feed depth of the grinding head 6 is increased.

[0053] Specifically, the average edge turning angle difference is calculated within 1 second. The second vision sensor captures several frames of images, extracts the edge turning angle between two adjacent frames, calculates the absolute value of the edge turning angle difference between two adjacent frames, and calculates the average value of the absolute value of the edge turning angle difference between each pair of adjacent frames as the average edge turning angle difference within a unit detection time.

[0054] Specifically, the flange angle is the angle between the inclined surface of the side wall of the wheel rim 3 and the central axis of the wheel rim 3.

[0055] Specifically, under the conditions that the input power of the grinding head 6 is 1.5kw, the grinding motor 8 has a stroke of 100mm, the working pressure of the grinding motor 8 is 0.6MPa, and the second vision sensor is a 5-megapixel CCD camera, the general range of the preset angle difference is [0.1°, 1°], and the preferred embodiment of the preset angle difference is 0.4°.

[0056] Those skilled in the art will understand that the range of preset angle differences and the preferred embodiments provided in this embodiment are the values ​​that best address the technical problem solved by the present invention, under the conditions that the input power of the grinding head 6 is 1.5kw, the grinding motor 8 has a stroke of 100mm, the working pressure of the grinding motor 8 is 0.6MPa, and the second vision sensor is a 5-megapixel CCD camera. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset angle differences according to the actual application environment and application scenario.

[0057] In practice, if the difference between the average flanging angle and the preset angle exceeds 0.1°, the feed depth will increase by 0.2mm. For example, if the difference between the average flanging angle and the preset angle is 0.2° and the original feed depth is 3mm, the feed depth will increase to 3.4mm.

[0058] Specifically, the control mechanism is connected to the grinding motor 8 to obtain the feed depth under the condition that the average flanging angle difference is greater than or equal to the preset angle difference. If the feed depth is greater than or equal to the preset depth, the moving speed of the grinding head 6 is reduced.

[0059] Specifically, under the conditions that the input power of the grinding head 6 is 1.5kw, the grinding motor 8 has a stroke of 100mm, the working pressure of the grinding motor 8 is 0.6MPa, and the second vision sensor is a 5-megapixel CCD camera, the general range of the preset depth is [2mm, 8mm], and the preferred embodiment of the preset depth is 5mm.

[0060] Those skilled in the art will understand that the range of preset depths and preferred embodiments provided in this embodiment are the values ​​that best address the technical problem solved by the present invention, under the conditions that the input power of the grinding head 6 is 1.5 kW, the grinding motor 8 has a stroke of 100 mm, the working pressure of the grinding motor 8 is 0.6 MPa, and the second vision sensor is a 5-megapixel CCD camera. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset depth according to the actual application environment and application scenario.

[0061] In practice, if the difference between the feed depth and the preset depth exceeds 0.1 mm, the moving speed of the grinding head 6 will decrease by 1 mm / s. For example, if the current moving speed is 80 mm / s and the difference between the feed depth and the preset depth is 0.4 mm, the moving speed will decrease to 80 mm / s - 0.1 mm / s × 4 = 79.6 mm / s.

[0062] In practice, the device of the present invention collects the flange angle information of the wheel rim 3 through a second vision sensor, calculates the average flange angle difference per unit time, and when the average flange angle difference is detected to be greater than the preset standard value, there is excessive flange or burr accumulation. The removal capability is enhanced by increasing the feed depth of the grinding head 6. At the same time, after the feed depth reaches a certain threshold, the moving speed of the grinding head 6 is actively reduced to extend the local grinding time, ensure sufficient finishing, and prevent scratches or excessive temperature deformation on the surface of the wheel rim 3 due to sudden changes in the amount of grinding.

[0063] Specifically, the feed depth is the distance that the grinding head 6 advances into the wheel rim 3 in a direction perpendicular to the surface of the wheel rim 3.

[0064] In practice, the device of the present invention is configured with a grinding head 6 and a grinding motor 8, so that when the resistance encountered by the grinding motor 8 during its forward movement is greater than its set thrust, the grinding head 6 is triggered to retract to perform flexible grinding, thereby avoiding overload damage to the tool or burns on the surface of the workpiece.

[0065] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An automated grinding equipment for wheel rims and flanges, characterized in that, Including machine tools, and also: A conveying mechanism, which is connected to the machine tool, is used to feed wheel rims into and out of the grinding station of the machine tool; The positioning mechanism is located above the conveying mechanism to align and position the wheel rim and fix the wheel rim at the grinding station by applying a vertical clamping force. A grinding mechanism, which is connected to the positioning mechanism, is used to grind the surface of the fixed wheel rim. It includes a slide rail on the upper surface of the machine tool, a grinding head above the slide rail, and a grinding motor connected to the grinding head to apply a feed force to the grinding head. The detection mechanism, which is connected to the positioning mechanism, is used to detect the vibration frequency, vibration displacement direction, and average flange angle difference of the wheel rim. A control mechanism, which is connected to the conveying mechanism, the positioning mechanism, and the grinding mechanism respectively, is used to adjust the chamfer angle between the grinding surface of the grinding head and the surface of the wheel rim according to the change in the vibration frequency, adjust the orientation of the chamfer angle according to the vibration displacement direction, adjust the feed depth of the grinding head according to the average flange angle difference, adjust the moving speed of the grinding head according to the feed depth, and control the grinding head to retreat when the forward resistance of the grinding motor is greater than the forward thrust.

2. The automated wheel rim grinding equipment according to claim 1, characterized in that, The conveying mechanism includes: The top plate, which is connected to the machine tool, is used to support the wheel rim; A pneumatic jack, connected to the top plate, is used to adjust the angle between the top plate and the horizontal plane by lifting the top plate.

3. The automated wheel rim grinding equipment according to claim 2, characterized in that, The positioning mechanism includes: A movable base, which is connected above the top plate, is used to feed and retract the wheel rim; Several pairs of positive rollers, connected to the movable base, are used to apply a clamping force to the end face of the wheel rim flange. The pressure arm, positioned above the alignment roller, is used to apply a vertically downward clamping force to the wheel rim.

4. The automated wheel rim grinding equipment according to claim 3, characterized in that, The testing institutions include: A first vision sensor, connected to the machine tool, is used to detect the vibration frequency of the wheel rim and the direction of the vibration displacement. The second vision sensor, positioned above the first vision sensor, is used to detect the flange angle of the wheel rim.

5. The automated wheel rim grinding equipment according to claim 4, characterized in that, The control mechanism is connected to the first vision sensor and the grinding head respectively, and is used to obtain the change in the vibration frequency within a unit detection time. If the change is greater than or equal to a preset change, the chamfer angle between the grinding surface of the grinding head and the surface of the wheel rim is increased.

6. The automated wheel rim grinding equipment according to claim 5, characterized in that, The change in vibration frequency is the absolute value of the difference between the vibration frequency detected at the end of the unit detection time and the vibration frequency detected at the beginning of the unit detection time.

7. The automated wheel rim grinding equipment according to claim 6, characterized in that, The control mechanism is connected to the first vision sensor, the pneumatic lifting machine, and the grinding head, respectively, to obtain the vibration displacement direction when the change is greater than or equal to the preset change. If the angle between the vibration displacement direction and the horizontal direction is less than the preset angle, the movement distance of the grinding head on the slide rail is increased to adjust the orientation of the chamfer to the horizontal direction. If the angle between the vibration displacement direction and the vertical direction is less than or equal to the preset angle, the lifting distance of the pneumatic jack is increased to adjust the orientation of the tangent to the vertical direction.

8. The automated wheel rim grinding equipment according to claim 7, characterized in that, The control mechanism is connected to the second vision sensor to obtain the flange angle and calculate the average flange angle difference of the wheel rim within the unit detection time. If the average flange angle difference is greater than or equal to a preset angle difference, the feed depth of the grinding head is increased.

9. The automated wheel rim grinding equipment according to claim 8, characterized in that, The control mechanism is connected to the grinding motor to obtain the feed depth under the condition that the average flange angle difference is greater than or equal to the preset angle difference. If the feed depth is greater than or equal to the preset depth, the moving speed of the grinding head is reduced.

10. The automated wheel rim grinding equipment according to claim 9, characterized in that, The feed depth is the distance the grinding head advances into the wheel rim in a direction perpendicular to the wheel rim surface.

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