A wheel hub all-directional automatic appearance detection device and a detection method thereof

Abstract

The application discloses a kind of wheel hub all-direction automatic appearance detection devices, including rack, the middle part of the top plate of the rack is shaped with center through hole, the top surface of the top plate of the rack around center through hole is fixed with limit ring body, the wheel hub to be checked is in limit ring body, and its bottom end surface is pressed on the top surface of the top plate of the rack;Lifting mechanism is equipped below the top plate of the rack, and the lifting frame of lifting mechanism is fixed with upper rotary motor, the top end of the output shaft of upper rotary motor extends the top surface of the top plate of lifting frame and is fixed with rotary frame, rotary frame extends center through hole and is below the hub of wheel hub above and supports limit wheel hub;It can automatically carry out all-direction appearance camera detection to wheel hub, improve detection accuracy, reduce artificial labor.

Description

Technical Field

[0001] This invention relates to the field of wheel hub inspection equipment technology, and more specifically to a wheel hub all-round automatic appearance inspection device and its inspection method. Background Technology

[0002] After the existing wheel hubs are processed, their surfaces need to be inspected to check whether the coating is in place, and whether there are any particles, bumps, or areas that are not fully coated.

[0003] The existing method involves manual inspection, where a robotic arm or conveyor belt transports the sample to an operating table, where it is manually flipped and visually inspected to check for problems and compliance with requirements. However, manual inspection can lead to oversights when encountering inexperienced personnel, affecting the quality of the inspection. Furthermore, manual inspection increases the workload of human labor. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a wheel hub omnidirectional automatic appearance inspection device and method, which can automatically perform omnidirectional appearance inspection of wheel hubs, improve inspection accuracy, and reduce manual labor.

[0005] The solution of the present invention to the aforementioned technical problem is:

[0006] An automatic omnidirectional appearance inspection device for wheel hubs includes a frame, a central through hole formed in the middle of the top plate of the frame, a limiting ring fixed on the top surface of the top plate of the frame around the central through hole, and the wheel hub to be inspected is in the limiting ring, with its bottom end face pressing against the top surface of the top plate of the frame.

[0007] A lifting mechanism is provided below the top plate of the frame. An upper rotary motor is fixed on the lifting frame of the lifting mechanism. The top of the output shaft of the upper rotary motor extends out of the top surface of the top plate of the lifting frame and is fixed with a rotary frame. The rotary frame extends out of the central through hole and is located below the hub of the upper hub to support and limit the hub.

[0008] An upper support frame is fixed to the top surface of the top plate of the frame, and an electric push rod is fixed to the top surface of the top plate of the upper support frame. The bottom end of the push rod of the electric push rod extends out of the bottom surface of the top plate of the upper support frame and is fixed with an upward lifting and gripping mechanism, which is used to clamp, grip and flip the wheel hub.

[0009] The lifting mechanism comprises a central support frame fixed to the top center of the base plate of the frame. A guide rod is located on the left side of the central support frame, and a vertical screw is located on the right side. Both ends of the guide rod are fixed to the base plate and top plate of the central support frame. The top and bottom ends of the vertical screw are movably connected to the top and bottom plates of the central support frame via bearings. A lower support frame is fixed to the lower part of the central support frame. A lifting adjustment motor is fixed to the top surface of the top plate of the lower support frame. The bottom end of the output shaft of the lifting adjustment motor extends out of the bottom surface of the top plate of the lower support frame and is fixed thereon. The drive gear and the bottom of the vertical screw are fixed with a transmission gear, which meshes with the drive gear. The lifting block is screwed onto the vertical screw. The guide plate is inserted into the guide rod. The lifting plate is fixed on the bottom surface of the guide plate and the lifting block. The top surface of the lifting plate is fixed with a lifting frame. The bottom surface of the top plate of the lifting frame is fixed with an upper rotary motor. The top end of the shaft of the upper rotary motor extends out of the top surface of the top plate of the lifting frame and is fixed with a rotating frame. The top edge of the top surface of the top plate of the rotating frame is fixed with an annular support sleeve. The inner side wall of the top of the annular support sleeve is a conical wall.

[0010] An elastic anti-slip and wear-resistant layer is fixed on the conical wall surface, and the lower outer wall of the hub is tightly attached to the elastic anti-slip and wear-resistant layer.

[0011] The bottom surface of the lifting plate is fixed with multiple lower support columns, and the bottom of the lower support columns is fixed with elastic anti-collision blocks. The bottom surface of the elastic anti-collision blocks faces the top surface of the bottom plate of the intermediate support frame. The height of the lower support columns is greater than the height between the top surface of the lifting adjustment motor and the top surface of the bottom plate of the intermediate support frame.

[0012] Clamping and limiting cylinders are fixed on the middle outer walls of the left, right, front and rear sides of the limiting ring body. The end of the push rod of each clamping and limiting cylinder extends out of the inner wall of the limiting ring body and is fixed with a clamping arc block. An elastic protective layer is fixed on the inner wall of the clamping arc block, which presses against the outer wall of the wheel rim at the bottom of the wheel hub.

[0013] A guide rod is fixed on the outer wall of the clamping arc block, and the guide rod is inserted into a guide through hole formed on the limiting ring.

[0014] The top surface of the top plate of the frame is fixed with an upper support frame, the top surface of the top plate of the upper support frame is fixed with a support frame, an electric push rod is fixed on the support frame, the bottom end of the push rod of the electric push rod extends out of the bottom surface of the top plate of the upper support frame and is fixed with the top plate of the upper lifting gripping mechanism.

[0015] The lifting and grabbing mechanism includes left and right side fixing plates fixed to the bottom surface of the top plate. A connecting block is fixed to the lower part of the side fixing plate. A circular through hole is formed in the middle of the connecting block. A self-lubricating sleeve is fixed to the inner wall of the circular through hole. An annular protrusion is formed in the middle of the inner wall of the self-lubricating sleeve. The annular frame is located in the self-lubricating sleeve. The inner wall of the self-lubricating sleeve is close to the outer wall of the annular frame. The annular protrusion is inserted into and cooperates with the annular groove formed in the middle of the outer wall of the annular frame.

[0016] A main clamping cylinder is fixed in the middle of the inner side wall of the inner end plate of the ring frame. The end of the push rod of the main clamping cylinder extends out of the outer end face of the inner end plate and is fixed with a clamping arc block. An airbag component is fixed on the inner side wall of the clamping arc block. Two airbag components press against the left and right side walls in the middle of the outer side wall of the wheel hub. A bottom guide rod is fixed on the bottom surface of the clamping arc block. The bottom guide rod is inserted into the guide through hole formed in the inner end plate of the corresponding ring frame.

[0017] A transmission gear is fixed in the middle of the outer wall of the outer end plate of the ring frame. A motor frame is fixed on the outer side wall of the side fixing plate. A side rotation servo motor is fixed on the outer side wall of the motor frame. A drive gear is fixed on the output shaft of the side rotation servo motor. The drive gear meshes with the corresponding transmission gear.

[0018] A first industrial camera is fixed at the center of the bottom surface of the top plate of the lifting and grasping mechanism, which takes pictures of the top surface of the wheel hub.

[0019] A vertical plate is fixed to the right side of the top surface of the top plate of the frame, and a second industrial camera is fixed on the vertical plate, which captures images of the outer wall of the wheel rim of the hub.

[0020] A method for inspecting the appearance of wheel hubs using an all-around automatic appearance inspection device, comprising the following steps:

[0021] (1) After the wheel hub is picked up by the six-axis robot, it is placed into the limiting ring body, and its bottom end face is pressed against the top surface of the top plate of the frame;

[0022] (2) The wheel hub is moved to the center position of the limiting ring body by pushing the push rods of the four clamping and limiting cylinders to achieve correction. Then, the push rods of all clamping and limiting cylinders retract back to their original positions.

[0023] (3) By adjusting the operation of the lifting motor, the rotating frame is lifted, and the lower part of the hub is inserted into the top of the annular support sleeve. The outer side wall of the lower part of the hub is in close contact with the elastic anti-slip and wear-resistant layer, and it continues to be lifted until the sensing part of the right side wall of the lifting block is sensed by the first proximity switch fixed on the upper part of the right side plate of the middle support frame. At this time, the hub extends out of the top of the limiting ring body.

[0024] (4) The upper rotary motor is used to make the hub rotate horizontally. The second industrial camera takes a picture of the rim of the hub and sends it to the control host. The control software installed on the control host compares the images to check whether they meet the requirements and whether there are any unpainted or damaged areas.

[0025] (5) The upper rotary motor stops running, the lifting adjustment motor runs, causing the lifting block to descend, the hub to return to its original position, and its bottom end to press against the top surface of the top plate of the frame. At the same time, the lifting block continues to descend until the sensing part of the right side wall of the lifting block is sensed by the second proximity switch fixed at the lower part of the right side plate of the middle support frame, indicating that it has descended to the correct position.

[0026] (6) By pushing the push rod of the electric push rod, the two airbag components are on the left and right sides of the middle of the outer side wall of the wheel hub. At this time, the sensing block fixed on the right side of the top plate of the lifting and grabbing mechanism is sensed by the third proximity switch fixed in the middle of the right side of the upper support frame. It moves into place, and the top surface of the wheel hub is photographed by the first industrial camera and transmitted to the control host. The image is compared by the control software installed on the control host to detect whether it meets the requirements.

[0027] (7) Then, by pushing the push rod of the main clamping cylinder, the left and right side walls of the middle part of the outer side wall of the wheel hub are clamped between the two airbag components. Then, by retracting the push rod of the electric push rod, the wheel hub is lifted until the sensing block is sensed by the fourth proximity switch fixed on the upper right side of the upper support frame, indicating that it has been lifted into place.

[0028] (8) By running two side-rotating servo motors, the two airbag components are flipped, and the hub is flipped 180°. At this time, the first industrial camera takes a picture of the hub, which takes a picture of the inside of the hub and sends it to the control host. The control software installed on the control host compares the images to check whether they meet the requirements.

[0029] The outstanding effects of this invention are:

[0030] It can automatically perform all-around appearance inspection of wheel hubs, improving inspection accuracy and reducing manual labor. Attached Figure Description

[0031] Figure 1 This is a partial structural schematic diagram of the present invention;

[0032] Figure 2 yes Figure 1 A magnified view of a portion of the image;

[0033] Figure 3 yes Figure 1 A magnified view of another part;

[0034] Figure 4 yes Figure 1 There are also some enlarged partial images;

[0035] Figure 5 This is a partial top view of the top plate of the frame. Detailed Implementation

[0036] For example, see below. Figures 1 to 5 As shown, an all-round automatic appearance inspection device for wheel hubs includes a frame 10. A central through hole 11 is formed in the middle of the top plate of the frame 10. A limiting ring 12 is fixed on the top surface of the top plate of the frame 10 around the central through hole 11. The wheel hub 100 to be inspected is in the limiting ring 12, and its bottom end face is pressed against the top surface of the top plate of the frame 10.

[0037] The top plate of the frame 10 is provided with a lifting mechanism 20. An upper rotary motor 22 is fixed on the lifting frame 21 of the lifting mechanism 20. The top of the output shaft of the upper rotary motor 22 extends out of the top surface of the top plate of the lifting frame 21 and is fixed with a rotating frame 23. The rotating frame 23 extends out of the central through hole 11 and is located below the hub of the upper hub 100 to support and limit the hub 100.

[0038] An upper support frame 30 is fixed to the top surface of the top plate of the frame 10. An electric push rod 31 is fixed to the top surface of the top plate of the upper support frame 30. The bottom end of the push rod of the electric push rod 31 extends out of the bottom surface of the top plate of the upper support frame 30 and is fixed with an upper lifting and gripping mechanism 40, which is used to clamp, grip and flip the wheel hub 100.

[0039] Furthermore, the lifting mechanism 20 comprises a central support frame 24 fixed to the top surface of the base plate of the frame 10. A guide rod 25 is located on the left side of the central support frame 24, and a vertical screw 26 is located on the right side. Both ends of the guide rod 25 are fixed to the base plate and top plate of the central support frame 24. The top and bottom ends of the vertical screw 26 are movably connected to the top and bottom plates of the central support frame 24 via bearings. A lower support frame 27 is fixed to the lower part of the central support frame 24. A lifting adjustment motor 28 is fixed to the top surface of the top plate of the lower support frame 27. The bottom end of the output shaft of the lifting adjustment motor 28 extends out of the bottom surface of the top plate of the lower support frame 27 and is fixed with a drive gear 281. A transmission gear 261 is fixed to the bottom of the vertical screw 26. The transmission gear 261 meshes with the drive gear 281. The lifting block 262 is screwed onto the vertical screw 26. The guide plate 251 is inserted into the guide rod 25. The lifting plate 29 is fixed to the bottom surface of the guide plate 251 and the lifting block 262. A lifting frame 21 is fixed to the top surface of the lifting plate 29. An upper rotary motor 22 is fixed to the bottom surface of the top plate of the lifting frame 21. The top end of the shaft of the upper rotary motor 22 extends out of the top surface of the top plate of the lifting frame 21 and is fixed to a rotating frame 23. An annular support sleeve 231 is fixed to the edge of the top surface of the top plate of the rotating frame 23. The inner side wall of the top of the annular support sleeve 231 is a conical wall.

[0040] An elastic anti-slip and wear-resistant layer 232 is fixed on the conical wall surface, and the lower outer wall of the hub of the wheel hub 100 is tightly attached to the elastic anti-slip and wear-resistant layer 232.

[0041] Furthermore, the bottom surface of the lifting plate 29 is fixed with multiple lower support columns, and the bottom of each lower support column is fixed with an elastic anti-collision block. The bottom surface of the elastic anti-collision block faces the top surface of the base plate of the intermediate support frame 24, and the height of the lower support column is greater than the height between the top surface of the lifting adjustment motor 28 and the top surface of the base plate of the intermediate support frame 24. During descent, the bottom surface of the elastic anti-collision block presses against the top surface of the base plate of the intermediate support frame 24, preventing the lifting plate 29 from continuing to descend and thus preventing it from colliding with the lifting adjustment motor 28.

[0042] Furthermore, clamping and limiting cylinders 13 are fixed on the middle outer walls of the left, right, front and rear sides of the limiting ring body 12. The end of the push rod of each clamping and limiting cylinder 13 extends out of the inner wall of the limiting ring body 12 and is fixed with a clamping arc block 14. An elastic protective layer is fixed on the inner wall of the clamping arc block 14, which presses against the outer wall of the rim at the bottom of the hub 100.

[0043] A guide rod is fixed on the outer wall of the clamping arc block 14, and the guide rod is inserted into the guide through hole formed on the limiting ring 12.

[0044] Furthermore, an upper support frame 30 is fixed to the top surface of the top plate of the frame 10, a support frame is fixed to the top surface of the top plate of the upper support frame 30, an electric push rod 31 is fixed to the support frame, the bottom end of the push rod of the electric push rod 31 extends out of the bottom surface of the top plate of the upper support frame 30 and is fixed to the top plate of the upper lifting gripping mechanism 40; a plurality of guide rods are fixed to the top plate of the upper lifting gripping mechanism 40, which are inserted into and cooperate with the guide through holes formed on the top plate of the upper support frame 30.

[0045] Furthermore, the lifting and grasping mechanism 40 includes left and right side fixing plates fixed to the bottom surface of the top plate. A connecting block 41 is fixed to the lower part of the side fixing plate. A circular through hole is formed in the middle of the connecting block 41. A self-lubricating sleeve 42 is fixed to the inner wall of the circular through hole. An annular protrusion is formed in the middle of the inner wall of the self-lubricating sleeve 42. An annular frame 43 is located in the self-lubricating sleeve 42. The inner wall of the self-lubricating sleeve 42 is in close contact with the outer wall of the annular frame 43. The annular protrusion is inserted into and cooperates with the annular groove formed in the middle of the outer wall of the annular frame 43.

[0046] A main clamping cylinder 44 is fixed in the middle of the inner side wall of the inner end plate of the ring frame 43. The end of the push rod of the main clamping cylinder 44 extends out of the outer end face of the inner end plate and is fixed with a clamping arc block 45. An airbag component 46 is fixed on the inner side wall of the clamping arc block 45. The two airbag components 46 press against the left and right side walls in the middle of the outer side wall of the hub 100. A bottom guide rod is fixed on the bottom surface of the clamping arc block 45. The bottom guide rod is inserted into the guide through hole formed in the inner end plate of the corresponding ring frame 43.

[0047] A transmission gear 47 is fixed in the middle of the outer wall of the outer end plate of the ring frame 43. A motor frame is fixed on the outer side wall of the side fixing plate. A side rotation servo motor 48 is fixed on the outer side wall of the motor frame. A drive gear 49 is fixed on the output shaft of the side rotation servo motor 48. The drive gear 49 meshes with the corresponding transmission gear 47.

[0048] It operates via a side-rotation servo motor 48, which enables the hub 100 to rotate. The host controls the side-rotation servo motor 48 to rotate until the hub 100 rotates 180°, at which point it stops rotating. Later, the side-rotation servo motor 48 is used again to return the hub 100 to its original position after rotating 180°.

[0049] The top plate of the lifting and grabbing mechanism 40 is fixed with a first industrial camera 1 at the center of the bottom surface, which takes pictures of the top surface of the hub 100.

[0050] A vertical plate is fixed to the right side of the top surface of the top plate of the frame 10, and a second industrial camera 2 is fixed on the vertical plate, which captures images of the outer wall of the rim of the hub 100.

[0051] All cylinders in this embodiment are connected to the hydraulic system via connecting pipes. All electrical components of the hydraulic system and all electrical components in this embodiment are electrically connected to the control host via electrical connection lines. The operation is controlled by the control host. This is a conventional structure and will not be described in detail here.

[0052] The detection method of the omnidirectional automatic appearance inspection device for wheel hubs in this embodiment includes the following steps:

[0053] (1) The wheel hub 100 is picked up by a six-axis robot (which is a product that can be purchased directly on the market and will not be described in detail) and placed into the limiting ring 12, with its bottom end face pressing against the top surface of the top plate of the frame 10;

[0054] (2) By pushing the push rods of the four clamping and limiting cylinders 13, the hub 100 is moved to the center position of the limiting ring 12 to achieve correction. Then, the push rods of all the clamping and limiting cylinders 13 retract back to their original positions.

[0055] (3) By operating the lifting adjustment motor 28, the rotating frame 23 is lifted, and the lower part of the hub of the wheel hub 100 is inserted into the top of the annular support sleeve 231. The lower outer wall of the hub of the wheel hub 100 is in close contact with the elastic anti-slip and wear-resistant layer 232, and continues to be lifted until the sensing part of the right side wall of the lifting block 262 is sensed by the first proximity switch 3 fixed on the upper part of the right side plate of the intermediate support frame 24. At this time, the wheel hub 100 extends out of the top of the limiting ring body 12.

[0056] (4) The upper rotary motor 22 is used to make the hub 100 rotate horizontally. The second industrial camera 2 takes a picture of the rim of the hub 100 and sends it to the control host. The control software installed on the control host compares the images to check whether they meet the requirements and whether there are any unpainted or damaged areas.

[0057] (5) The upper rotary motor 22 stops running, the lifting adjustment motor 28 runs, causing the lifting block 262 to descend, the hub 100 returns to its original position, and its bottom end presses against the top surface of the top plate of the frame 10. At the same time, the lifting block 262 continues to descend until the sensing part of the right side wall of the lifting block 262 is sensed by the second proximity switch 4 fixed at the lower part of the right side plate of the middle support frame 24, indicating that it has descended to the correct position.

[0058] (6) By pushing the push rod of the electric push rod 31, the two airbag components 46 are on the left and right sides of the middle of the outer side wall of the wheel hub 100. At this time, the sensing block fixed on the right side of the top plate of the lifting and grabbing mechanism 40 is sensed by the third proximity switch 5 fixed on the middle of the right side of the upper support frame 30. It moves into place, and the first industrial camera 1 takes a picture of the top surface of the wheel hub 100 and sends it to the control host. The control software installed on the control host compares the image and detects whether it meets the requirements.

[0059] (7) Then, by pushing the push rod of the main clamping cylinder 44, the left and right side walls of the middle part of the outer side wall of the wheel hub 100 are clamped between the two airbag components 46 (the airbag components 46 have an air filling connector, which can be used for air filling). Then, by retracting the push rod of the electric push rod 31, the wheel hub 100 is lifted until the sensing block is sensed by the fourth proximity switch 6 fixed on the upper right side of the upper support frame 30, indicating that it has been lifted into place.

[0060] (8) By running two side-rotating servo motors 48, the two airbag components 46 are flipped, and the hub 100 is flipped 180°. At this time, the first industrial camera 1 takes a picture of the hub 100, which takes a picture of the inside of the hub 100 and sends it to the control host. The control software installed on the control host compares the images and checks whether they meet the requirements.

[0061] Then, the two side-rotating servo motors 48 run in opposite directions, causing the hub 100 to rotate 180° along its original path and return to its original position. All components are then returned to their initial state. The six-axis robot removes the hub 100 and installs a new hub 100 for interface testing, which is very convenient.

[0062] Finally, the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the present invention, and the patent protection scope of the present invention should be defined by the claims.

Claims

1. A fully automatic appearance inspection device for wheel hubs, comprising a frame (10), characterized in that: The top plate of the frame (10) has a central through hole (11) formed in the middle. A limiting ring (12) is fixed on the top surface of the top plate of the frame (10) around the central through hole (11). The hub (100) to be inspected is in the limiting ring (12), and its bottom end face is pressed against the top surface of the top plate of the frame (10). The top plate of the frame (10) is provided with a lifting mechanism (20). An upper rotary motor (22) is fixed on the lifting frame (21) of the lifting mechanism (20). The top of the output shaft of the upper rotary motor (22) extends out of the top surface of the top plate of the lifting frame (21) and is fixed with a rotating frame (23). The rotating frame (23) extends out of the central through hole (11) and is located below the hub of the upper hub (100) to support and limit the hub (100). The top surface of the top plate of the frame (10) is fixed with an upper support frame (30), and the top surface of the top plate of the upper support frame (30) is fixed with an electric push rod (31). The bottom end of the push rod of the electric push rod (31) extends out of the bottom surface of the top plate of the upper support frame (30) and is fixed with an upward lifting gripping mechanism (40), which is used to clamp, grip and flip the hub (100).

2. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 1, characterized in that: The lifting mechanism (20) is as follows: a middle support frame (24) is fixed in the middle of the top surface of the bottom plate of the frame (10); a guide rod (25) is provided in the left part of the middle support frame (24); a vertical screw (26) is provided in the right part; the two ends of the guide rod (25) are fixed to the bottom plate and the top plate of the middle support frame (24); the top and bottom ends of the vertical screw (26) are movably connected to the top plate and the bottom plate of the middle support frame (24) through bearings; a lower support frame (27) is fixed in the lower part of the middle support frame (24); a lifting adjustment motor (28) is fixed in the top surface of the top plate of the lower support frame (27); the bottom end of the output shaft of the lifting adjustment motor (28) extends out of the bottom surface of the top plate of the lower support frame (27) and is fixed with a drive gear (281); the vertical screw (26) A transmission gear (261) is fixed at the bottom of the lifting block (262), which meshes with the drive gear (281). The lifting block (262) is screwed onto the vertical screw (26), and the guide plate (251) is inserted into the guide rod (25). The lifting plate (29) is fixed on the bottom surface of the guide plate (251) and the lifting block (262). A lifting frame (21) is fixed on the top surface of the lifting plate (29). An upper rotary motor (22) is fixed on the bottom surface of the top plate of the lifting frame (21). The top end of the shaft of the upper rotary motor (22) extends out of the top surface of the top plate of the lifting frame (21) and is fixed with a rotating frame (23). An annular support sleeve (231) is fixed on the edge of the top surface of the top plate of the rotating frame (23). The inner wall of the top of the annular support sleeve (231) is a conical wall.

3. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 2, characterized in that: An elastic anti-slip and wear-resistant layer (232) is fixed on the conical wall surface, and the lower outer wall of the hub (100) is closely attached to the elastic anti-slip and wear-resistant layer (232).

4. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 2, characterized in that: The bottom surface of the lifting plate (29) is fixed with multiple lower support columns. The bottom of the lower support column is fixed with an elastic anti-collision block. The bottom surface of the elastic anti-collision block faces the top surface of the bottom plate of the intermediate support frame (24). The height of the lower support column is greater than the height between the top surface of the lifting adjustment motor (28) and the top surface of the bottom plate of the intermediate support frame (24).

5. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 1, characterized in that: Clamping and limiting cylinders (13) are fixed on the middle outer side walls of the left, right, front and rear sides of the limiting ring body (12). The end of the push rod of each clamping and limiting cylinder (13) extends out of the inner side wall of the limiting ring body (12) and is fixed with a clamping arc block (14). An elastic protective layer is fixed on the inner side wall of the clamping arc block (14), which presses against the outer side wall of the wheel rim at the bottom of the hub (100).

6. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 1, characterized in that: The top surface of the top plate of the frame (10) is fixed with an upper support frame (30), the top surface of the top plate of the upper support frame (30) is fixed with a support frame, an electric push rod (31) is fixed on the support frame, the bottom end of the push rod of the electric push rod (31) extends out of the bottom surface of the top plate of the upper support frame (30) and is fixed with the top plate of the upper lifting gripping mechanism (40). The lifting and grabbing mechanism (40) includes left and right side fixing plates fixed to the bottom surface of the top plate. A connecting block (41) is fixed to the lower part of the side fixing plate. A circular through hole is formed in the middle of the connecting block (41). A self-lubricating sleeve (42) is fixed on the inner wall of the circular through hole. An annular protrusion is formed in the middle of the inner wall of the self-lubricating sleeve (42). An annular frame (43) is located in the self-lubricating sleeve (42). The inner wall of the self-lubricating sleeve (42) is close to the outer wall of the annular frame (43). The annular protrusion is inserted into the annular groove formed in the middle of the outer wall of the annular frame (43) and cooperates with it.

7. The automatic omnidirectional appearance inspection device and method for wheel hubs according to claim 1, characterized in that: The top plate of the lifting and grabbing mechanism (40) is fixed with a first industrial camera (1) at the middle of the bottom surface, which takes pictures of the top surface of the hub (100). A vertical plate is fixed to the right side of the top surface of the top plate of the frame (10), and a second industrial camera (2) is fixed on the vertical plate, which takes pictures of the outer wall of the rim of the hub (100).

8. A method for detecting wheel hubs using an all-around automatic appearance inspection device according to any one of claims 1 to 7, characterized in that: It includes the following steps: (1) After the six-axis robot picks up the hub (100), it is placed in the limiting ring (12), and its bottom end face is pressed against the top surface of the top plate of the frame (10); (2) By pushing the push rods of the four clamping and limiting cylinders (13), the hub (100) is moved to the center position of the limiting ring (12) to achieve correction. Then, the push rods of all the clamping and limiting cylinders (13) retract back to their original positions. (3) By operating the lifting adjustment motor (28), the rotating frame (23) is lifted, and the lower part of the hub of the wheel hub (100) is inserted into the top of the annular support sleeve (231). The lower outer wall of the hub of the wheel hub (100) is in close contact with the elastic anti-slip wear-resistant layer (232), and continues to be lifted until the sensing part of the right side wall of the lifting block (262) is sensed by the first proximity switch (3) fixed on the upper part of the right side plate of the middle support frame (24). At this time, the wheel hub (100) extends out of the top of the limiting ring body (12). (4) The upper rotary motor (22) is used to make the hub (100) rotate horizontally. The second industrial camera (4) takes a picture of the rim of the hub (100) and sends it to the control host. The control software installed on the control host compares the image to check whether it meets the requirements and whether there are any unsprayed or damaged areas. (5) The upper rotary motor (22) stops running, and the lifting adjustment motor (28) runs, causing the lifting block (262) to descend and the hub (100) to return to its original position. Its bottom end presses against the top surface of the top plate of the frame (10). At the same time, the lifting block (262) continues to descend until the sensing part of the right side wall of the lifting block (262) is sensed by the second proximity switch (4) fixed at the lower part of the right side plate of the middle support frame (24), indicating that it has descended to the correct position. (6) By pushing the push rod of the electric push rod (31), the two airbag components (46) are on the left and right sides of the middle of the outer side wall of the hub (100). At this time, the sensing block fixed on the right side of the top plate of the lifting grabbing mechanism (40) is sensed by the third proximity switch (5) fixed on the middle of the right side of the upper support frame (30). It moves into place, and the top surface of the hub (100) is photographed by the first industrial camera (1) and transmitted to the control host. The image is compared by the control software installed on the control host to detect whether it meets the requirements. (7) Then, by pushing the push rod of the main clamping cylinder (44), the left and right side walls of the middle part of the outer side wall of the hub (100) are clamped between the two airbag components (46). Then, by retracting the push rod of the electric push rod (31), the hub (100) is lifted until the sensing block is sensed by the fourth proximity switch (6) fixed on the upper right side of the upper support frame (30), indicating that it has been lifted into place. (8) By running two side-rotating servo motors (48), the two airbag components (46) are flipped, and the hub (100) is flipped 180°. At this time, the first industrial camera (1) takes a picture of the hub (100), which takes a picture of the inside of the hub (100) and sends it to the control host. The control software installed on the control host compares the images and checks whether they meet the requirements.

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