A deburring machine bed special for wheel

Abstract

The present application belongs to the field of automobile engineering, and particularly relates to a deburring machine tool special for vehicle wheels, which comprises a six-axis system, a machining system, a visual system, a left tool magazine, a clamp system, a base and a right tool magazine; the base is formed by casting, and the six-axis system is installed on the base; the machining system is connected to the six-axis system; the visual system is fixed to the base, and the left tool magazine and the right tool magazine are connected to the six-axis system; and the clamp system is connected to the six-axis system. The present application adopts a 3D visual system to accurately acquire the polishing tracks of the wheel window, the air hole and the bolt hole, adopts a five-axis linkage numerical control system, combines rigid and flexible polishing tools, supports automatic tool changing and flexible tool magazine self-defined life management, and realizes high-quality automatic removal of all factors burrs of the vehicle wheel, replacing the existing manual removal mode.

Description

Technical Field

[0001] This invention belongs to the field of automotive engineering, and specifically relates to a deburring machine tool for wheels. Background Technology

[0002] Wheels are critical chassis components of automobiles. After machining, wheels need to be deburred to prevent quality issues such as electrical leakage and corrosion. Wheel machining is mainly completed through turning and drilling. After intermittent machining of wheel windows, sharp corners appear on the entry side of the tool and turning burrs appear on the exit side. After machining bolt holes, valve holes, and valve hole recesses, sharp corners appear at the boundary where the machining path intersects with the workpiece, and drilling burrs also appear on the exit side of the drilled hole. After wheel machining, painting is required. The presence of sharp corners and burrs will lead to insufficient paint coverage, causing corrosion, and the appearance will also fail to meet customer requirements.

[0003] Currently, deburring of the wheel window area is done using a series of robots combined with a 2D vision camera. However, because the wheel window deforms within a 0.5-2.5mm range in 3D space, the 2D camera cannot accurately identify the 3D window trajectory. Furthermore, the series of robots themselves suffer from poor trajectory accuracy and insufficient rigidity, resulting in poor deburring quality. Frequent quality issues arise, such as inconsistent chamfering, incomplete deburring in certain areas, vibrating blades, and serrated appearance. These issues necessitate manual secondary inspection and rework, leading to high rework volume and scrap rates. Deburring of valve holes and bolt holes is done manually. The quality of manual deburring depends heavily on operator experience and is prone to omissions or missed areas. This method is labor-intensive, costly, and generates dust that poses a health hazard.

[0004] Therefore, the wheel industry urgently needs a new type of deburring machine to achieve high-quality automated removal of burrs from all elements of the wheel. Summary of the Invention

[0005] This invention proposes a deburring machine tool specifically for wheels to solve the problem of inefficient removal of all elements of wheel burrs in the prior art.

[0006] To achieve the above objectives, the present invention proposes the following technical solution: A deburring machine tool for wheels includes a six-axis system, a machining system, a vision system, a left tool magazine, a fixture system, a base, and a right tool magazine; The six-axis system includes an X-axis base, an X-axis module, a Z-axis base, a Y-axis base, a Y-axis module, an A-axis base, an A-axis cradle, and a C-axis. The X-axis base is connected to the base and is connected to the Z-axis base via the X-axis module. The Y-axis base is connected to the base and is connected to the A-axis base via the Y-axis module. The A-axis cradle is fixed to the A-axis base connection, and the C-axis is connected above the A-axis cradle. The left and right tool magazines are symmetrically arranged at the left and right ends of the X-axis base, and the fixture system is connected to the C-axis of the six-axis system. The machining system includes a tool changing mechanism, a tool head holder, a spindle, and a tool head cover plate; the tool changing mechanism is connected to the Z-axis base, the tool head holder is connected to the tool changing mechanism, the spindle is mounted on the tool head holder, and the tool head cover plate is mounted on the front surface of the tool head holder; The vision system includes a fixed support vertical beam, a fixed support horizontal beam, a wide field of view camera, and a narrow field of view camera; the fixed support vertical beam is fixed to the base, the fixed support horizontal beam is connected to the fixed support vertical beam, the wide field of view camera is fixed on the fixed support horizontal beam, and the narrow field of view camera is fixed on the wide field of view camera.

[0007] Preferably, the six-axis system further includes two tool magazine connecting frames, which are respectively located at the left and right ends of the X-axis base, with the left and right tool magazines connected to the tool magazine connecting frames respectively.

[0008] Preferably, the six-axis system further includes a machining system cantilever connection system, which is connected to the Z-axis base via a Z-axis module, and the tool changer is mounted on the machining system cantilever connection system.

[0009] Preferably, the spindle includes a first spindle, a second spindle, a third spindle, a fourth spindle, a fifth spindle, and a sixth spindle; the first spindle, the second spindle, and the fourth spindle are rigid spindles, and the third spindle, the fifth spindle, and the sixth spindle are floating spindles.

[0010] Preferably, the rigid spindle is a 3.5KW high-power electric spindle; the floating spindle is a 1.5KW electric spindle with a speed of 3000~18000 rpm and a floating angle of ±5°.

[0011] Preferably, the first spindle is equipped with a tapered rotary file, the second spindle is equipped with a ball end mill, the third spindle is equipped with a flap wheel, the fourth spindle is equipped with a tapered end mill, the fifth spindle is equipped with a steel wire or silicon carbide brush, and the sixth spindle is equipped with a disc-shaped diaphragm.

[0012] Preferably, the X-axis base and X-axis module constitute the X-axis, the Y-axis base and Y-axis module constitute the Y-axis, the Z-axis base and Z-axis module constitute the Z-axis, the A-axis base and A-axis cradle constitute the A-axis, and the tool changing mechanism constitutes the C-axis; The rated speed of the A-axis is 50 rpm, the maximum speed is 60 rpm, the repeatability is ±3.6 arc sec, the positioning accuracy is ±5 arc sec, the rated torque is 350 N.m, and the allowable load is 350 kg. The rated speed of the C-axis is 50 rpm, the maximum speed is 60 rpm, the repeatability is ±3.6 arc sec, the positioning accuracy is ±5 arc sec, the rated torque is 560 N.m, and the allowable load is 300 kg. The X-axis has a travel of 1200mm, a working speed of 48m / min, and a repeatability of ±0.01mm. The Y-axis has a travel of 1200mm, a working speed of 48m / min, and a repeatability of ±0.01mm. The Z-axis has a travel of 700 mm, a working speed of 48 m / min, and a repeatability of ±0.01 mm. The rated speed of the B-axis is 35 rpm, the maximum speed is 37.5 rpm, the repeatability is ±2 arc sec, the positioning accuracy is ±4 arc sec, the rated torque is 320 N.m, and the allowable load is 200 kg.

[0013] Preferably, the vision system further includes a fixed support reinforcing rib, which is connected to the fixed support vertical beam and the fixed support horizontal beam respectively.

[0014] Preferably, the vision system further includes a linear module mounting base and a linear module. The linear module mounting base is fixed on the large field-of-view camera mounting base, the linear module is fixed on the linear module mounting base, the small field-of-view camera mounting base is fixed at the bottom of the linear module, and the small field-of-view camera is fixed on the side of the small field-of-view camera mounting base.

[0015] Preferably, the linear module has a positioning accuracy of ±0.02mm and a moving speed of 500mm / s.

[0016] Preferably, the vision system further includes a large field-of-view camera mounting base and a small field-of-view camera mounting base; the large field-of-view camera is mounted on the fixed support beam via the large field-of-view camera mounting base; the small field-of-view camera is connected to the large field-of-view camera mounting base via the small field-of-view camera mounting base.

[0017] Preferably, the wide-view camera is a 3D structured light camera with no less than 5 million pixels, X / Y accuracy of 0.05mm, and a field of view of 480*360mm. The small field-of-view camera is a 3D structured light camera with no less than 5 million pixels, X / Y accuracy of 0.02mm, and a field of view of 62*54mm.

[0018] Preferably, the left tool magazine includes a tool magazine housing, a cylinder, a protective door, a maintenance and tool changing door, a tool holder, a turntable, a servo motor, a tool holder, consumables, and a chuck; The tool magazine housing and the tool magazine connecting frame are connected. The cylinder is installed above the tool magazine housing. The protective door is set on the top and side of the tool magazine housing and is connected to the cylinder. The maintenance and tool changing door is installed on the tool magazine housing. The tool holder is installed inside the tool magazine housing. The turntable and servo motor are respectively installed on the lower part of the tool magazine housing. The collet is installed on the top of the tool holder, with 12 evenly distributed around the circumference. The tool bar is connected to the collet. Consumables are set at the bottom of the tool bar.

[0019] Preferably, the clamping system adopts a pneumatic three-step sector clamp.

[0020] The advantages of this invention are: This invention proposes a dedicated deburring machine for wheels, which adopts a six-axis structure and combines a vision system to accurately acquire the grinding trajectory of wheel windows, valve holes, and bolt holes. It combines rigid and flexible grinding tools, supports automatic tool changing and flexible tool magazine custom life management, and realizes high-quality automated removal of all elements of wheels. It is more efficient and has better results, and represents a comprehensive upgrade compared to existing manual removal methods. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic diagram of a deburring machine tool specifically for wheels; Figure 2 This is a schematic diagram of a six-axis system. Figure 3 This is a schematic diagram of the machining system structure; Figure 4 This is a schematic diagram of the vision system structure; Figure 5 This is a schematic diagram of the right-side tool magazine structure. Detailed Implementation

[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0023] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. Example 1

[0024] Please see Figure 1As shown, the present invention provides a deburring machine tool for wheels, including a six-axis system 1, a machining system 2, a vision system 3, a left tool magazine 4, a wheel 5, a fixture system 6, a base 7, and a right tool magazine 8.

[0025] The base 7 is cast from a casting, and the six-axis system 1 is mounted on the base 7. The machining system 2 is connected to the six-axis system 1. The vision system 3 is fixed to the base 7 with bolts. The left tool magazine 4 and the right tool magazine 8 are connected to the six-axis system 1. The fixture system 6 is connected to the six-axis system 1. Specifically: The six-axis system 1 includes an X-axis base 1-1, an X-axis module 1-2, a Z-axis base 1-3, a Z-axis module 1-4, a machining system cantilever connection system 1-5, a Y-axis base 1-6, a Y-axis module 1-7, an A-axis base 1-8, an A-axis cradle 1-9, a C-axis 1-10, and a tool magazine connecting frame 1-11. The tool magazine connecting frame 1-11 is fixed to the left and right ends of the X-axis base 1-1, and the left tool magazine 4 and the right tool magazine 8 are respectively connected to the tool magazine connecting frame 1-11.

[0026] The X-axis base 1-1 is connected to the base 7 and is connected to the Z-axis base 1-3 via the X-axis module 1-2. The Z-axis module 1-4 is connected to the Z-axis base 1-3. The machining system cantilever connection system 1-5 is connected to the Z-axis base 1-3 via the Z-axis module 1-4. The Y-axis base 1-6 is connected to the base 7 and is connected to the A-axis base 1-8 via the Y-axis module 1-7. The A-axis cradle 1-9 is fixed to the A-axis base 1-8. The C-axis 1-10 is connected above the A-axis cradle 1-9.

[0027] In the six-axis system 1, the X-axis base 1-1 and X-axis module 1-2 constitute the X-axis, which translates in the X direction of the equipment; the Y-axis base 1-6 and Y-axis module 1-7 constitute the Y-axis, which translates in the Y direction of the equipment; the Z-axis base 1-3 and Z-axis module 1-4 constitute the Z-axis, which translates in the Z direction of the equipment; the A-axis base 1-8 and A-axis cradle 1-9 constitute the A-axis, which rotates in the A-axis direction of the equipment; and the B-axis is the tool changer 2-1 in the machining system 2, which changes different spindles to the working position through the rotational movement of the B-axis.

[0028] A-axis rated speed: 50 rpm, maximum speed: 60 rpm, repeatability: ±3.6 arc sec, positioning accuracy: ±5 arc sec, rated torque: 350 N.m, allowable load: 350 kg; C-axis rated speed: 50 rpm, maximum speed: 60 rpm, repeatability: ±3.6 arc sec, positioning accuracy: ±5 arc sec, rated torque: 560 N.m, allowable load: 300 kg; The X-axis travel is 1200mm, the working speed is 48m / min, and the repeatability is ±0.01mm. The Y-axis travel is 1200mm, the working speed is 48m / min, and the repeatability is ±0.01mm. The Z-axis travel is 700mm, the working speed is 48m / min, and the repeatability is ±0.01mm. B-axis rated speed: 35 rpm, maximum speed: 37.5 rpm, repeatability: ±2 arc sec, positioning accuracy: ±4 arc sec, rated torque: 320 N.m, allowable load: 200 kg.

[0029] The machining system 2 includes a tool changer 2-1, a tool holder 2-2, spindles a2-3, b2-4, c2-5, d2-6, e2-7, f2-8, and a tool holder cover 2-9. The tool changer 2-1 is mounted on the cantilever connection system 1-5 of the machining system, enabling high-precision switching between different spindles to the working position. The tool holder 2-2 is connected to the tool changer 2-1. Spindles a2-3, b2-4, c2-5, d2-6, e2-7, and f2-8 are evenly distributed and mounted on the tool holder 2-2, and the tool holder cover 2-9 is mounted on the front surface of the tool holder 2-2.

[0030] Spindle a2-3 is a rigid spindle, equipped with a tapered rotary file for removing burrs from the valve bore. Spindle b2-4 is a rigid spindle, equipped with a ball end mill for removing burrs from the front of the valve bore. Spindle c2-5 is a floating spindle, equipped with a flapper wheel for grinding the walls of bolt holes. Spindle d2-6 is a rigid spindle, equipped with a tapered end mill for removing burrs from bolt holes. Spindle e2-7 is a floating spindle, equipped with a wire / silicon carbide brush for removing burrs from the back of the valve bore. Spindle f2-8 is a floating spindle, equipped with a disc diaphragm for removing burrs from irregularly shaped bolt holes or valve holes.

[0031] In one specific embodiment, the rigid spindle is a 3.5KW high-power electric spindle equipped with an oil cooler for cooling the rigid spindle motor. The floating spindle is a 1.5KW electric spindle with a speed of 3000~18000 rpm and a floating angle of ±5°. Rigid cutting tools are selected, and oil mist cooling is used to cool the tool tip. The cutting tools have a life management function, automatically triggering an alarm when the expected lifespan is reached.

[0032] In one specific embodiment, the rigid cutting tool and rigid spindle are connected, including a tapered end mill and a ball end mill. Flexible consumables and a floating spindle are connected, including a flapper wheel, a disc diaphragm, a silicon carbide brush, and a wire brush. Wear of the flexible consumables can be automatically compensated, and the compensation frequency and value can be customized. Burrs on the wheel window area are removed using a floating spindle combined with a tapered end mill. Burrs on the front of the valve hole are removed using a rigid spindle combined with a ball end mill and a silicon carbide brush. First, large burrs are removed with a ball end mill, then the edges are smoothed with a silicon carbide brush. Burrs on the back of the valve hole are removed using… The vision system 3 includes a fixed support vertical beam 3-1, a fixed support horizontal beam 3-2, a fixed support reinforcing rib 3-3, a linear module 3-4, a linear module mounting base 3-5, a large field-of-view camera mounting base 3-6, a large field-of-view camera 3-7, a small field-of-view camera mounting base 3-8, and a small field-of-view camera 3-9. The fixed support vertical beam 3-1 is fixed to the base 7 with bolts, the fixed support horizontal beam 3-2 is connected to the fixed support vertical beam 3-1 with bolts, and the fixed support reinforcing rib 3-3 is connected to both the fixed support vertical beam 3-1 and the fixed support horizontal beam 3-2, serving a reinforcing function. The wide-view camera mounting base 3-6 adopts an L-shaped structure and is installed on the fixed bracket crossbeam 3-2. The wide-view camera 3-7 is installed on the side of the wide-view camera mounting base 3-6. The linear module mounting base 3-5 is installed on the wide-view camera mounting base 3-6. The linear module 3-4 is installed on the linear module mounting base 3-5. The small-view camera mounting base 3-8 adopts an L-shaped structure and is installed on the bottom of the linear module 3-4. The small-view camera 3-9 is installed on the side of the small-view camera mounting base 3-8.

[0033] In one specific embodiment, the large-field-of-view camera 3-7 is a 3D structured light camera with no less than 5 megapixels, an X / Y accuracy of 0.05mm, and a field of view (XY mm) of 480*360mm. The small-field-of-view camera 3-9 is a 3D structured light camera with no less than 5 megapixels, an X / Y accuracy of 0.02mm, and a field of view (XY mm) of 62*54mm. The linear module 3-4 has a positioning accuracy of ±0.02mm and a moving speed of 500mm / s.

[0034] The left tool magazine 4 includes a tool magazine housing 4-1, a cylinder 4-2, a protective door 4-3, a maintenance and tool changing door 4-4, a tool post 4-5, a rotary table 4-6, a servo motor 4-7, a tool holder 4-8, consumables 4-9, and a chuck 4-10. The protective door 4-3 is located on the top and side of the tool magazine housing 4-1 and is an integral structure. The tool magazine housing 4-1 is connected to the tool magazine connecting frame 1-11. The cylinder 4-2 is installed above the tool magazine housing 4-1 and connected to the protective door 4-3, allowing it to open and close. The maintenance and tool changing door 4-4 is installed on the tool magazine housing 4-1, allowing personnel to open it from outside the machine tool for periodic replacement of consumables 4-9. The tool holder 4-5 is installed inside the tool magazine housing 4-1. The rotary table 4-6 and servo motor 4-7 are installed at the lower part of the tool magazine housing 4-1. The servo motor 4-7 drives the rotary table 4-6 to rotate, which in turn drives the tool holder 4-5 to rotate, completing the tool position switching operation. The collet 4-10 is installed above the tool holder 4-5, with 12 evenly distributed around its circumference. The tool shank 4-8 ​​is connected to the collet 4-10, enabling quick tool changing. The consumable 4-9 is installed at the bottom of the tool shank 4-8.

[0035] The clamping system 6 is connected to the C-axis 1-10 of the six-axis system 1. The clamping system 6 adopts a pneumatic three-step sector clamp, which can realize the mixed-line processing of three-size wheel products.

[0036] The working process of the deburring machine tool for wheels provided by this invention is as follows: The machine tool opens its door, and a person or a robotic arm places wheel 5 onto clamping system 6. Clamping system 6 clamps the wheel, and the machine tool closes its door. The A-axis cradle 1-9, C-axis 1-10, and Y-axis module 1-7 in the six-axis system 1 rotate wheel 5 to a specified angle. The large-field-of-view camera 3-7 takes pictures, acquiring 3D point cloud data of the window and bolt hole areas. Two images are captured for each window, 2N images for N windows, and 1-4 images for the bolt hole area. Multiple stitching methods, including feature matching stitching, feature fusion stitching, and loop stitching, are used to stitch the point cloud data. Then, the A-axis cradle 1-9, C-axis 1-10, and Y-axis module 1-7 rotate and move wheel 5, positioning the front and back of the valve hole directly below the small-field-of-view camera 3-9. The linear module 3-4 moves the small-field-of-view camera 3-9 downwards to its optimal field of view, capturing two images to obtain 3D point cloud data of the front and back of the valve hole. Point cloud data from the 3D camera coordinate system is converted to the CNC machine coordinate system and interfaced with the CNC machine tool system. Using Modbus / TCP communication, real-time data communication and interaction are performed, converting contour data into NC code recognizable by the machine tool system, while automatically compensating for the radius values ​​of different tools. Linear module 3-4 moves the small-field-of-view camera 3-9 upwards to its initial position. Machining system 2 performs a tool change, and six-axis system 1 performs five-axis linkage machining, sequentially completing the machining of the window area, bolt hole area, and valve hole area of ​​wheel 5. Six-axis system 1 returns to its initial position, and fixture system 6 releases wheel 5, allowing manual or robotic unloading.

[0037] This invention employs a 3D vision system to accurately acquire the grinding trajectory of wheel windows, valve holes, and bolt holes. It uses a five-axis linkage CNC system, combined with rigid and flexible grinding tools, and supports automatic tool changing and flexible tool magazine custom life management to achieve high-quality automated removal of all elements of the wheel, replacing the existing manual removal methods.

[0038] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or equivalent to the scope of this invention are included in this invention.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A deburring machine tool specifically for wheels, characterized in that, It includes a six-axis system, machining system, vision system, left tool magazine, fixture system, base, and right tool magazine; The six-axis system includes an X-axis base, an X-axis module, a Z-axis base, a Y-axis base, a Y-axis module, an A-axis base, an A-axis cradle, and a C-axis. The X-axis base is connected to the base and is connected to the Z-axis base via the X-axis module. The Y-axis base is connected to the base and is connected to the A-axis base via the Y-axis module. The A-axis cradle is fixed to the A-axis base connection, and the C-axis is connected above the A-axis cradle. The left and right tool magazines are symmetrically arranged at the left and right ends of the X-axis base, and the fixture system is connected to the C-axis of the six-axis system. The machining system includes a tool changing mechanism, a tool head holder, a spindle, and a tool head cover plate; the tool changing mechanism is connected to the Z-axis base, the tool head holder is connected to the tool changing mechanism, the spindle is mounted on the tool head holder, and the tool head cover plate is mounted on the front surface of the tool head holder; The vision system includes a fixed support vertical beam, a fixed support horizontal beam, a wide field of view camera, and a narrow field of view camera; the fixed support vertical beam is fixed to the base, the fixed support horizontal beam is connected to the fixed support vertical beam, the wide field of view camera is fixed on the fixed support horizontal beam, and the narrow field of view camera is fixed on the wide field of view camera.

2. The wheel deburring machine tool as described in claim 1, characterized in that, The six-axis system also includes two tool magazine connecting frames, which are respectively located at the left and right ends of the X-axis base, with the left and right tool magazines connected to the tool magazine connecting frames respectively.

3. The wheel deburring machine tool as described in claim 1, characterized in that, The six-axis system also includes a machining system cantilever connection system, which is connected to the Z-axis base via a Z-axis module, and the tool changer is mounted on the machining system cantilever connection system.

4. The wheel deburring machine tool as described in claim 1, characterized in that, The spindle includes a first spindle, a second spindle, a third spindle, a fourth spindle, a fifth spindle, and a sixth spindle; the first spindle, the second spindle, and the fourth spindle are rigid spindles, and the third spindle, the fifth spindle, and the sixth spindle are floating spindles.

5. A deburring machine tool for wheels as described in claim 4, characterized in that, The rigid spindle is a 3.5KW high-power electric spindle; the floating spindle is a 1.5KW electric spindle with a speed of 3000~18000 rpm and a floating angle of ±5°.

6. The wheel deburring machine tool as described in claim 4, characterized in that, The first spindle is equipped with a rotary file, the second spindle is equipped with a milling cutter, the third spindle is equipped with a flap wheel, the fourth spindle is equipped with a milling cutter, the fifth spindle is equipped with a brush, and the sixth spindle is equipped with a diaphragm.

7. The wheel deburring machine tool as described in claim 1, characterized in that, The X-axis base and X-axis module constitute the X-axis, the Y-axis base and Y-axis module constitute the Y-axis, the Z-axis base and Z-axis module constitute the Z-axis, the A-axis base and A-axis cradle constitute the A-axis, and the tool changing mechanism constitutes the B-axis; The rated speed of the A-axis is 50 rpm, the maximum speed is 60 rpm, the repeatability is ±3.6 arc sec, the positioning accuracy is ±5 arc sec, the rated torque is 350 N.m, and the allowable load is 350 kg. The rated speed of the C-axis is 50 rpm, the maximum speed is 60 rpm, the repeatability is ±3.6 arc sec, the positioning accuracy is ±5 arc sec, the rated torque is 560 N.m, and the allowable load is 300 kg. The X-axis has a travel of 1200mm, a working speed of 48m / min, and a repeatability of ±0.01mm. The Y-axis has a travel of 1200mm, a working speed of 48m / min, and a repeatability of ±0.01mm. The Z-axis has a travel of 700 mm, a working speed of 48 m / min, and a repeatability of ±0.01 mm. The rated speed of the B-axis is 35 rpm, the maximum speed is 37.5 rpm, the repeatability is ±2 arc sec, the positioning accuracy is ±4 arc sec, the rated torque is 320 N.m, and the allowable load is 200 kg.

8. A deburring machine tool for wheels as described in claim 1, characterized in that, The vision system also includes a fixed support reinforcing rib, which is connected to the fixed support vertical beam and the fixed support horizontal beam respectively.

9. A deburring machine tool for wheels as described in claim 1, characterized in that, The vision system also includes a linear module mounting base and a linear module. The linear module mounting base is fixed on the large field-of-view camera mounting base, the linear module is fixed on the linear module mounting base, the small field-of-view camera mounting base is fixed at the bottom of the linear module, and the small field-of-view camera is fixed on the side of the small field-of-view camera mounting base.

10. A deburring machine tool for wheels as described in claim 9, characterized in that, The linear module has a positioning accuracy of ±0.02mm and a moving speed of 500mm / s.

11. A deburring machine tool for wheels as described in claim 1, characterized in that, The vision system also includes a large field-of-view camera mounting base and a small field-of-view camera mounting base; the large field-of-view camera is mounted on the fixed support beam via the large field-of-view camera mounting base; the small field-of-view camera is connected to the large field-of-view camera mounting base via the small field-of-view camera mounting base.

12. The wheel deburring machine tool as described in claim 1, characterized in that, The wide-view camera is a 3D structured light camera with no less than 5 million pixels, X / Y accuracy of 0.05mm, and a field of view of 480*360mm. The small field-of-view camera is a 3D structured light camera with no less than 5 million pixels, X / Y accuracy of 0.02mm, and a field of view of 62*54mm.

13. A deburring machine tool for wheels as described in claim 1, characterized in that, The left tool magazine includes a tool magazine housing, cylinder, protective door, inspection and tool changing door, tool holder, rotary table, servo motor, tool bar, consumables, and chuck; The tool magazine housing and the tool magazine connecting frame are connected. The cylinder is installed above the tool magazine housing. The protective door is set on the top and side of the tool magazine housing and is connected to the cylinder. The maintenance and tool changing door is installed on the tool magazine housing. The tool holder is installed inside the tool magazine housing. The turntable and servo motor are respectively installed on the lower part of the tool magazine housing. The collet is installed on the top of the tool holder, with 12 evenly distributed around the circumference. The tool bar is connected to the collet. Consumables are set at the bottom of the tool bar.

14. A wheel deburring machine tool as described in claim 1, characterized in that, The clamping system uses a pneumatic three-step clamp.

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