Hub clamping robot

Abstract

The utility model discloses a hub clamping robot, and relates to the technical field of hub machining. The hub clamping robot comprises a mounting rack; the clamping mechanism comprises a clamping frame and a plurality of clamping jaw structures, the clamping frame is movably mounted on the mounting rack so as to be close to or away from a hub, and the multiple clamping jaw structures are mounted on the clamping frame at intervals; the multiple clamping jaw structures are suitable for moving in the direction close to or away from each other so as to clamp or loosen the hub. The sensing device is installed on the clamping frame and suitable for sending out an in-place signal after sensing that the hub is in place, and the control module is arranged to control the clamping frame to stop moving according to the in-place signal and control the multiple clamping jaw structures to clamp the hub. According to the hub clamping robot, the sensing device is arranged, so that the clamping frame can be prevented from impacting a hub, and meanwhile, the reliability of clamping the hub by the clamping jaw structure is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel hub processing, in particular to a wheel hub clamping robot. Background Art

[0002] With the continuous rise of the new energy vehicle market, the production volume of automobile wheel hubs has also increased significantly. Therefore, the application demand of wheel hub production enterprises for robot integration systems is becoming more and more urgent. In related technologies, the wheel hub clamping robot adopts a motor to drive a connecting rod to realize the synchronous drive of multiple clamping jaws to clamp the wheel hub. However, in the actual application process, abnormal conditions such as wheel hub dropping and clamping jaw hitting the machine often occur, and there is room for improvement. Summary of the Utility Model

[0003] The utility model aims to at least solve one of the technical problems existing in the prior art. For this reason, an object of the utility model is to provide a wheel hub clamping robot. After the induction device senses the wheel hub, the clamping frame of the wheel hub clamping robot stops pressing towards the wheel hub, and then multiple clamping jaws are used to stably clamp the wheel hub, which can well avoid the situation of impact between the clamping frame and the wheel hub or unstable clamping caused by the clamping jaws not reaching the position.

[0004] The wheel hub clamping robot according to an embodiment of the utility model includes: a mounting frame; a clamping mechanism, the clamping mechanism includes a clamping frame and a plurality of clamping jaw structures, the clamping frame is movably mounted on the mounting frame to approach or move away from the wheel hub, the plurality of clamping jaw structures are spaced apart and mounted on the clamping frame, and the plurality of clamping jaw structures are adapted to move towards or away from each other to clamp or release the wheel hub; an induction device and a control module, the induction device is mounted on the clamping frame and is adapted to send a in-place signal after sensing that the wheel hub is in place, and the control module is configured to control the clamping frame to stop moving and control the plurality of clamping jaw structures to clamp the wheel hub according to the in-place signal.

[0005] By arranging the induction device to sense the position of the wheel hub, the wheel hub clamping robot according to an embodiment of the utility model can avoid the distance between the clamping frame and the wheel hub being too small, that is, prevent the bottom mounting plate from pressing against the wheel hub and causing the machine to hit, and at the same time, ensure that when the clamping jaw structure clamps the wheel hub, the wheel hub is in a position directly opposite to the plurality of clamping jaw structures, avoiding the problem of insufficient clamping force and wheel hub dropping caused by too small clamping range of the clamping jaw structure, and improving the reliability of wheel hub clamping.

[0006] In the wheel hub clamping robot according to some embodiments of the utility model, the induction device includes a mounting structure, a movable structure, a first sensing member and a second sensing member, the mounting structure is connected to the clamping frame, and the movable structure is movably mounted on the mounting structure;

[0007] Wherein, the first sensing member is mounted on the mounting structure, the second sensing member is mounted on the movable structure, the wheel hub is adapted to press against the movable structure and push the movable structure to move closer to the mounting structure, and when the distance between the first sensing member and the second sensing member is less than a set value, it is adapted to emit the in-place signal.

[0008] For the wheel hub clamping robot according to some embodiments of the present invention, the mounting structure includes a mounting post and a fixing disk, one end of the mounting post is fixed to the clamping frame and the other end is connected to the fixing disk, and the first sensing member is mounted on the fixing disk;

[0009] The movable structure includes a guide rod and a contact disk, the guide rod is movably inserted through the fixing disk, the second sensing member is mounted on one end of the guide rod and is on the same side of the fixing disk as the first sensing member, the contact disk is connected to one end of the guide rod and is on the other side of the fixing disk, and the contact disk is adapted to press against the wheel hub.

[0010] For the wheel hub clamping robot according to some embodiments of the present invention, it further includes an elastic member, the elastic member is arranged between the fixing disk and the contact disk, and the elastic member is configured to be compressed when the contact disk approaches the fixing disk and to extend when the contact disk moves away from the fixing disk.

[0011] For the wheel hub clamping robot according to some embodiments of the present invention, the elastic member is sleeved outside the guide rod.

[0012] For the wheel hub clamping robot according to some embodiments of the present invention, there are a plurality of mounting posts, and the plurality of mounting posts are spaced apart and distributed on the fixing disk;

[0013] And / or, there are a plurality of guide rods, and the plurality of guide rods are spaced apart and distributed on the contact disk.

[0014] For the wheel hub clamping robot according to some embodiments of the present invention, the plurality of mounting posts are spaced apart along the circumferential direction of the fixing disk, the first sensing member is located in the middle of the fixing disk, and one of the plurality of guide rods is provided with the second sensing member.

[0015] For the wheel hub clamping robot according to some embodiments of the present invention, the fixing disk is provided with a linear bearing, and the guide rod is slidably inserted through the fixing disk through the linear bearing.

[0016] The wheel hub clamping robot according to some embodiments of the present utility model, the clamping frame is liftably installed on the installation frame, a plurality of the jaw structures are installed at the bottom of the clamping frame, and a plurality of sliding guide rails are provided at the bottom of the clamping frame, which are spaced apart circumferentially and extend radially. A plurality of the jaw structures are slidably installed on the plurality of sliding guide rails in one-to-one correspondence.

[0017] The wheel hub clamping robot according to some embodiments of the present utility model, the jaw structure includes a jaw body, a wheel hub side clamp and a jaw hook. The jaw body is slidably matched with the sliding guide rail. The wheel hub side clamp and the jaw hook are both installed on the jaw body and jointly define a clamping opening that is open towards the center of the clamping frame. The clamping opening is used for clamping the wheel hub.

[0018] Additional aspects and advantages of the present utility model will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present utility model. Description of the Drawings

[0019] The above and / or additional aspects and advantages of the present utility model will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0020] Figure 1 is a schematic structural diagram of a wheel hub clamping robot according to an embodiment of the present utility model;

[0021] Figure 2 is an axonometric view of a wheel hub clamping robot according to an embodiment of the present utility model;

[0022] Figure 3 is a bottom view of a wheel hub clamping robot according to an embodiment of the present utility model;

[0023] Figure 4 is a schematic structural diagram of an induction device according to an embodiment of the present utility model.

[0024] Reference Signs:

[0025] Wheel hub clamping robot 100,

[0026] Installation frame 1,

[0027] Clamping mechanism 2, clamping frame 21, mounting plate 211, connecting rod 212, sliding guide rail 213, jaw structure 22, jaw body 221, top plate 222, side plate 223, bottom plate 224, wheel hub side clamp 231, jaw hook 232, cylinder 24, cylinder mounting block 241, floating connection block 242, oil buffer device 25,

[0028] Induction device 3, mounting structure 31, mounting post 311, fixed disk 312, first induction member 313, linear bearing 314, fixed bracket 315, movable structure 32, guide rod 321, contact disk 322, second induction member 323, elastic member 33. Detailed implementation mode

[0029] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation of the present utility model.

[0030] Reference is made below to Figures 1 - 4 Describe the wheel hub clamping robot 100 according to an embodiment of the present utility model. The clamping frame 21 of the wheel hub clamping robot 100 is provided with an induction device 3, and the induction state can sense the position of the wheel hub to ensure that the clamping frame 21 moves to a relatively reasonable position relative to the wheel hub, avoiding the position between the clamping frame 21 and the wheel hub being too close or the distance between the clamping jaw and the wheel hub being too large, and ensuring the reliability and safety of clamping the wheel hub.

[0031] As Figures 1 - 4 shown, the wheel hub clamping robot 100 according to an embodiment of the present utility model includes: a mounting frame 1, a clamping mechanism 2, an induction device 3, and a control module.

[0032] The mounting frame 1 is fixedly installed on the operation surface. The operation surface can be the ground of the operation space or the tabletop of the operation table, etc. The mounting frame 1 provides a stable operation basis for the wheel hub clamping robot 100, ensuring that during the process of clamping the wheel hub by the wheel hub clamping robot 100, the clamping mechanism 2 always maintains a stable working state, and ensuring the reliability of clamping the wheel hub.

[0033] The clamping mechanism 2 includes a clamping frame 21 and a plurality of clamping jaw structures 22. The clamping frame 21 is movably installed on the mounting frame 1 to approach or move away from the wheel hub. The plurality of clamping jaw structures 22 are spaced apart and installed on the clamping frame 21, and the plurality of clamping jaw structures 22 are adapted to move towards or away from each other to clamp or release the wheel hub. Thus, when clamping the wheel hub through the clamping mechanism 2, the clamping frame 21 can be driven by a driving structure so that the clamping jaw structures 22 installed on the clamping frame 21 move relative to the mounting frame 1. Furthermore, when there is a need to clamp the wheel hub, the clamping frame 21 and the clamping jaw structures 22 can be driven to move closer to the wheel hub to achieve clamping and fixing of the wheel hub, and when the clamping of the wheel hub is completed and there is no need to clamp the wheel hub, the clamping frame 21 and the clamping jaw structures 22 can be driven to move away from the wheel hub to achieve releasing and placing of the wheel hub.

[0034] Among them, the driving structure may include a motor, a cylinder, an oil cylinder, etc., and the driving method or driving type is not limited. At the same time, a guide rail structure may also be provided on the mounting frame 1 so that the clamping frame 21 can slide smoothly relative to the mounting frame 1, which is conducive to realizing the movement of the jaw structure 22 relative to the hub.

[0035] The sensing device 3 is installed on the clamping frame 21 and is adapted to send a in-place signal after sensing that the hub is in place. Thus, the position of the hub can be detected by the sensing device 3. For example, when the clamping frame 21 and the jaw structure 22 move closer to the hub, the sensing device 3 can generate an in-place signal when the distance between the clamping frame 21 and the hub is relatively small.

[0036] The control module is set to control the clamping frame 21 to stop moving and control the plurality of jaw structures 22 to clamp the hub according to the in-place signal. For example, the driving structure is configured as a motor, and after the sensing device 3 detects that the hub is in place, the control module can control the motor to stop driving the clamping frame 21, so that the clamping frame 21 is fixed relative to the mounting frame 1 and the hub. At this time, the jaw structure 22 can be driven to grab the hub.

[0037] Specifically, the clamping frame 21 may include a plurality of mounting disks 211, such as Figures 1 - 2 As shown, the clamping frame 21 includes three mounting disks 211. The three mounting disks 211 are spaced apart and fixedly connected by structures such as connecting rods 212, so that the three mounting disks 211 move together relative to the mounting frame 1, and the outer diameters of the three mounting disks 211 increase in sequence. Among them, a plurality of jaw structures 22 are installed on the mounting disk 211 with the largest outer diameter, such as Figure 1 the lowermost mounting disk 211 in [figure reference], and the plurality of jaw structures 22 are spaced apart along the circumference of the mounting disk 211 and can move towards the center, and the mounting disk 211 can be axially aligned with the hub, so that the plurality of jaw structures 22 actively clamp the hub.

[0038] Thus, by setting the sensing device 3 to sense the position of the hub, the distance between the clamping frame 21 and the hub can be prevented from being too small, that is, the situation that the lowermost mounting disk 211 presses against the hub and causes a collision can be prevented. At the same time, when the jaw structure 22 clamps the hub, the hub is in a position directly opposite to the plurality of jaw structures 22, avoiding the problem that the clamping range of the jaw structure 22 for the hub is too small and resulting in insufficient clamping force and the hub falling, thereby improving the reliability of hub clamping.

[0039] In some embodiments, the sensing device 3 includes a mounting structure 31, a movable structure 32, a first sensing member 313, and a second sensing member 323. The mounting structure 31 is connected to the clamping bracket 21, and the movable structure 32 is movably mounted on the mounting structure 31. Among them, the first sensing member 313 is mounted on the mounting structure 31, and the second sensing member 323 is mounted on the movable structure 32. The wheel hub is adapted to press against the movable structure 32 and push the movable structure 32 to move closer to the mounting structure 31. When the distance between the first sensing member 313 and the second sensing member 323 is less than a set value, it is adapted to emit a in-place signal.

[0040] That is to say, during actual installation, the mounting structure 31 can be fixedly connected to the clamping bracket 21, so that during the process of the clamping bracket 21 moving towards the wheel hub, the relative position between the mounting structure 31 and the clamping bracket 21 always remains fixed, and the first sensing member 313 provided on the mounting structure 31 is also relatively fixed to the position of the clamping bracket 21. At the same time, the movable structure 32 is connected to the mounting structure 31 and can move relative to the mounting structure 31. At the same time, the second sensing member 323 is fixed relative to the movable structure 32. That is, when the movable structure 32 moves relative to the mounting structure 31, the second sensing member 323 also moves relative to the first sensing member 313.

[0041] Thus, during the process of the clamping bracket 21 gradually approaching the wheel hub, the movable structure 32 can first contact the wheel hub. And as the distance between the wheel hub and the clamping bracket 21 gradually decreases, the wheel hub can push the movable structure 32 to move relative to the mounting structure 31. And during this process, the distance between the second sensing member 323 and the first sensing member 313 also gradually decreases. And after the wheel hub moves relative to the clamping bracket 21 to the target position, the second sensing member 323 and the first sensing member 313 generate induction and emit an in-place signal. At this time, the movement of the clamping bracket 21 relative to the wheel hub can be stopped, avoiding structural impact on the wheel hub by the clamping bracket 21. At the same time, it can also ensure that the wheel hub is within the safe clamping range of the plurality of jaw structures 22, ensuring that the wheel hub is effectively clamped.

[0042] Among them, during actual design, the first sensing member 313 can be configured as a magnetic sensor, and the second sensing member 323 can be configured as a magnetic induction sheet.

[0043] In some embodiments, the mounting structure 31 includes a mounting post 311 and a fixing disk 312. One end of the mounting post 311 is fixed to the clamping bracket 21 and the other end is connected to the fixing disk 312. The first sensing member 313 is mounted on the fixing disk 312. Specifically, as Figure 4As shown, the fixed disk 312 can be configured as a circular disk, and the mounting post 311 can be connected to the upper side surface of the fixed disk 312. That is, during actual installation, the upper end of the mounting post 311 can be connected and fixed to the bottom surface of the mounting disk 211, and the connection method can adopt bolt connection or other connection methods such as snap connection. Moreover, the first sensing member 313 is relatively fixed to the fixed disk 312. For example, Figure 4 As shown, both the first sensing member 313 and the mounting post 311 can be arranged on the upper side surface of the fixed disk 312, that is, the side surface facing away from the wheel hub, with a simple structure and convenient installation.

[0044] In addition, the movable structure 32 includes a guide rod 321 and a contact disk 322. The guide rod 321 is movably inserted through the fixed disk 312. The second sensing member 323 is installed at one end of the guide rod 321 and is on the same side of the fixed disk 312 as the first sensing member 313. The contact disk 322 is connected to one end of the guide rod 321 and is on the other side of the fixed disk 312. The contact disk 322 is adapted to press against the wheel hub. Specifically, as Figure 4 shown, the contact disk 322 can be arranged below the fixed disk 312, and the guide rod 321 is connected above the fixed disk 312. The guide rod 321 is inserted through the fixed disk 312 and is movable relative to the fixed disk 312. At the same time, the second sensing member 323 is arranged at the upper end of the guide rod 321, with a simple structure and convenient installation.

[0045] Thus, when the clamping frame 21 moves towards the wheel hub, the contact disk 322 can first press against the wheel hub. And as the clamping frame 21 gets closer, the contact disk 322 drives the guide rod 321 to move. The guide rod 321 is inserted through the fixed disk 312 and is movable relative to the fixed disk 312 so that the contact disk 322 approaches the fixed disk 312. At the same time, the second sensing member 323 arranged on the guide rod 321 also gradually moves towards the first sensing member 313. And when the distance between the two is less than the set distance, a in-place signal is generated. At this time, the relative fixation of the clamping frame 21 and the wheel hub can be controlled, which well avoids the situation of relative impact between the clamping frame 21 and the wheel hub.

[0046] In some embodiments, the wheel hub clamping robot 100 further includes an elastic member 33. The elastic member 33 is arranged between the fixed disk 312 and the contact disk 322. The elastic member 33 is configured to be compressed when the contact disk 322 approaches the fixed disk 312 and elongate when the contact disk 322 moves away from the fixed disk 312. For example, one end of the elastic member 33 presses against the fixed disk 312 and the other end presses against the contact disk 322. When the contact disk 322 approaches the fixed disk 312 relative to it, the elastic member 33 is squeezed to store elastic energy. When the contact disk 322 is not subject to external force, the elastic potential energy of the elastic member 33 is released to push the contact disk 322 to move away from the fixed disk 312 relative to it.

[0047] Among them, the elastic member 33 can play an elastic reset role for the fixed disk 312 and the guide rod 321, that is, when the contact disk 322 is not affected by the force moving towards the fixed disk 312, the elastic member 33 can push the contact disk 322 to move away from the fixed disk 312. Thus, not only can the contact disk 322 be reset, which is beneficial for the next pressing contact with the wheel hub, but also the second sensing member 323 can move to a distance where it cannot be sensed by the first sensing member 313, and it can also realize the re - sensing when the clamping bracket 21 moves relative to the wheel hub to achieve the in - place trigger, that is, realize the repeated use of the in - place detection.

[0048] In some embodiments, the elastic member 33 is sleeved outside the guide rod 321. For example, the elastic member 33 is configured as a spring, and the guide rod 321 passes through the spring, and one end of the spring abuts against the contact disk 322 and the other end abuts against the fixed disk 312, so that the elastic member 33 can realize the functions of elastic energy storage and reset when the contact disk 322 and the fixed disk 312 move relative to each other.

[0049] Among them, sleeving the elastic member 33 outside the guide rod 321 can enable the guide rod 321 to play the roles of axial guidance and radial limitation for the elastic member 33, ensuring that the elastic member 33 can effectively expand and contract axially. At the same time, it can avoid the situation that the elastic member 33 bends and tilts radially, ensuring the stability of the structural state of the elastic member 33.

[0050] In some embodiments, there are multiple mounting posts 311, and the multiple mounting posts 311 are spaced apart and distributed on the fixed disk 312, so that the fixed disk 312 can be fixedly connected to the clamping bracket 21 through the multiple mounting posts 311, which is beneficial to improve the connection reliability between the fixed disk 312 and the clamping bracket 21 and avoid the fixed disk 312 falling off relative to the clamping bracket 21. Specifically, as Figure 4 shown, the mounting posts 311 can be set to 4, and the 4 mounting posts 311 are spaced apart and distributed in the circumferential direction of the fixed disk 312.

[0051] In addition, in some other embodiments, there are multiple guide rods 321, and the multiple guide rods 321 are spaced apart and distributed on the contact disk 322, that is, the contact disk 322 can be connected to the fixed disk 312 through the multiple guide rods 321 and perform sliding guiding cooperation, so as to improve the stability and reliability of the relative movement between the contact disk 322 and the fixed disk 312, avoid the contact disk 322 tilting relative to the fixed disk 312 after being pressed by the wheel hub, and ensure the smooth movement of the contact disk 322 relative to the fixed disk 312.

[0052] Thus, by setting multiple mounting posts 311 and multiple guide rods 321, not only can the sensing device 3 have a stable structural state, but also it can ensure that the sensing device 3 accurately and reliably generates an in - place sensing signal when contacting the wheel hub, improving the structural reliability.

[0053] In some embodiments, a plurality of mounting posts 311 are spaced apart along the circumference of the fixed disk 312, and the first sensing member 313 is located in the middle of the fixed disk 312. Among them, a fixed bracket 315 can be arranged in the middle of the fixed disk 312. The fixed bracket 315 is distributed in parallel and spaced apart from the plurality of mounting posts 311, and the first sensing member 313 can be installed at the upper end of the fixed bracket 315.

[0054] Meanwhile, one of the plurality of guide rods 321 is provided with a second sensing member 323 to perform sensing cooperation with the first sensing member 313 through one second sensing member 323.

[0055] In some embodiments, the fixed disk 312 is provided with a linear bearing 314. The guide rod 321 is slidably disposed through the fixed disk 312 via the linear bearing 314. Thus, not only can it be ensured that the guide rod 321 and the contact disk 322 can move relative to the fixed disk 312 along a target trajectory, but also the contact friction between the guide rod 321 and the fixed disk 312 can be reduced, making the movement of the contact disk 322 relative to the fixed disk 312 smoother.

[0056] In some embodiments, the clamping frame 21 is installed on the installation frame 1 in a liftable manner. A plurality of jaw structures 22 are installed at the bottom of the clamping frame 21. A plurality of sliding guide rails 213 that are spaced apart along the circumference and extend radially are provided at the bottom of the clamping frame 21. The plurality of jaw structures 22 are slidably installed on the plurality of sliding guide rails 213 one by one. Thus, the hub can be jointly clamped by the plurality of jaw structures 22 to ensure the reliability of clamping the hub.

[0057] Specifically, as Figure 3 shown, three sliding guide rails 213 are provided at the bottom of the clamping frame 21, and the three sliding guide rails all extend along the radial direction of the mounting disk 211, that is, the extension lines of the three sliding guide rails 213 can converge at the central position of the mounting disk 211. Among them, the jaw structure 22 can also be set to three, and the three jaw structures 22 are respectively installed on the three sliding guide rails 213 one by one. In this way, the three jaw structures 22 can jointly clamp the hub to avoid the situation of unstable clamping of the hub.

[0058] Furthermore, in some embodiments, the jaw structure 22 includes a jaw body 221, a hub side clamp 231, and a jaw hook 232. The jaw body 221 is slidably engaged with the sliding guide rail 213. The hub side clamp 231 and the jaw hook 232 are both installed on the jaw body 221 and jointly define a clamping opening that is open towards the center of the clamping frame 21. The clamping opening is used for clamping the hub.

[0059] Specifically, as Figure 2As shown, three jaw structures 22 are installed at intervals at the bottom of the clamping frame 21, and the jaw body 221 of each jaw structure 22 is slidably installed on the sliding guide rail 213. When the jaw body 221 moves relative to the clamping frame 21, other components of the jaw structure 22 all move relative to the clamping frame 21. Among them, as Figure 2 shown, the jaw body 221 includes a top plate 222, side plates 223 and a bottom plate 224. The top plate 222 can be slidably engaged with the sliding guide rail 213. The side plates 223 are connected to the outer ends of the top plate 222. The bottom plate 224 is connected to the lower ends of the side plates 223 and is spaced apart from the top plate 222. At the same time, the hub side clamp 231 is installed on the inner side of the side plate 223, and the jaw hook 232 is installed on the upper side of the bottom plate 224, so that the jaw structure 22 forms a clamping opening that opens inward, and the clamping openings of the three jaw structures 22 all open towards the center of the clamping frame 21.

[0060] Thus, during actual clamping, the three jaw structures 22 can be first adjusted to the outermost sides of the sliding guide rail 213. After the clamping frame 21 moves in place relative to the hub, the three jaw structures 22 all move towards the central position of the clamping frame 21. Then, during the movement, the outer peripheral edge of the hub extends into the clamping openings of the three jaw structures 22, realizing the clamping and fixing of the hub. The structure is simple and the operation is convenient.

[0061] Among them, the jaw body 221 can be driven by a cylinder 24, and the cylinder 24 can be connected to the jaw body 221 through a cylinder mounting block 241 and a floating connection block 242. In addition, an oil pressure buffer device 25 can be arranged at the inner end of the sliding guide rail 213. When the jaw body 221 moves inward to the maximum position, the oil pressure buffer device 25 can be used for pressure buffering to realize vibration reduction and noise reduction of the jaw body 221.

[0062] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wheel hub clamping robot, characterized in that: include: Installing a rack (1); A clamping mechanism (2), the clamping mechanism (2) comprising a clamping frame (21) and a plurality of clamping claw structures (22), the clamping frame (21) being movably mounted on the mounting frame (1) to move closer to or farther from the wheel hub, the plurality of clamping claw structures (22) being spaced apart and mounted on the clamping frame (21), and the plurality of clamping claw structures (22) being adapted to move in a direction closer to or farther from each other to clamp or release the wheel hub; A sensing device (3) and a control module, wherein the sensing device (3) is mounted on the clamping frame (21) and is adapted to send an in-position signal after sensing that the wheel hub is in position, and the control module is configured to control the clamping frame (21) to stop moving and control the plurality of clamping claw structures (22) to clamp the wheel hub according to the in-position signal.

2. The wheel hub clamping robot according to claim 1, characterized in that: The sensing device (3) comprises a mounting structure (31), a movable structure (32), a first sensing element (313) and a second sensing element (323); the mounting structure (31) is connected to the clamping frame (21); and the movable structure (32) is movably mounted on the mounting structure (31); The first sensing member (313) is installed on the mounting structure (31), the second sensing member (323) is installed on the movable structure (32), the wheel hub is suitable for pressing against the movable structure (32) and pushing the movable structure (32) to move closer to the mounting structure (31), and is suitable for sending the in-position signal when the distance between the first sensing member (313) and the second sensing member (323) is less than a set value.

3. The wheel hub clamping robot according to claim 2, characterized in that: The mounting structure (31) comprises a mounting column (311) and a fixing plate (312), one end of the mounting column (311) is fixed to the clamping frame (21) and the other end is connected to the fixing plate (312), and the first sensing element (313) is mounted on the fixing plate (312); The movable structure (32) comprises a guide rod (321) and a contact plate (322); the guide rod (321) is movably inserted into the fixed plate (312); the second sensing element (323) is mounted on one end of the guide rod (321) and is located on the same side of the fixed plate (312) as the first sensing element (313); the contact plate (322) is connected to one end of the guide rod (321) and is located on the other side of the fixed plate (312); and the contact plate (322) is suitable for pressing against the wheel hub.

4. The wheel hub clamping robot according to claim 3, characterized in that: The invention also includes an elastic member (33), wherein the elastic member (33) is arranged between the fixed disk (312) and the contact disk (322), and the elastic member (33) is configured to be compressed when the contact disk (322) approaches the fixed disk (312) and to be extended when the contact disk (322) moves away from the fixed disk (312).

5. The wheel hub clamping robot according to claim 4, characterized in that: The elastic member (33) is sleeved outside the guide rod (321).

6. The wheel hub clamping robot according to claim 3, characterized in that: There are a plurality of the mounting posts (311), and the plurality of the mounting posts (311) are spaced apart and distributed on the fixing plate (312); And / or, there are a plurality of guide rods (321), and the plurality of guide rods (321) are distributed on the contact plate (322) at intervals.

7. The wheel hub clamping robot according to claim 6, characterized in that: The plurality of mounting posts (311) are spaced apart along the circumference of the fixing plate (312), the first sensing element (313) is located in the middle of the fixing plate (312), and one of the plurality of guide rods (321) is provided with the second sensing element (323).

8. The wheel hub clamping robot according to claim 3, characterized in that: The fixed plate (312) is provided with a linear bearing (314), and the guide rod (321) is slidably disposed in the fixed plate (312) via the linear bearing (314).

9. The wheel hub clamping robot according to any one of claims 1 to 8, characterized in that: The clamping frame (21) is movably mounted on the mounting frame (1), and a plurality of the clamping claw structures (22) are mounted on the bottom of the clamping frame (21). The bottom of the clamping frame (21) is provided with a plurality of sliding guide rails (213) spaced apart in the circumferential direction and extending in the radial direction, and the plurality of the clamping claw structures (22) are slidably mounted on the plurality of sliding guide rails (213) in a one-to-one correspondence.

10. The wheel hub clamping robot according to claim 9, characterized in that: The clamping jaw structure (22) comprises a clamping jaw body (221), a wheel hub side clamp (231) and a clamping jaw hook (232); the clamping jaw body (221) is slidably matched with the sliding guide rail (213); the wheel hub side clamp (231) and the clamping jaw hook (232) are both mounted on the clamping jaw body (221) and jointly define a clamping opening that is open toward the center of the clamping frame (21); the clamping opening is used to clamp the wheel hub.

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