Material taking device for brake disc and hub bearing

Abstract

The utility model discloses a material taking device for a brake disc and a hub bearing, which comprises a clamping assembly, the clamping assembly comprises a robot, the moving end of the robot forms a mechanism for respectively fixing the brake disc and the hub bearing, and the moving range of the moving end of the robot can cover a material frame; and the visual assembly is fixed relative to the position of the material frame, the brake disc or the hub bearing is fixed relative to the position of the material frame where the brake disc or the hub bearing is placed, and the visual assembly controls the robot to move the brake disc or the hub bearing according to the position of the brake disc or the hub bearing. The relative position of the robot and the material frame is determined through the visual assembly, then the relative positions of the brake disc and the hub bearing are determined, then the robot is controlled to move to the designated position, the brake disc or the hub bearing can be accurately grabbed by the robot, and then automatic material taking of the brake disc and the hub bearing is achieved; and scratching caused by carelessness or other reasons in the manual material taking process is avoided, and the surface quality of the brake disc and the hub bearing is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of automotive automated production technology, specifically to a material handling device for brake discs and wheel hub bearings. Background Technology

[0002] In automotive braking system manufacturing, the assembly of brake discs and wheel hub bearings is one of the core chassis processes, and its precision directly affects braking performance, NVH performance, and driving safety. The existing assembly process includes the following steps: First, manual material handling: Multiple layers of brake discs or wheel hub bearings are placed in a material box, each layer separated by a blister pack. Operators manually move the brake discs and wheel hub bearings from the material box to the assembly station; second, initial positioning: The brake discs and wheel hub bearings are stacked, and their threaded holes and flanges are roughly aligned; third, press-fitting and fixing: Physical connection is completed using a hydraulic press or pre-tightening bolts; fourth, inspection and calibration: Parameters such as end face runout are inspected manually or with semi-automatic equipment, and disassembly and rework are performed if necessary.

[0003] However, the inventors of this application discovered during the implementation of the existing assembly process that: during manual material handling, manual handling of brake discs or bearings requires repeated bending and turning to pick up and put down parts, which affects the operator's health and reduces the assembly speed. At the same time, manual use of tools (such as gloves and hooks) can easily come into contact with the friction surface of the brake disc, causing scratches and resulting in vibration of the brake disc during braking, which affects the braking effect. Utility Model Content

[0004] This utility model addresses the problem of damage to the brake disc and bearing surfaces caused by manual handling of brake discs and bearings. It provides a material handling device for brake discs and wheel hub bearings, with the specific technical solution as follows:

[0005] This utility model is used to remove a brake disc or wheel hub bearing from a material frame. The material removal device includes: a clamping assembly, which includes a robot. The moving end of the robot forms a mechanism to fix the brake disc and the wheel hub bearing respectively. The movement range of the moving end of the robot can cover the material frame; and a vision assembly, which is relatively fixed to the position of the material frame. The brake disc or wheel hub bearing is relatively fixed to the position of the material frame in which it is placed. The vision assembly controls the robot to move the brake disc or wheel hub bearing according to the position of the brake disc or wheel hub bearing.

[0006] Furthermore, the material handling device includes at least two parallel material frames; the clamping assembly also includes: a moving track for horizontally moving the robot, the length direction of which is parallel to the placement direction of the material frames; and a clamping bracket located at the middle part of the robot's moving end, with a brake disc suction cup and a bearing suction cup respectively provided at both ends of the clamping bracket, the robot being able to rotate the clamping bracket to drive the brake disc suction cup to contact the brake disc, and the bearing suction cup to contact the wheel hub bearing.

[0007] Furthermore, the brake disc chuck includes an electromagnet for gripping the brake disc, which is evenly distributed circumferentially on the surface of the brake disc chuck that contacts the brake disc; and the bearing chuck includes a clamping cylinder for clamping the wheel hub bearing, the direction of movement of the clamping cylinder being perpendicular to the axis of the wheel hub bearing, the clamping cylinder being evenly distributed along the circumference of the wheel hub bearing, and the movement trajectory of the clamping cylinder intersecting the axis of the wheel hub bearing at the same point.

[0008] Preferably, the vision component includes: a camera that identifies the position of a brake disc or wheel bearing relative to a material frame and controls the clamping assembly to grasp the brake disc or wheel bearing; and a longitudinal shifter and a horizontal shifter disposed on the camera, the longitudinal shifter being capable of adjusting the vertical distance between the camera and the material frame, and the horizontal shifter being capable of adjusting the horizontal distance between the camera and the material frame.

[0009] Preferably, the longitudinal displacement component includes a first longitudinal plate and a second longitudinal plate. The first longitudinal plate forms regularly arranged holes, and the second longitudinal plate can be connected to holes at different positions to adjust the vertical distance. The horizontal displacement component includes a first displacement tube, a second displacement tube, and a third displacement tube. The first displacement tube is fixedly connected to the second longitudinal plate, the camera is fixedly connected to the third displacement tube, and the two ends of the second displacement tube are respectively connected to the first displacement tube and the third displacement tube.

[0010] Preferably, the assembly further includes a truss transfer assembly comprising: a horizontal slide rail positioned directly above the material frame; a vertical slide rail positioned on the horizontal slide rail, the length direction of which is perpendicular to the plane on which the brake disc or wheel hub bearing is placed within the material frame; and a blister suction cup positioned on the vertical slide rail, the blister suction cup being movable along the horizontal and vertical slide rails, the blister suction cup being movable to separate brake discs or wheel hub bearings in adjacent layers within the material frame.

[0011] Preferably, the assembly further includes at least two material frame positioning components, each comprising: a positioning bracket for fixing the material frame, the positioning bracket being U-shaped, the opening of the positioning bracket allowing the material frame to enter its interior; a limit switch disposed at the opposite opening of the positioning bracket, wherein when the material frame contacts the limit switch, the material frame is at the same position relative to the positioning bracket; a swing cylinder disposed at the same end of the positioning bracket and the limit switch, the swing cylinder rotating toward the material frame; and a fixing wrench disposed at the moving end of the swing cylinder, the fixing wrench forming a protrusion, the swing cylinder being able to drive the protrusion to fasten the bottom of the material frame.

[0012] As can be seen from the above technical solution, this utility model has the following beneficial effects:

[0013] This invention uses a vision component to determine the relative position of the robot and the material frame, thereby determining the relative positions of the brake disc and the wheel hub bearing. It then controls the robot to move to the designated position so that it can accurately grasp the brake disc or the wheel hub bearing, thus achieving automatic material handling. This avoids scratches caused by carelessness or other reasons during manual material handling and ensures the surface quality of the brake disc and the wheel hub bearing. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0015] Figure 2 This is a schematic diagram of the structure of an embodiment of the clamping assembly;

[0016] Figure 3 for Figure 2 Enlarged view of point A in the image;

[0017] Figure 4 for Figure 1 Enlarged view of point B in the image;

[0018] Figure 5 for Figure 4 Enlarged view of point C in the image;

[0019] Figure 6 for Figure 1 Enlarged view of point D in the image.

[0020] In the diagram: 1. Clamping assembly: 11. Robot; 12. Moving track; 13. Clamping bracket; 14. Brake disc suction cup; 141. Electromagnet; 15. Bearing suction cup; 151. Clamping cylinder; 2. Vision assembly: 21. Camera; 22. Longitudinal shifting component; 221. First longitudinal plate; 222. Second longitudinal plate; 23. Horizontal shifting component; 231. First shifting tube; 232. Second shifting tube; 233. Third shifting tube; 3. Truss transfer assembly: 31. Horizontal slide rail; 32. Vertical slide rail; 33. Blister suction cup; 4. Material frame positioning assembly: 41. Positioning bracket; 42. Limit switch; 43. Swing cylinder; 44. Fixing wrench; 5. Wheel hub bearing; 6. Brake disc; 7. Material frame. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] In the description of the embodiments of this utility model, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] like Figure 1 As shown, this embodiment of the utility model is used to remove the brake disc 6 or the wheel hub bearing 5 from the material frame 7.

[0024] Specifically, a blister tray is placed inside the material frame 7. The blister tray forms a groove for placing the brake disc 6 or the wheel hub bearing 5, so that the positions of the two relative to the material frame 7 are fixed.

[0025] Furthermore, this embodiment includes: a clamping assembly 1, which includes a robot 11, the moving end of the robot 11 forming a mechanism for fixing the brake disc 6 and the hub bearing 5 respectively, and the movement range of the moving end of the robot 11 being able to cover the material frame 7; and a vision assembly 2, the position of the vision assembly 2 relative to the material frame 7, the position of the brake disc 6 or the hub bearing 5 relative to the position of the material frame 7 on which it is placed, and the vision assembly 2 controlling the robot 11 to move the brake disc 6 or the hub bearing 5 according to the position of the brake disc 6 or the hub bearing 5.

[0026] Specifically, this embodiment simultaneously sets up six material frames 7 and a fixing mechanism for the material frames 7. The robot 11 is set on the ground, and its position is relatively fixed with that of the six material frames 7. During the movement, the moving end of the robot 11 can grab the brake disc 6 and the wheel hub bearing 5 in the six material frames 7. During the grabbing process, the robot can avoid collisions with other objects through the fixing mechanism and its own movement adjustment, thereby ensuring that the brake disc 6 and the wheel hub bearing 5 will not be scratched during the transportation process.

[0027] The relative position of the vision component 2 to the material frame 7 is fixed, that is, the relative position of the vision component 2 to the brake disc 6, the wheel hub bearing 5, and the robot 11 is fixed. This allows the vision component 2 to infer the position of the brake disc 6 and the wheel hub bearing 5 based on the position of the material frame 7, and to calculate the position of the brake disc 6 or the wheel hub bearing 5 of a certain material frame 7 relative to the robot 11. This allows the vision component 2 to control the movement of the robot 11 until the robot 11 successfully picks up the designated brake disc 6 or the wheel hub bearing 5, thereby achieving automatic material picking of the brake disc 6 and the wheel hub bearing 5, avoiding scratches during transportation, and improving transportation efficiency.

[0028] like Figure 2As shown, the material handling device includes at least two parallel material frames 7; the clamping assembly 1 also includes: a moving track 12 for horizontally moving the robot 11, the length direction of which is parallel to the placement direction of the material frames 7; and a clamping bracket 13 located at the moving end of the robot 11 in the middle, with a brake disc suction cup 14 and a bearing suction cup 15 respectively located at both ends of the clamping bracket 13. The robot 11 can rotate the clamping bracket 13 to drive the brake disc suction cup 14 to contact the brake disc 6, and the bearing suction cup 15 to contact the wheel hub bearing 5.

[0029] Specifically, this embodiment simultaneously sets up six material frames 7 and a fixing mechanism for the material frames 7. The center points of the six material frames 7 can be aligned into a straight line, which is parallel to the length direction of the moving track 12. This ensures that when the robot 11 moves along the moving track 12, its distance from the nearest material frame 7 is always equal. Consequently, the moving end of the robot 11 can grasp the brake disc 6 or wheel hub bearing 5 in the nearest material frame 7. The structure of the moving track 12 is a transmission structure that can realize linear transmission, such as a servo motor driving a lead screw or a gear rack transmission.

[0030] Secondly, the clamping bracket 13 is a V-shaped bracket, and its turning point is connected to the moving end of the robot 11 by bolts. The moving end of the robot 11 can rotate, thereby driving the clamping bracket 13 to rotate. The brake disc suction cup 14 and the bearing suction cup 15 are respectively fixed to both ends of the clamping bracket 13 by bolts. When the moving end rotates, the clamping bracket 13 can drive the brake disc suction cup 14 to grab the brake disc 6 in the material frame 7 or drive the bearing suction cup 15 to grab the wheel hub bearing 5. The robot 11 can approach the designated material frame 7 along the moving track 12, and then grab the brake disc 6 or wheel hub bearing 5 through the brake disc suction cup 14 or the bearing suction cup 15. This means that the robot 11's movement range does not need to be able to grab materials in six material frames 7 simultaneously. Instead, during movement, the distance between the robot 11 and the designated material frame 7 is reduced to the vertical distance between the moving track 12 and the material frame 7, thereby reducing the size of the robot 11. This also enables automatic material handling in this embodiment and avoids scratches during material handling, ensuring the surface quality of the brake disc 6 and wheel hub bearing 5.

[0031] Combination Figure 3 As shown, the brake disc suction cup 14 includes an electromagnet 141 for gripping the brake disc 6, which is evenly distributed circumferentially on the surface of the brake disc suction cup 14 that contacts the brake disc 6; and the bearing suction cup 15 includes a clamping cylinder 151 for clamping the wheel hub bearing 5, the movement direction of the clamping cylinder 151 is perpendicular to the axis of the wheel hub bearing 5, the clamping cylinder 151 is evenly arranged along the circumference of the wheel hub bearing 5, and the movement trajectory of the clamping cylinder 151 intersects the axis of the wheel hub bearing 5 at the same point.

[0032] Specifically, the brake disc 6 is made of a magnetic metal. When the electromagnet 141 is energized, it can attract the brake disc 6. The evenly distributed contact points between the electromagnets 141 and the brake disc 6 are also evenly distributed on the surface of the brake disc 6. This ensures that when the brake disc suction cup 14 grips the brake disc 6, the brake disc 6 does not generate additional torque, guaranteeing the stability of the brake disc suction cup 14 in moving the brake disc 6. Secondly, in this embodiment, the bearing suction cup 15 includes three identical clamping cylinders 151. The moving end of each clamping cylinder 151 moves along a direction perpendicular to the axis of the wheel hub bearing 5, and the clamping cylinders 151 and the wheel hub bearing 5... The contact surfaces overlap, so that when the three clamping cylinders 151 approach the hub bearing 5 at the same time, they can overlap with the side of the hub bearing 5 and form a complete circle. At the same time, the movement trajectories of the clamping cylinders 151 intersect at a point and pass through the axis of the hub bearing 5, so that the axis of the fixed hub bearing 5 coincides with the axis of the bearing suction cup 15. Similarly, the hub bearing 5 will not generate additional torque on it, ensuring the stability of the bearing suction cup 15 in moving the hub bearing 5, thereby ensuring the stability of the robot 11 in the process of moving the brake disc 6 and the hub bearing 5, and thus avoiding scratches during the moving process.

[0033] like Figure 4 As shown, this embodiment also includes a truss transfer assembly 3, which includes: a horizontal slide rail 31 disposed directly above the material frame 7; a vertical slide rail 32 disposed on the horizontal slide rail 31, the length direction of which is perpendicular to the plane on which the brake disc 6 or wheel hub bearing 5 is placed in the material frame 7; and a blister suction cup 33 disposed on the vertical slide rail 32, which is movable along the horizontal slide rail 31 and the vertical slide rail 32, and is movable to separate the brake disc 6 or wheel hub bearing 5 of adjacent layers in the material frame 7.

[0034] Specifically, the two ends of the horizontal slide rail 31 are fixed to the ground by vertical brackets, and their relative positions with the material frames 7 remain unchanged. The length direction of the horizontal slide rail 31 is parallel to the line connecting the center points of the six material frames 7, and the vertical projection of the horizontal slide rail 31 interferes with all six material frames 7, so that the blister suction cup 33 can be directly above each material frame 7 when it moves along the horizontal slide rail 31. Secondly, the vertical slide rail 32 is connected to the horizontal slide rail 31 by a mounting plate, so that the vertical slide rail 32 can move vertically up and down along the horizontal slide rail 31, and the horizontal slide rail 31 drives the vertical slide rail 32 to move, so that the movement trajectory of the blister suction cup 33 is a vertical plane that interferes with the material frames 7, so that the blister suction cup 33 can pick up the blister in each material frame 7.

[0035] In this system, the transmission structure of both the horizontal slide rail 31 and the vertical slide rail 32 is a servo motor that drives the gear to move along the rack, and the suction cup 33 of the blister tray picks up the blister tray by generating a pressure difference through vacuum.

[0036] like Figure 5As shown, the vision component 2 includes: a camera 21, which identifies the position of the brake disc 6 or the hub bearing 5 relative to the material frame 7 and controls the clamping component 1 to grasp the brake disc 6 or the hub bearing 5; and a longitudinal shifting member 22 and a horizontal shifting member 23 disposed on the camera 21, the longitudinal shifting member 22 being able to adjust the vertical distance of the camera 21 relative to the material frame 7, and the horizontal shifting member 23 being able to adjust the horizontal distance of the camera 21 relative to the material frame 7.

[0037] Specifically, after taking a picture, camera 21 identifies the feature points of brake disc 6 or wheel bearing 5, and then plans the moving distance and rotation angle of the moving end of robot 11, so that brake disc suction cup 14 or bearing suction cup 15 can grasp brake disc 6 or wheel bearing 5. In order to ensure that the field of view of camera 21 falls on the middle position of material frame 7, so that camera 21 can accurately plan the movement trajectory of clamping component 1, it is necessary to adjust the position of camera 21 relative to horizontal slide rail 31, and then adjust its position relative to material frame 7. The longitudinal shifting component 22 moves along the horizontal slide rail 31 and can adjust the vertical distance of camera 21 relative to material frame 7, so as to ensure that the field of view of camera 21 is always clear. The horizontal shifting component 23 can be fixed on the longitudinal shifting component 22 and move with it. The horizontal shifting component 23 can adjust the position of camera 21 relative to the longitudinal shifting component 22, and then adjust the horizontal distance of camera 21 relative to material frame 7, so as to ensure that the field of view of camera 21 is always clear, and thus accurately control the movement of clamping component 1.

[0038] Furthermore, the longitudinal shifting component 22 includes a first longitudinal plate 221 and a second longitudinal plate 222. The first longitudinal plate 221 forms regularly arranged holes, and the second longitudinal plate 222 can be connected to holes at different positions to adjust the vertical distance. The horizontal shifting component 23 includes a first shifting tube 231, a second shifting tube 232, and a third shifting tube 233. The first shifting tube 231 is fixedly connected to the second longitudinal plate 222, the camera 21 is fixedly connected to the third shifting tube 233, and the second shifting tube 232 connects the first shifting tube 231 and the third shifting tube 233.

[0039] Specifically, the first longitudinal plate 221 is fixed to the horizontal slide rail 31 by bolts, and the surface of the first longitudinal plate 221 has through threaded holes arranged according to a fixed number of rows and columns, so that the second longitudinal plate 222 can adjust its position relative to the first longitudinal plate 221 by bolts, thereby adjusting its distance relative to the horizontal slide rail 31, and thus adjusting its position relative to the material frame 7.

[0040] Secondly, the first displacement tube 231 is welded to the second longitudinal plate 222, and its axis is parallel to the length direction of the horizontal slide rail 31. The second displacement tube 232 is fixedly connected to the first displacement tube 231 through a pipe joint, wherein the pipe joint is composed of two halves joined by bolts. When the preload of the pipe joint relative to the first displacement tube 231 and the second displacement tube 232 is reduced, the second displacement tube 232 rotates along the first displacement tube 231 and moves along its length direction. The second displacement tube 232 is connected to the third displacement tube 233 through the pipe joint. Then, the axis of the second shift tube 232 is perpendicular to the axis of the third shift tube 233. When the pre-tightening force of the pipe joint relative to the second shift tube 232 and the third shift tube 233 is reduced, the third shift tube 233 can rotate along the second shift tube 232 and move along its length direction, thereby adjusting the angle and distance of the camera 21 relative to the horizontal slide rail 31, and thus adjusting its angle and distance relative to the material frame 7, ensuring that the field of view of the camera 21 that moves above the material frame 7 always falls within the material frame 7, thereby controlling the movement of the robot 11.

[0041] like Figure 6 As shown, this embodiment also includes at least two material frame positioning components 4. Each material frame positioning component 4 includes: a positioning bracket 41 for fixing the material frame 7. The positioning bracket 41 is U-shaped, and the opening of the positioning bracket 41 is used to allow the material frame 7 to enter its interior; a limit switch 42 disposed at the opening of the positioning bracket 41, and when the material frame 7 contacts the limit switch 42, the position of the material frame 7 relative to the positioning bracket 41 is the same; a swing cylinder 43 disposed at the same end of the positioning bracket 41 and the limit switch 42, and the swing cylinder 43 rotates toward the material frame 7; and a fixing wrench 44 disposed at the moving end of the swing cylinder 43, the fixing wrench 44 forming a protrusion, and the swing cylinder 43 can drive the protrusion to fasten the bottom of the material frame 7.

[0042] Specifically, the opening of the positioning bracket 41 is used by the operator to push the trolley containing the material frame 7 into the opening, and the brackets on both sides can restrict the left and right movement of the material frame 7, thereby limiting its position; the limit switch 42 is located at the innermost part of the positioning bracket 41, and together with the limit block, it can restrict the linear movement of the material frame 7, thereby limiting its position. Through the U-shaped structure, the limit block, and the limit switch 42, the position of the material frame 7 relative to the positioning bracket 41 can be limited, thereby limiting its position relative to the horizontal slide rail 31 and the robot 11, thereby ensuring that the camera 21 can recognize the material frame 7 and control the robot 11 to grab the brake disc 6 or the wheel hub bearing 5.

[0043] When the material frame 7 contacts the limit switch 42, the limit switch 42 can control the swing cylinder 43 to rotate, thereby allowing the fixed wrench 44 fixed at its moving end to rotate towards the bottom of the material frame 7. In this embodiment, there is a groove at the bottom of the material frame 7, and the fixed wrench 44 is hook-shaped with a protrusion at its head for rotating towards the bottom of the material frame 7, so that the protrusion of the fixed wrench 44 can enter the groove and apply pressure to the inner wall of the groove in the direction of the limit switch 42. At the same time, the limit block applies a support force opposite to that of the bottom of the material frame 7, thereby achieving a horizontal force balance of the material frame 7 and fixing the position of the material frame 7.

[0044] The tilt angle of the swing cylinder 43 and the specific dimensions of the fixed wrench 44 are determined based on the dimensions of the material frame 7 on site.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

[0046] The technologies, shapes, and structures not described in detail in this utility model are all known technologies.

Claims

1. A material handling device for brake discs and wheel hub bearings, the device being used to remove a brake disc (6) or a wheel hub bearing (5) from a material frame (7), characterized in that, The material handling device includes: A clamping assembly (1) comprising a robot (11) having a moving end forming a mechanism for fixing a brake disc (6) and a wheel hub bearing (5) respectively, the moving end of the robot (11) having a range of motion capable of covering the material frame (7); and The vision component (2) is fixed relative to the material frame (7), and the brake disc (6) or the wheel hub bearing (5) is fixed relative to the material frame (7) on which it is placed. The vision component (2) controls the robot (11) to move the brake disc (6) or the wheel hub bearing (5) according to the position of the brake disc (6) or the wheel hub bearing (5).

2. The material handling device according to claim 1, characterized in that: The material handling device includes at least two parallel material frames (7); The clamping assembly (1) further includes: A moving track (12) for horizontally moving the robot (11), the length direction of which is parallel to the placement direction of the material frame (7); and A clamping bracket (13) is set in the middle of the moving end of the robot (11). A brake disc suction cup (14) and a bearing suction cup (15) are respectively set at both ends of the clamping bracket (13). The robot (11) can rotate the clamping bracket (13) to drive the brake disc suction cup (14) to contact the brake disc (6) and the bearing suction cup (15) to contact the wheel hub bearing (5).

3. The material handling device according to claim 2, characterized in that: The brake disc chuck (14) includes electromagnets (141) for gripping the brake disc (6), the electromagnets (141) being evenly distributed circumferentially on the surface of the brake disc chuck (14) that contacts the brake disc (6); and The bearing suction cup (15) includes a clamping cylinder (151) for clamping the hub bearing (5). The direction of movement of the clamping cylinder (151) is perpendicular to the axis of the hub bearing (5). The clamping cylinders (151) are evenly arranged along the circumference of the hub bearing (5). The movement trajectory of the clamping cylinders (151) intersects the axis of the hub bearing (5) at the same point.

4. The material handling device according to claim 1, characterized in that: The visual component (2) includes: Camera (21), which identifies the position of the brake disc (6) or wheel hub bearing (5) relative to the material frame (7) and controls the clamping assembly (1) to grip the brake disc (6) or wheel hub bearing (5); and A longitudinal shifter (22) and a horizontal shifter (23) are provided on the camera (21). The longitudinal shifter (22) can adjust the vertical distance of the camera (21) relative to the material frame (7), and the horizontal shifter (23) can adjust the horizontal distance of the camera (21) relative to the material frame (7).

5. The material handling device according to claim 4, characterized in that: The longitudinal shifting member (22) includes a first longitudinal plate (221) and a second longitudinal plate (222). The first longitudinal plate (221) forms regularly arranged holes, and the second longitudinal plate (222) can be connected to holes at different positions to adjust the vertical distance. The horizontal shifting component (23) includes a first shifting tube (231), a second shifting tube (232), and a third shifting tube (233). The first shifting tube (231) is fixedly connected to the second longitudinal plate (222), and the camera (21) is fixedly connected to the third shifting tube (233). The two ends of the second shifting tube (232) are respectively connected to the first shifting tube (231) and the third shifting tube (233).

6. The material handling device according to claim 1, characterized in that: It also includes a truss removal assembly (3), which comprises: A horizontal slide rail (31) is set directly above the material frame (7); A vertical slide rail (32) is provided on the horizontal slide rail (31), the length direction of which is perpendicular to the plane on which the material frame (7) places the brake disc (6) or the wheel hub bearing (5); and The blister suction cup (33) is provided on the vertical slide rail (32). The blister suction cup (33) can move along the horizontal slide rail (31) and the vertical slide rail (32). The blister suction cup (33) can move the blister that separates the brake disc (6) or wheel hub bearing (5) of adjacent layers in the material frame (7).

7. The material handling device according to claim 1, characterized in that: It also includes at least two material frame positioning components (4), each of which includes: A positioning bracket (41) for fixing the material frame (7) is U-shaped, and the opening of the positioning bracket (41) is used to allow the material frame (7) to enter its interior; A limit switch (42) is provided at the opposite opening of the positioning bracket (41). When the material frame (7) contacts the limit switch (42), the position of the material frame (7) relative to the positioning bracket (41) is the same. A swing cylinder (43) is disposed at the same end of the positioning bracket (41) and the limit switch (42), and the swing cylinder (43) rotates toward the material frame (7); and A fixed wrench (44) is provided at the moving end of the swing cylinder (43). The fixed wrench (44) forms a protrusion, and the swing cylinder (43) can drive the protrusion to fasten the bottom of the material frame (7).

Images