A positioning camera device for acquiring hub images

Abstract

This invention addresses the problem of difficulty in acquiring spoke side images in existing wheel hub inspection equipment. It provides a positioning camera device for acquiring wheel hub images, including a sampling camera, a robotic arm structure for controlling the movement of the sampling camera, a transmission structure, and a clamping and positioning structure. The transmission structure is used to transport the wheel hub. The clamping and positioning structure is mounted on the transmission structure. The sampling camera is fixedly mounted on the movable part of the robotic arm structure, which is fixedly mounted on one side of the transmission structure. The sampling camera is located above the transmission structure, and its position corresponds to that of the clamping and positioning structure. The robotic arm structure includes a robotic arm and a robotic arm support, with a height difference between the base of the robotic arm and the transmission structure. The base of the robotic arm is fixedly mounted on the side of the robotic arm support closest to the transmission structure, and the base of the robotic arm is horizontally oriented, allowing the sampling camera to be close to the spoke side of the wheel hub and acquire images.

Description

Technical Field

[0001] This utility model relates to the field of wheel hub production equipment technology, and in particular to a positioning camera device for acquiring wheel hub images. Background Technology

[0002] With the rapid development of the automotive manufacturing industry, automobile production and ownership are constantly increasing. As an important component of automobiles, the quality and performance of wheel hubs have a significant impact on driving safety. Therefore, the demand for quality inspection of wheel hubs is also increasing, especially the detection of surface defects, to ensure the integrity and reliability of the wheel hubs.

[0003] In recent years, with the continuous development of machine vision technology, its application in the detection of surface defects in automobile wheel hubs has become increasingly widespread. Machine vision inspection systems convert the wheel hub into image signals using industrial cameras, which are then transmitted to image processing software systems. Based on information such as pixel distribution and brightness, these signals are converted into digital signals. The image processing software systems then perform calculations on these signals to extract features from the original image for comparison, enabling simultaneous detection of multiple defect types. This technology has advantages such as high detection speed, high detection rate, and high detection accuracy, greatly improving the efficiency and quality of surface defect detection in automobile wheel hubs, as illustrated in patents with publication numbers CN119666751A and CN118858157A. However, existing wheel hub conveyor inspection structures typically only acquire images from the top or outer side of the wheel hub. Details such as the sides of the spokes still require manual inspection, which is time-consuming and labor-intensive. Therefore, a positioning camera device capable of acquiring images of the side of the wheel hub spokes is needed. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies and provide a positioning camera device for acquiring wheel hub images.

[0005] To solve the above problems, the present invention adopts the following solution:

[0006] A positioning camera device for acquiring wheel hub images includes a sampling camera, a robotic arm structure for controlling the movement of the sampling camera, a transmission structure, and a clamping and positioning structure. The transmission structure is used to transmit the wheel hub. The clamping and positioning structure is mounted on the transmission structure. The sampling camera is fixedly mounted on the movable part of the robotic arm structure, which is fixedly mounted on one side of the transmission structure. The sampling camera is located above the transmission structure, and its position corresponds to that of the clamping and positioning structure. The robotic arm structure includes a robotic arm and a robotic arm support, with a height difference between the base of the robotic arm and the transmission structure. The base of the robotic arm is fixedly mounted on the side of the robotic arm support near the transmission structure, and the base of the robotic arm is generally horizontal.

[0007] Furthermore, the clamping and positioning structure includes a gripper mechanism disposed on the side of the transmission structure.

[0008] Furthermore, there are two gripper mechanisms, which are arranged opposite to each other; each gripper mechanism includes two rotatable gripping arms, which rotate through a connecting shaft fixed at their ends.

[0009] Furthermore, the clamping and positioning structure also includes an actuation mechanism, which includes a first cylinder, a connecting rod assembly, and gears; wherein the gears are fixedly mounted on the coupling shaft; the gears on the two clamping arms in the same clamping jaw structure mesh with each other; the first cylinder is fixedly connected to the coupling shaft on the clamping arm through the connecting rod assembly, and is used to control the rotation of the coupling shaft.

[0010] Furthermore, the linkage assembly includes a first linkage, a second linkage, and a third linkage. The middle portion of the first linkage is fixedly connected to a clamping arm in one of the clamping structures via a connecting shaft. One end of the first linkage is rotatably connected to the movable end of the first cylinder, and the other end of the first linkage is rotatably connected to one end of the second linkage. The other end of the second linkage is rotatably connected to the third linkage, and the third linkage is also fixedly connected to a clamping arm in another clamping structure. The clamping arm corresponding to the connecting shaft of the first linkage and the clamping arm corresponding to the connecting shaft of the third linkage are located diagonally opposite each other.

[0011] Furthermore, a vertically arranged cylindrical clamping wheel is provided at the end of the clamping arm away from the gear; the clamping wheel is rotatably arranged with the clamping arm.

[0012] Furthermore, it also includes a barrier structure, which is located at one end of the transmission structure that is fed into the hub.

[0013] Furthermore, the barrier structure includes a barrier plate that can be raised and lowered.

[0014] Furthermore, the barrier structure also includes a second cylinder and a barrier frame, with one end of the second cylinder fixedly mounted on the barrier frame and the other end of the second cylinder fixedly connected to the barrier plate.

[0015] Furthermore, a sliding structure with a sliding fit is provided between the barrier plate and the barrier frame.

[0016] The beneficial effects of this utility model are as follows:

[0017] By using a robotic arm support to raise the height of the robotic arm, while the robotic arm is positioned on the side of the robotic arm support in a horizontal state, it can better perform bending movements, get close to the side of the spokes of the wheel hub and acquire images, which are used to check for coating defects on the spokes.

[0018] By setting up a clamping and positioning structure, the wheel hub being transported on the transmission structure is clamped, ensuring that the position of the wheel hub is as consistent as possible when the positioning camera and the sampling camera are taking pictures. This makes it easier to process and identify defects in the wheel hub images and improves the accuracy of identification.

[0019] By setting up a gripper mechanism in conjunction with the action mechanism, synchronous control of the gripping arms on both sides of the transmission structure is achieved, so that all the gripping arms move synchronously and clamp the hub as centrally as possible.

[0020] By setting clamping wheels on the clamping arms, a better fit with the wheel hub is achieved;

[0021] By setting up a blocking structure, only one wheel hub is photographed at a time, thus avoiding interference. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of Example 1;

[0023] Figure 2 This is a schematic diagram of the overall structure from another angle of Example 1;

[0024] Figure 3 This is a schematic diagram of the clamping and positioning structure of Example 1.

[0025] Explanation of reference numerals in the attached diagram: 1. Sampling camera; 2. Robotic arm structure; 21. Robotic arm; 22. Robotic arm support; 3. Transmission structure; 4. Clamping and positioning structure; 41. Clamping arm; 42. Connecting shaft; 43. First cylinder; 44. Gear; 45. First connecting rod; 46. Second connecting rod; 47. Third connecting rod; 48. Clamping wheel; 5. Barrier structure; 51. Barrier plate; 52. Second cylinder; 53. Barrier frame; 54. Sliding structure. Detailed Implementation

[0026] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the figures only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0028] Example 1:

[0029] like Figures 1-3 As shown, a positioning camera device for acquiring wheel hub images includes a sampling camera 1 for acquiring wheel hub images; it also includes a robotic arm structure 2, a transmission structure 3, and a clamping and positioning structure 4 for controlling the movement of the sampling camera 1; wherein the sampling camera 1 is disposed above the transmission structure 3; the clamping and positioning structure 4 is disposed on the transmission structure 3, and the position of the clamping and positioning structure 4 corresponds to that of the sampling camera 1; in this example, the sampling camera 1 is fixedly disposed on the movable part of the robotic arm structure 2, and the robotic arm structure 2 is fixedly disposed on one side of the transmission structure 3; the robotic arm structure 2 includes a robotic arm The robot arm 21 and its support 22 lift the base of the robot arm 21, creating a height difference between it and the transmission structure 3. The base of the robot arm 21 is fixedly positioned on the side of the support 22 closest to the transmission structure 3, with the base of the robot arm 21 generally horizontal. Compared to an upright robot arm 21, the robot arm 21 in this embodiment can better cooperate with a flat-lying wheel hub, facilitating the robot arm 21 to manipulate the sampling camera 1 at its end to approach the spoke side of the wheel hub and acquire images for inspecting the coating condition of the spoke side. When the wheel hub is transported to the designated position on the transmission structure 3, the clamping and positioning structure 4 clamps the wheel hub, achieving wheel hub positioning. This results in higher consistency in the images acquired by the sampling camera 1 from different wheel hubs, reducing the likelihood of wheel hub positions deviating from the camera's imaging range. This facilitates subsequent image defect identification and other operations, improving the efficiency and accuracy of image recognition.

[0030] The clamping and positioning structure 4 includes two gripper mechanisms arranged opposite each other on both sides of the transmission structure 3. Each gripper structure includes two rotatable gripping arms 41. When the two gripping arms 41 approach each other, the gripper structures on both sides retract inward to clamp the hub being transported on the transmission structure 3. One end of the gripping arm 41 is rotatably connected to the support member of the gripping arm 41 via a connecting shaft 42. In this example, the connecting shaft on one side of the transmission structure is rotatably connected to the side frame of the transmission structure, and a bearing drive is provided between the connecting shaft and the frame. The connecting shaft 42 on the other side is rotatably connected to the base of the robot arm 21, and a bearing drive is also provided between the connecting shaft 42 and the base of the robot arm 21.

[0031] The clamping and positioning structure 4 also includes an action mechanism, which includes a first cylinder 43, a connecting rod assembly, and a gear 44; wherein the gear 44 is fixedly mounted on the connecting shaft 42; the gears 44 on the two clamping arms 41 in the same clamping structure mesh with each other; the first cylinder 43 is fixedly connected to the connecting shaft 42 on the clamping arm 41 through the connecting rod assembly, and is used to control the rotation of the connecting shaft 42. The linkage assembly includes a first linkage 45, a second linkage 46, and a third linkage 47. The middle part of the first linkage 45 is fixedly connected to the connecting shaft 42 of one of the gripper arms 41 in one set of gripper structures. One end of the first linkage 45 is rotatably connected to the movable end of the first cylinder 43, and the other end of the first linkage 45 is rotatably connected to one end of the second linkage 46. The other end of the second linkage 46 is rotatably connected to the third linkage 47, which is also fixedly connected to one of the gripper arms 41 in another set of gripper structures. The gripper arms 41 corresponding to the connecting shaft 42 connected to the first linkage 45 and the gripper arms 41 corresponding to the connecting shaft 42 connected to the third linkage 47 are located diagonally. In this way, when the first cylinder 43 drives the corresponding connecting shaft 42 to rotate through the first linkage 45, the connecting shafts 42 on the diagonal rotate in the same direction and speed due to the action of the second linkage 46 and the third linkage 47, thereby realizing that the gripper structures on both sides simultaneously tighten inward or open outward, achieving linkage. In some other embodiments, the rotation of the coupling 42 can be controlled by setting other connection relationships, such as the cooperation between the motor and the gear 44.

[0032] A cylindrical clamping wheel 48 is provided at the end of the clamping arm 41 away from the gear 44. The clamping wheel 48 is rotatably mounted with the clamping arm 41 and can rotate around its axis. In this example, the axis of the clamping wheel 48 is located in the vertical direction and is parallel to the axis of the hub. The vertically mounted clamping wheel 48 contacts the edge of the hub, which allows the clamping wheel 48 to fit well with the edge of the hub of various sizes and orientations, enhancing the clamping effect on the hub. Furthermore, since the clamping wheel 48 is rotatable, it can reduce scratches generated when in contact with the hub.

[0033] It also includes a blocking structure 5, which is located at one end of the conveyor structure 3 where the wheel hub is fed in. The blocking structure 5 blocks the wheel hub on the conveyor structure 3, ensuring that only one wheel hub is present at the corresponding positioning camera and sampling camera 1 station, thus avoiding interference. The blocking structure 5 includes a liftable blocking plate 51. The blocking structure 5 also includes a second cylinder 52 and a blocking frame 53. One end of the second cylinder 52 is fixedly mounted on the blocking frame 53, and the other end is fixedly connected to the blocking plate 51. A sliding structure 54 with a sliding fit is also provided between the blocking plate 51 and the blocking frame 53. In this example, the blocking frame 53 is shaped like a "door," with slide rails on both sides of the blocking frame 53. A slider corresponding to the slide rail is provided on the blocking plate 51, and the slider slides into the slide rail.

[0034] During implementation, the height of the robotic arm 21 is raised by using the robotic arm support 22. Simultaneously, the robotic arm 21 is positioned to the side of the robotic arm support 22, allowing for better bending movements to conform to the spoke side of the wheel hub and acquire images for verifying coating defects on the spokes. A clamping and positioning structure 4 is set up to clamp the wheel hub transmitted on the transmission structure 3, ensuring that the position of the wheel hub is as consistent as possible when the positioning camera and sampling camera 1 are taking pictures. This facilitates the processing and identification of defects in the wheel hub images, improving identification accuracy. A gripper mechanism, in conjunction with the action mechanism, achieves synchronous control of the gripping arms 41 on both sides of the transmission structure 3, ensuring that all gripping arms 41 move synchronously and clamp the wheel hub as centrally as possible. Grip wheels 48 are set on the gripping arms 41 for better cooperation with the wheel hub. A blocking structure is set up to ensure that only one wheel hub is photographed at a time, avoiding interference.

[0035] The above description is merely a specific example of this utility model and does not constitute any limitation on this utility model. Obviously, those skilled in the art, after understanding the content and principle of this utility model, may make various modifications and changes in form and details without departing from the principle and structure of this utility model. However, these modifications and changes based on the concept of this utility model are still within the protection scope of the claims of this utility model.

Claims

1. A positioning camera device for acquiring wheel hub images, comprising a sampling camera (1), characterized in that, It also includes a robotic arm structure (2), a transmission structure (3), and a clamping and positioning structure (4) for controlling the movement of the sampling camera (1); wherein the transmission structure (3) is used to transmit the hub; the clamping and positioning structure (4) is set on the transmission structure (3); the sampling camera (1) is fixedly set on the moving part of the robotic arm structure (2), and the robotic arm structure (2) is fixedly set on one side of the transmission structure (3); the sampling camera (1) is located above the transmission structure (3), and the positions of the sampling camera (1) and the clamping and positioning structure (4) correspond to each other; the robotic arm structure (2) includes a robotic arm (21) and a robotic arm support (22), and there is a drop between the base of the robotic arm (21) and the transmission structure (3); the base of the robotic arm (21) is fixedly set on the side of the robotic arm support (22) close to the transmission structure (3), and the base of the robotic arm (21) is generally horizontal.

2. The positioning camera device for acquiring wheel hub images according to claim 1, characterized in that, The clamping and positioning structure (4) includes a gripper mechanism disposed on the side of the transmission structure (3).

3. A positioning camera device for acquiring wheel hub images according to claim 2, characterized in that, There are two gripper mechanisms, which are arranged opposite to each other. Each gripper structure includes two rotatable gripper arms (41), which rotate through a connecting shaft (42) fixed at their ends.

4. A positioning camera device for acquiring wheel hub images according to claim 3, characterized in that, The clamping and positioning structure (4) also includes an action mechanism, which includes a first cylinder (43), a connecting rod assembly, and a gear (44); wherein the gear (44) is fixedly mounted on the connecting shaft (42); the gears (44) on the two clamping arms (41) in the same clamping structure mesh with each other; the first cylinder (43) is fixedly connected to the connecting shaft (42) on the clamping arm (41) through the connecting rod assembly, and is used to control the rotation of the connecting shaft (42).

5. A positioning camera device for acquiring wheel hub images according to claim 4, characterized in that, The linkage assembly includes a first link (45), a second link (46), and a third link (47). The middle part of the first link (45) is fixedly connected to the connecting shaft (42) of one of the clamping arms (41) in one of the clamping structures. One end of the first link (45) is rotatably connected to the movable end of the first cylinder (43), and the other end of the first link (45) is rotatably connected to one end of the second link (46). The other end of the second link (46) is rotatably connected to the third link (47), and the third link (47) is also fixedly connected to one of the clamping arms (41) in another clamping structure. The clamping arms (41) corresponding to the connecting shaft (42) connected to the first link (45) and the clamping arms (41) corresponding to the connecting shaft (42) connected to the third link (47) are in a diagonal position.

6. A positioning camera device for acquiring wheel hub images according to claim 4, characterized in that, The clamping arm (41) is provided with a vertically arranged cylindrical clamping wheel (48) at the end away from the gear (44); the clamping wheel (48) is rotatably arranged with the clamping arm (41).

7. A positioning camera device for acquiring wheel hub images according to claim 1, characterized in that, It also includes a barrier structure (5), which is disposed at one end of the transmission structure (3) that is fed into the hub.

8. A positioning camera device for acquiring wheel hub images according to claim 7, characterized in that, The barrier structure (5) includes a barrier plate (51) that can be raised and lowered.

9. A positioning camera device for acquiring wheel hub images according to claim 8, characterized in that, The barrier structure (5) also includes a second cylinder (52) and a barrier frame (53). One end of the second cylinder (52) is fixedly mounted on the barrier frame (53), and the other end of the second cylinder (52) is fixedly connected to the barrier plate (51).

10. A positioning camera device for acquiring wheel hub images according to claim 9, characterized in that, A sliding structure (54) with sliding fit is also provided between the barrier plate (51) and the barrier frame (53).

Images