CN108436281B - Full-automatic identification device and method for hub - Google Patents
Full-automatic identification device and method for hub Download PDFInfo
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- CN108436281B CN108436281B CN201810259091.9A CN201810259091A CN108436281B CN 108436281 B CN108436281 B CN 108436281B CN 201810259091 A CN201810259091 A CN 201810259091A CN 108436281 B CN108436281 B CN 108436281B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007306 turnover Effects 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000007648 laser printing Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000007639 printing Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/083—Devices involving movement of the workpiece in at least one axial direction
- B23K26/0838—Devices involving movement of the workpiece in at least one axial direction by using an endless conveyor belt
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/083—Devices involving movement of the workpiece in at least one axial direction
- B23K26/0853—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane
- B23K26/0861—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane in at least in three axial directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
Abstract
The invention discloses a full-automatic wheel hub identification device and method convenient to use, wherein the full-automatic wheel hub identification device comprises a roller way, a first pre-identification device, a second pre-identification device, a first wheel hub turning device, a second wheel hub turning device and a six-axis manipulator, wherein the roller way is used for transporting a wheel hub to be identified, the first pre-identification device and the first wheel hub turning device are arranged on one side of the six-axis manipulator, and the second pre-identification device and the second wheel hub turning device are symmetrically arranged on the other side of the six-axis manipulator; the equipment is safe, reliable and convenient to use, has high automation degree, high working efficiency, low failure rate and high accuracy, greatly reduces the cost of using manpower, brings great economic benefit for factories and has wide application prospect.
Description
Technical Field
The invention relates to a full-automatic hub identification method, in particular to a method for printing unique identification of each hub on a hub by laser aiming at the hub after machining and forming.
The invention also relates to a full-automatic hub identification device for realizing the full-automatic hub identification method, which is used for positioning and printing the identification.
Background
In the hub processing process, each hub needs a unique identification number which is similar to the identification number of a person, and the identification number of each hub is unique, so that on one hand, the hub can be conveniently distinguished, and on the other hand, when the hub has a quality problem, the production process of the hub can be tracked, and the root cause of the quality problem can be conveniently and rapidly found; in the production line production process, factories can produce hubs of different types, the number of hubs of each type is different, the printing positions of the hub identification numbers of different types are also different, the previous manual operation efficiency is low, the failure rate is high, the position printing is not uniform, and the follow-up unified tracking management is difficult to realize.
The inventor submits the invention patent named as a hub type identification device and a hub identification traceability management system before, and aims to identify and mark hubs on a production line one by one reliably and carry out whole-course traceability management in the follow-up production process and the whole hub life cycle; although the disclosed invention discloses that a machine code feature recognition device similar to a machine vision unit can be configured in a positioning and clamping device, the recognition of the automobile hub can be directly generated in different directions, and the method specifically comprises the following steps: the features of the hub are all contained in the forward direction of the hub bottom surface, the reverse direction of the hub bottom surface and the lateral direction of the hub, and are well known to the skilled in the art, but the technical scheme for identifying the automobile hub in different directions is not given, in other words, the scheme for identifying the features in different positions is not given, the accuracy of equipment identification is not realized by adding identification features, the capability of realizing the accuracy of equipment identification by adding the identification features does not exist in the clamping and positioning device, and the universal fixture capable of realizing the shape exchange of the placement of the hubs has not been successfully designed.
Disclosure of Invention
The invention aims to overcome the defects, and provides the full-automatic hub identification device and the full-automatic hub identification method which are convenient to use, so that the error rate of manual identification printing is reduced, the efficiency of identification number printing in factories is improved, and the accuracy of hub identification is improved.
The invention aims to realize the full-automatic identification method of the hub by the following technical scheme, which comprises the following steps: the laser altimeter is used for measuring the height of the hub, the measured height plus positive and negative deviation values are in a height range, the positive and negative deviation can be set manually, related image data information is called according to the height range, and the related image data information is hub image data in the height range selected from a database; taking a picture of the hub by using a camera in the pre-recognition device, and comparing the picture with the related hub image data information determined in the first step, so as to further reduce the range of the related image data information; the hub turnover device descends to the height position of the hub, clamps the hub, lifts the hub, turns over the hub by 180 degrees, the camera photographs the inner flange of the hub, and the inner flange photograph is compared with the related image data information determined in the second step to determine the final model of the hub. As an improvement of the full-automatic identification method of the hub, the determination of the hub type comprises, but is not limited to, taking characteristic points at the positions, photographing the whole hub side, and re-identifying according to the inherent characteristics of the hub side such as a valve mouth and the like or the added mark characteristics of the hub side as a method for comparing and confirming information; the software measures the pixel coordinates of the target point and the origin point in the inner flange photo, and determines physical coordinates according to the pixel coordinates; the laser displacement sensor measures the height of the six-axis manipulator, the laser moves to the position above the target point according to the physical coordinate position determined in the fourth step, and the laser prints the mark after adjusting the height according to the focal length.
In order to realize the full-automatic identification method of the wheel hub, the full-automatic identification device of the wheel hub comprises a roller way, a first pre-identification device, a second pre-identification device, a first wheel hub turning device, a second wheel hub turning device and a six-axis manipulator, wherein the roller way is used for transporting the wheel hub to be identified, the first pre-identification device and the first wheel hub turning device are arranged on one side of the six-axis manipulator, and the second pre-identification device and the second wheel hub turning device are symmetrically arranged on the other side of the six-axis manipulator; the symmetrical arrangement layout method on the two sides of the six-axis manipulator is a special equipment layout design, so that the working efficiency is improved, the first pre-recognition device and the second pre-recognition device work alternately, and the first hub turning device and the second hub turning device work alternately, so that the working efficiency is improved, the first pre-recognition device and the second pre-recognition device can be the same equipment, and the first hub turning device and the second hub turning device can be the same equipment; the first pre-recognition device comprises a first frame, a first light source and a first camera which are arranged at the upper end of the first frame, a first height finding grating which is arranged on the side face of the first frame, and a first industrial processor, wherein the first height finding grating is used for finding the height of the hub by the laser height finding instrument in the first step and is used for reducing the range of matching data for the first time.
In the wheel hub full-automatic identification device, the first pre-identification device, the second pre-identification device, the first wheel hub overturning device and the second wheel hub overturning device work simultaneously, so that the working efficiency of the wheel hub full-automatic identification device is improved, the first pre-identification device, the second pre-identification device and the first pre-identification device are used for completing primary identification of the wheel hub, including laser ranging identification and photographing identification, the range of the wheel hub which is highly matched with the wheel hub to be detected is reduced step by step to serve as the range of matching data for the second time; the wheel hub turnover device comprises a first wheel hub turnover device, a second wheel hub turnover device and a wheel hub, wherein the wheel hub turnover device is used for completing the wheel hub turnover, a wheel spoke is arranged at the upper end of the wheel hub body when the wheel hub is conveyed from a roller way, an inner flange plate faces downwards, the wheel hub turnover device is used for lifting the wheel hub to a certain height and then turning over the wheel hub, the purpose of lifting the wheel hub to a certain height is to prevent the wheel hub from colliding with the roller way during the turnover, equipment damage is caused, and the lifted height can be set according to requirements.
As preferable: the first hub turnover device comprises an L-shaped support and a pneumatic clamping device, wherein the pneumatic clamping device is arranged on the L-shaped support through a lifting device, the lifting device is used for lifting a hub to a certain height, the pneumatic clamping device comprises a left clamping arm and a right clamping arm which are connected through a cylinder, the left clamping arm and the right clamping arm are driven by the cylinder to jointly act to clamp the hub, a left clamping jaw is arranged on the left clamping arm through a stepping motor, a right clamping jaw is arranged on the right clamping arm through the stepping motor, the stepping motor is used for turning the left clamping jaw or the right clamping jaw by 180 degrees, the hub is convenient to turn, and an inner flange plate is photographed after the hub is turned.
As preferable: the left clamping jaw comprises a first U-shaped wall, a first left rotating wheel and a first right rotating wheel which are arranged at two ends of the first U-shaped wall, the right clamping jaw comprises a second U-shaped wall, a second left rotating wheel and a second right rotating wheel which are arranged at two ends of the second U-shaped wall, the left clamping jaw and the right clamping jaw are specially designed for clamping hubs, the first U-shaped wall is a supporting arm, the first left rotating wheel and the first right rotating wheel can rotate, the second U-shaped wall is a supporting arm, the second left rotating wheel and the second right rotating wheel can rotate, hubs with any size can be clamped through the first left rotating wheel, the first right rotating wheel, the second left rotating wheel and the second right rotating wheel on the left clamping jaw, the design achieves a general effect in the aspect of clamping hubs, in addition, the clamping effect is good, the damage to the hubs is small, the positioning is accurate, the central connecting line of the first left rotating wheel, the first right rotating wheel, the second left rotating wheel and the second right rotating wheel coincides with the center of the wheel hub, the upper edge of the wheel hub is round, when the heights of the first left rotating wheel, the first right rotating wheel, the second left rotating wheel and the second right rotating wheel are adjusted, the first left rotating wheel, the first right rotating wheel and the first right rotating wheel shrink towards the second left rotating wheel and the second right rotating wheel to clamp the wheel hub, the clamping method is suitable for the wheel hubs with different diameters, the first left rotating wheel, the first right rotating wheel, the second left rotating wheel and the second right rotating wheel comprise rotating wheels, when the first rotating wheel contacts the wheel hub, the rotating wheels rotate continuously, thereby reducing the damage of the contact part of the clamp and the wheel hub to the wheel hub in the clamping process, as the common sense that the collision damage of the wheel hub is always particularly required to be avoided in the process of the common sense of taking measures, the lifting device has the effect of lifting the wheel hub to a certain height, therefore, the interference between the hub and the roller way in the overturning process is avoided, the hub is damaged, and the clamp can be used in different working sections for clamping, overturning, shifting and other operations on the hub.
As preferable: the roller under the first wheel hub turning device is provided with a first centering device, the roller under the second wheel hub turning device is provided with a second centering device, the first centering device is used for ensuring that the wheel hub is positioned in the center of the roller way when being clamped, the center position of the centering device is arranged at the origin of coordinates, two clamping jaws of the centering device are driven by a cylinder and are connected in a rack mode, so that synchronous clamping is realized, because the position of the wheel hub is uncertain when the wheel hub is transported from the roller way, but the wheel hub is required to be positioned at a specific position point when the wheel hub is clamped by the first wheel hub turning device, and the centering device is used for positioning the wheel hub transported from the roller way to the specific position point.
As preferable: the centering device comprises a first centering pushing handle and a second centering pushing handle which are driven by an air cylinder, the first centering pushing handle and the second centering pushing handle are connected in a matched mode through a gear rack, the first centering pushing handle comprises two stand columns, the second centering device comprises two stand columns, the four stand columns synchronously stretch towards the middle of a roller way under the action of the air cylinder, a hub to be tested is positioned in the center of the roller way, the origin of centering is achieved, and centering precision is guaranteed.
As preferable: the six-axis manipulator is provided with a laser displacement sensor, an industrial camera and a laser printing device, the three devices of the laser displacement sensor, the industrial camera and the laser printing device are alternately switched to meet different use requirements, and the coordinate positions of the three devices are the same.
The method is characterized in that the roller tables comprise a horizontal first roller table, a horizontal second roller table, a horizontal third roller table, a horizontal fourth roller table, a vertical first roller table and a vertical second roller table, the directions of the numbers of the first, second, third and fourth roller tables, which are close to a visualizer, in a schematic diagram are small numbers, the directions of the numbers of the rollers, which are far away from the visualizer, are large numbers, one end of each of the horizontal first roller table, the horizontal second roller table, the horizontal third roller table and the horizontal fourth roller table is connected with the vertical second roller table, one end of the vertical first roller table is connected with the horizontal second roller table, the other end of the vertical first roller table is connected with the horizontal fourth roller table, the roller table at least comprises one photoelectric switch, the order of the photoelectric switches is programmed in advance, when the photoelectric switches of the rear channel are vacant, the roller tables of the front channel rotate, the wheel hubs are transported to the rear channel, the wheel hubs are guaranteed to be processed at the position of each photoelectric switch, and the wheel hubs flow through the roller tables according to the preset order, and the design of the roller tables achieves efficient operation and high accuracy of the wheel hubs.
The invention has the following advantages: according to the invention, the hub is identified by the laser height measurement and photographing identification method, the defect that the accuracy of direct photographing is low and even unrecognizable is reduced, the identification process comprises photographing the whole appearance of the hub twice, namely photographing the whole appearance of the hub and photographing the inner flange, so that the accuracy of identification is further improved, and the equipment accuracy is high; the device not only completes the accurate identification of the hub, but also is provided with a universal clamp, laser height measurement data are used on the first hub turning device, the hub is turned after being accurately clamped, and the left clamping jaw and the right clamping jaw on the clamping wall are suitable for hubs with different sizes; the centering device matched with the first hub turning device is used for realizing accurate positioning of the hub on the roller way, so that the positioning precision is further improved; the equipment is safe, reliable and convenient to use, has high automation degree, high working efficiency, low failure rate and high accuracy, greatly reduces the cost of using manpower, brings great economic benefit for factories and has wide application prospect.
Description of the drawings:
Fig. 1 is a schematic structural view of the full-automatic identification device for the hub.
Fig. 2 is a schematic structural diagram II of the full-automatic identification device for the hub.
Fig. 3 is a schematic structural diagram of a first pre-recognition device of the hub full-automatic identification device.
Fig. 4 is a schematic structural diagram II of a first pre-recognition device of the hub full-automatic identification device.
Fig. 5 is a schematic structural diagram of a first hub turning device of the hub full-automatic identification device.
Fig. 6 is a second schematic structural diagram of a first hub turning device of the hub full-automatic identification device.
In the figure: 1: roller way, 2: first pre-recognition means, 3: second pre-recognition means, 4: first wheel hub turning device, 5: second wheel hub turning device, 6: six-axis mechanical arm, 7: the first centering device comprises a first transverse roller way 11, a second transverse roller way 12, a third transverse roller way 13, a fourth transverse roller way 14, a first longitudinal roller way 21, a second longitudinal roller way 22 and a third transverse roller way 2-1: first frame, 2-2: first light source, 2-3: the first camera, 2-4, the first altimeter grating, 2-5, the first industrial processor, 4-1: 4-2 parts of L-shaped brackets, 4-3 parts of pneumatic clamping devices, 4-4 parts of clamping left arms, 4-4 parts of clamping right arms, 4-5 parts of left clamping jaws, 4-6 parts of right clamping jaws, 4-7 parts of first U-shaped walls, 4-8 parts of first left rotating wheels, 4-9 parts of first right rotating wheels, 7-1 parts of first centering pushing hands and 7-2 parts of second centering pushing hands.
The specific embodiment is as follows:
In order to enhance the understanding of the present invention, the following description will describe the full-automatic identification device and method for a hub of the present invention in more detail with reference to the examples and the accompanying drawings, which are only for explaining the present invention and are not to be construed as limiting the scope of the present invention.
The full-automatic identification method of the hub is realized through the following steps:
(1) The laser altimeter is used for measuring the height of the hub, the measured height plus positive and negative deviation values are used as a height range, and related image data information is called according to the height range; the preferred scheme is that the measured height of the hub is 38cm, the measured height is 38cm plus positive and negative deviation is 2cm, namely the height range is 36-40 cm, related image data information is called according to the height range, all the image data information of the hub with the height in the range of 36-40 cm is called, and the image data information of a total of 5 hubs is called;
(2) Taking a picture of the hub by using a camera in the pre-recognition device, and comparing the taken picture with the related image data information determined in the first step, so as to further reduce the range of the related image data information; as a preferred scheme, the photographed picture is compared with the image data information of the 5 hubs determined in the first step, and only the image data information of the two hubs is matched with the hub to be tested after comparison;
(3) The hub turnover device descends to the height position of the hub, clamps the hub, lifts the hub, turns the hub by 180 degrees, the camera photographs the inner flange of the hub, the inner flange photographs are compared with the two related image data information of the hub determined in the second step, and the final model of the hub is determined;
(4) The software measures the pixel coordinates of the target point and the origin point in the inner flange photo, the physical coordinates are determined according to the pixel coordinates, the distance from the camera in the pre-recognition device to the hub is fixed, the distance between the target point of the hub and the origin point is also fixed, the conversion relation between the pixel coordinates and the physical coordinates of each hub is unique, the pixel coordinates are obtained through software calculation, and the physical coordinates are determined according to the pixel coordinates;
(5) The laser displacement sensor measures the height of the six-axis manipulator, the coordinate origin of the laser displacement sensor is the same as the coordinate origin of the laser, the laser moves to the position above the target point according to the physical coordinate position determined in the fourth step, the focal distances of the laser are different when different fonts are printed, the height of the laser origin, the height of the hub and the height of the laser needed when printing are known, and the laser performs printing identification after adjusting the heights according to the three known heights.
The invention discloses a full-automatic wheel hub identification device for realizing the full-automatic wheel hub identification method, which is shown in fig. 1 and 2, wherein fig. 3 and 4 show structural schematic diagrams of a first pre-identification device, fig. 5 and 6 show structural schematic diagrams of a first wheel hub turning device, the full-automatic wheel hub identification device comprises a roller way 1, the first pre-identification device 2, a second pre-identification device 3, a first wheel hub turning device 4, a second wheel hub turning device 5 and a six-axis manipulator 6, the roller way 1 is used for transporting a wheel hub to be identified, the first pre-identification device 2 and the first wheel hub turning device 4 are arranged on one side of the six-axis manipulator 6, and the second pre-identification device 3 and the second wheel hub turning device 5 are symmetrically arranged on the other side of the six-axis manipulator 6; the symmetrical arrangement of the two sides of the six-axis mechanical arm 6 is a special equipment layout design, so that the working efficiency is improved, the first pre-recognition device 2 and the second pre-recognition device 3 are the same equipment, and the first hub turning device 4 and the second hub turning device 5 are the same equipment; the first pre-recognition device comprises a first frame 2-1, a first light source 2-2 and a first camera 2-3 which are arranged at the upper end of the first frame 2-1, a first height finding grating 2-4 and a first industrial processor 2-5 which are arranged on the side face of the first frame 2-1, wherein the first height finding grating 2-4 is used for carrying out height finding on a wheel hub by a laser height finding instrument in the first step; the first hub turnover device 4 comprises an L-shaped bracket 4-1 and a pneumatic clamping device 4-2, wherein the pneumatic clamping device 4-2 is arranged on the L-shaped bracket 4-1 through a screw rod, the pneumatic clamping device 4-2 comprises a left clamping arm 4-3 and a right clamping arm 4-4 which are connected through a cylinder, a left clamping jaw 4-5 is arranged on the left clamping arm through a stepping motor, and a right clamping jaw 4-6 is arranged on the right clamping arm through a stepping motor; the left clamping jaw 4-5 comprises a U-shaped wall 4-7, a first left rotating wheel 4-8 and a first right rotating wheel 4-9 which are arranged at two ends of the U-shaped wall; the right clamping jaw comprises a second U-shaped wall, a second left rotating wheel and a second right rotating wheel which are arranged at two ends of the second U-shaped wall; a first centering device 7 is arranged on the roller below the first wheel hub turning device 4, and a second centering device is arranged on the roller below the second wheel hub turning device; the first centering device comprises a first centering pushing hand 7-1 and a second centering pushing hand 7-2 which are driven by an air cylinder, and the first centering pushing hand and the second centering pushing hand are in matched connection in a gear-rack mode; the six-axis manipulator is provided with a laser displacement sensor, an industrial camera and a laser printing device; the roller way comprises a horizontal first roller way, a horizontal second roller way, a horizontal third roller way, a horizontal fourth roller way, a vertical first roller way and a vertical second roller way, the directions of the numbers of the first, second, third and fourth are small numbers in the directions close to the visualizer in the schematic diagram, the directions far away from the visualizer are large numbers, one end of each of the horizontal first roller way, the horizontal second roller way, the horizontal third roller way and the horizontal fourth roller way is connected with the vertical second roller way, one end of the vertical first roller way is connected with the horizontal second roller way, the other end of the vertical first roller way is connected with the horizontal fourth roller way, the roller way at least comprises one photoelectric switch, the sequence of the photoelectric switch is programmed in advance, when the photoelectric switch at the back is empty, the roller way at the position of the front photoelectric switch rotates, the wheel hubs are transported to the back, and the wheel hubs are all to be treated at the photoelectric switch positions are guaranteed by analogy in sequence which is preset to flow through each roller way.
The above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, as variations, modifications, additions or substitutions within the spirit and scope of the invention as disclosed in the accompanying claims.
Claims (6)
1. A full-automatic identification method of a hub comprises the following steps:
The first step: the laser altimeter is used for measuring the height of the hub, the measured height plus positive and negative deviation values are used as a height range, and related image data information is called according to the height range;
And a second step of: taking a picture of the hub by using a camera in the pre-recognition device, and comparing the taken picture with the related image data information determined in the first step, so as to further reduce the range of the related image data information;
And a third step of: the hub turnover device descends to the height position of the hub, clamps the hub, lifts the hub, turns over the hub by 180 degrees, the camera photographs the inner flange of the hub, and the inner flange photographs are compared with the related image data information determined in the second step to determine the final model of the hub;
Fourth step: the software measures the pixel coordinates of the target point and the origin point in the inner flange photo, and determines physical coordinates according to the pixel coordinates;
Fifth step: the laser displacement sensor measures the height of the six-axis manipulator, the laser moves to the position above the target point according to the physical coordinate position determined in the fourth step, and the laser prints the mark after adjusting the height according to the focal length;
the full-automatic identification device for the hub for realizing the full-automatic identification method of the hub comprises the following steps: the device comprises a roller way (1), a first pre-recognition device (2), a second pre-recognition device (3), a first wheel hub turning device (4), a second wheel hub turning device (5) and a six-axis manipulator (6), wherein the first pre-recognition device (2) and the first wheel hub turning device (4) are arranged on one side of the six-axis manipulator, and the second pre-recognition device (3) and the second wheel hub turning device (5) are symmetrically arranged on the other side of the six-axis manipulator;
The first pre-recognition device (2) comprises a first frame (2-1), a first light source (2-2) and a first camera (2-3) which are arranged at the upper end of the first frame, a first height finding grating (2-4) which is arranged on the side surface of the first frame, and a first industrial processor (2-5);
The roller way comprises a horizontal first roller way (11), a horizontal second roller way (12), a horizontal third roller way (13), a horizontal fourth roller way (14), a vertical first roller way (21) and a vertical second roller way (22), wherein one end of each of the horizontal first roller way (11), the horizontal second roller way (12), the horizontal third roller way (13) and the horizontal fourth roller way (14) is connected with the vertical first roller way (21), one end of the vertical second roller way (22) is connected with the horizontal first roller way (11), the other end of the vertical second roller way is connected with the horizontal third roller way (13), the roller way at least comprises one photoelectric switch, the sequence of the photoelectric switches is programmed in advance, when the photoelectric switches of the back channel are vacant, the roller way at the photoelectric switch of the front channel rotates, the wheel hub is transported to the back channel, and the wheel hub is guaranteed to be treated at each photoelectric switch, and the wheel hub flows through each roller way according to the preset sequence;
the first pre-recognition device (2) and the second pre-recognition device (3) are the same equipment, and the first hub turning device (4) and the second hub turning device (5) are the same equipment.
2. The method for fully automatically identifying a hub according to claim 1, wherein: the first hub turnover device (4) comprises an L-shaped support (4-1) and a pneumatic clamping device (4-2), the pneumatic clamping device (4-2) is arranged on the L-shaped support (4-1) through a lifting device, the pneumatic clamping device (4-2) comprises a left clamping arm (4-3) and a right clamping arm (4-4) which are connected through an air cylinder, a left clamping jaw (4-5) is arranged on the left clamping arm through a stepping motor, and a right clamping jaw (4-6) is arranged on the right clamping arm (4-4) through a stepping motor.
3. The method for fully automatically identifying a hub according to claim 2, wherein: the left clamping jaw (4-5) comprises a first U-shaped wall (4-7), a first left rotating wheel (4-8) and a first right rotating wheel (4-9) which are arranged at two ends of the first U-shaped wall; the right clamping jaw (4-6) comprises a second U-shaped wall, a second left rotating wheel and a second right rotating wheel which are arranged at two ends of the second U-shaped wall.
4. The full-automatic identification method of a hub according to any one of claims 1 or 2, wherein: the roller below the first wheel hub turning device is provided with a first centering device (7), and the roller below the second wheel hub turning device is provided with a second centering device.
5. The method for fully automatically identifying a hub according to claim 4, wherein: the first centering device comprises a first centering pushing hand (7-1) and a second centering pushing hand (7-2) which are driven by an air cylinder, and the first centering pushing hand and the second centering pushing hand are connected in a matched mode through a gear and rack mode.
6. The method for fully automatically identifying a hub according to claim 2, wherein: and the six-axis manipulator is provided with a laser displacement sensor, an industrial camera and a laser printing device.
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| CN109108976A (en) * | 2018-09-10 | 2019-01-01 | 滨州戴森车轮科技有限公司 | A kind of full-automatic identification device of wheel hub and wheel hub automatic identifying method |
| CN109590613A (en) * | 2019-01-14 | 2019-04-09 | 江苏益尔机电有限公司 | Full-automatic tire laser code burner |
| CN109598263B (en) * | 2019-01-17 | 2023-08-25 | 秦皇岛信越智能装备有限公司 | Aluminum wheel type recognition mechanism based on two-dimension code |
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| CN110280492A (en) * | 2019-07-15 | 2019-09-27 | 长沙戴湘汽配科技有限公司 | A kind of wheel hub sorting statistical system and method based on image recognition |
| CN110530260A (en) * | 2019-08-28 | 2019-12-03 | 中信戴卡股份有限公司 | A kind of wheel online recognition Measurement & automation system |
| CN111098316B (en) * | 2020-01-07 | 2023-09-15 | 秦皇岛信越智能装备有限公司 | Laser recording and reading equipment and method for two-dimension codes on surface of hub |
| CN114211129A (en) * | 2022-01-06 | 2022-03-22 | 深圳市弗莱博自动化设备有限公司 | Laser marking machine |
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