U.S. patent application number 16/266870 was filed with the patent office on 2019-10-17 for device for removing valve hole sealing substitute from hub.
The applicant listed for this patent is CITIC DICASTAL CO., LTD. Invention is credited to Zhipeng Li, Chunhai Liu, Jinqi Lyu, Yongning Wang, Zhigao Yin, Zhihua Zhu.
Application Number | 20190316984 16/266870 |
Document ID | / |
Family ID | 62746386 |
Filed Date | 2019-10-17 |
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United States Patent
Application |
20190316984 |
Kind Code |
A1 |
Lyu; Jinqi ; et al. |
October 17, 2019 |
DEVICE FOR REMOVING VALVE HOLE SEALING SUBSTITUTE FROM HUB
Abstract
A device for removing a valve hole sealing substitute from a hub
includes an industrial camera, a removal manipulator, a rotary
encoder, a rotary spindle, a processor, a frame and a console,
wherein the console is installed on the frame, the console is
connected to a production line by a roller bed, a color
identification camera and the industrial camera are respectively
installed on the frame and aligned with the console, the rotary
spindle is installed below the console and configured to drive the
hub above the console to rotate, and the removal manipulator is
arranged above the console. The device and method solve the problem
of relying on personnel to remove the valve hole sealing
substitute, improve the labor productivity, and improve the
automation of the hub production process.
Inventors: |
Lyu; Jinqi; (Qinhuangdao,
CN) ; Li; Zhipeng; (Qinhuangdao, CN) ; Yin;
Zhigao; (Qinhuangdao, CN) ; Wang; Yongning;
(Qinhuangdao, CN) ; Zhu; Zhihua; (Qinhuangdao,
CN) ; Liu; Chunhai; (Qinhuangdao, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
CITIC DICASTAL CO., LTD |
Qinhuangdao |
|
CN |
|
|
Family ID: |
62746386 |
Appl. No.: |
16/266870 |
Filed: |
February 4, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60B 25/22 20130101;
G01M 3/00 20130101; G01M 3/022 20130101; B60B 29/00 20130101; G01B
11/002 20130101; B60C 25/18 20130101 |
International
Class: |
G01M 3/02 20060101
G01M003/02; G01B 11/00 20060101 G01B011/00 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 29, 2018 |
CN |
201810271124.1 |
Claims
1. A device for removing a valve hole sealing substitute from a
hub, comprising: an industrial camera, a removal manipulator, a
rotary spindle, a frame and a console, wherein the console is
installed on the frame, the console is connected to a production
line by a roller bed, a color identification camera and the
industrial camera are respectively installed on the frame and
aligned with the console, the rotary spindle is installed below the
console and configured to drive the hub above the console to
rotate, and the removal manipulator is arranged above the
console.
2. The device for removing a valve hole sealing substitute from a
hub according to claim 1, wherein the rotating spindle is
configured to drive the hub to rotate, the industrial camera is
configured to take a photo from a front of the hub and transmit the
photo to a processor, and the processor is configured to identify
the valve hole sealing substitute from the photo, record a position
of the valve hole sealing substitute on a wheel, and calculate a
difference of positions of the removal manipulator and the valve
hole sealing substitute on the wheel; the rotating spindle drives
the wheel to rotate so that the positions of the removal
manipulator and the valve hole sealing substitute are superposed;
and the removal manipulator is configured to remove the valve hole
sealing substitute from the position, recorded by the processor, of
the valve hole sealing substitute on the wheel.
3. The device for removing a valve hole sealing substitute from a
hub according to claim 1, wherein the device further comprises: a
laser ranging sensor, and the laser ranging sensor and the color
identification camera are respectively arranged behind the removal
manipulator and configured to be in data connection with the
processor.
4. The device for removing a valve hole sealing substitute from a
hub according to claim 1, wherein the valve hole sealing substitute
has a black surface.
5. The device for removing a valve hole sealing substitute from a
hub according to claim 1, further comprising: a rotary encoder in
data connection with the processor and calculate a phase angle of
the valve hole sealing substitute on the wheel according to the
photo and a measurement result of the laser ranging sensor.
6. The device for removing a valve hole sealing substitute from a
hub according to claim 1, wherein the removal manipulator is
controlled by servo drive and configured to move forward and
backward, up and down.
7. The device for removing a valve hole sealing substitute from a
hub according to claim 1, wherein the removal manipulator is
configured to release the valve hole sealing substitute after the
valve hole sealing substitute is removed.
Description
CROSS REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to Chinese Patent
Application No. 201810271124.1, entitled DEVICE FOR REMOVING VALVE
HOLE SEALING SUBSTITUTE FROM HUB and filed on Mar. 29, 2018, which
is incorporated herein by reference for all purposes.
FIELD OF THE INVENTION
[0002] The present invention relates to a device and a method for
automatically removing an aluminum alloy hub valve hole sealing
substitute.
BACKGROUND OF THE INVENTION
[0003] Airtightness detection is required after hub machining to
identify airtightness rejects. The valve hole of a hub needs to be
sealed with a valve hole sealing substitute before an airtightness
detection, then the airtightness detection is performed in an
airtightness tester, and the valve hole sealing substitute is
removed after the detection.
[0004] Because the machined aluminum alloy hub is gray, the
position of the black hub valve hole sealing substitute used can be
accurately identified by a color identification camera.
[0005] The previous installation and removal of the valve hole
sealing substitute are completed manually, which belongs to simple
and repeated operation, has the problem of low manual operation
efficiency, and may also cause the phenomenon of missing removal to
increase the production cost. Therefore, it is necessary to design
a device to automatically remove the hub valve hole sealing
substitute so as to improve the production efficiency and reduce
the labor cost.
SUMMARY OF THE INVENTION
[0006] Accordingly, an object of the present invention is to
provide a device for removing a valve hole sealing substitute,
which can automatically and quickly remove the valve hole sealing
substitute after an airtightness detection, thereby reducing the
waiting time of manual operation and avoiding the cost increase
caused by circulation of the valve hole sealing substitute to next
procedure due to misoperation of an operator.
[0007] In order to achieve the above object, the present invention
provides the following technical solution: a device for removing a
valve hole sealing substitute from a hub, comprising an industrial
camera, a removal manipulator, a rotary encoder, a rotary spindle,
a processor, a frame and a console, wherein the console is
installed on the frame, the console is connected to a production
line by a roller bed, a color identification camera and the
industrial camera are respectively installed on the frame and
aligned with the console, the rotary spindle is installed below the
console and configured to drive the hub above the console to
rotate, and the removal manipulator is arranged above the
console.
[0008] The rotating spindle is configured to drive the hub to
rotate, the industrial camera is configured to take a photo from
the front of the hub and transmit the photo to the processor, and
the processor is configured to identify the valve hole sealing
substitute from the photo, record the position of the valve hole
sealing substitute on the wheel, and calculate the difference of
the positions of the removal manipulator and the valve hole sealing
substitute on the wheel; the rotating spindle drives the wheel to
rotate so that the positions of the removal manipulator and the
valve hole sealing substitute are superposed; and the removal
manipulator is configured to remove the valve hole sealing
substitute from the position, recorded by the processor, of the
valve hole sealing substitute on the wheel.
[0009] The device further comprises a laser ranging sensor, and the
laser ranging sensor and the color identification camera are
respectively arranged behind the removal manipulator and configured
to be in data connection with the processor.
[0010] The valve hole sealing substitute has a black surface.
[0011] The device further comprises a rotary encoder, which is
configured to be in data connection with the processor and
accurately calculate the phase angle of the valve hole sealing
substitute on the wheel according to the photo and the measurement
result of the laser ranging sensor.
[0012] The removal manipulator is controlled by servo drive and
configured to move forward and backward, up and down.
[0013] The removal manipulator is configured to release the valve
hole sealing substitute after the valve hole sealing substitute is
removed.
[0014] In other aspect of the present invention, further provided
is a method for removing a valve hole sealing substitute from a hub
using the device described above, the method comprising the steps:
(1) a roller bed of a production line conveying the hub to a
console, the industrial camera taking a photo from the front of the
hub and transmitting the photo to the processor, and the processor
identifying the valve hole sealing substitute from the photo,
recording the position of the valve hole sealing substitute on the
wheel, and calculating the difference of the positions of the
removal manipulator and the valve hole sealing substitute on the
wheel; (2) the rotating spindle driving the wheel to rotate so that
the positions of the removal manipulator and the valve hole sealing
substitute are superposed; and (3) the removal manipulator removing
the valve hole sealing substitute from the position, recorded by
the processor, of the valve hole sealing substitute on the
wheel.
[0015] In a preferred aspect of the present invention, in step 1,
the method further comprises a step of accurately calculating the
phase angle of the valve hole sealing substitute on the wheel
according to the photo and the measurement result of the laser
ranging sensor.
[0016] The technical solution of the present invention has the
following advantages:
[0017] (1) The device can realize a rough positioning function on
the hub and the valve hole sealing substitute by adopting the
industrial camera as a detecting element for identification and
positioning of the hub.
[0018] (2) The device can accurately identify and position the
black valve hole sealing substitute by adopting the color
identification camera.
[0019] (3) The device can realize precise positioning on the valve
hole sealing substitute by adopting the rotary encoder.
[0020] (4) The removal manipulator of the device is controlled by
servo drive, so that the device has the characteristics of fast and
stable operation and accurate and reliable positioning.
[0021] (5) The device can accurately measure the distance between
the valve hole sealing substitute and the removal manipulator by
adopting the laser ranging sensor, thereby providing accurate data
for accurate removal.
[0022] (6) The installation of the collection container can ensure
effective collection of the removed valve hole sealing substitute,
reduce the loss and reduce the procurement cost.
[0023] (7) The device is equipped with a shield, which achieves the
effects of proofing dust, protecting the precision sensor and
effectively isolating light, thereby reducing the influence of
natural light on the camera.
[0024] The device solves the problem of relying on personnel to
remove the valve hole sealing substitute, improves the labor
productivity, and improves the automation of the hub production
process.
BRIEF DESCRIPTION OF THE DRAWING
[0025] FIG. 1 shows a device for automatically removing an aluminum
alloy hub valve hole sealing substitute.
[0026] In which: 1--collection container, 2--laser ranging sensor,
3--color identification camera, 4--removal manipulator, 5--valve
hole sealing substitute, 6--shield, 7--rotary encoder, 8--clamping
spindle, 9--aluminum alloy hub, 10--industrial camera.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Embodiment 1: A Device for Automatically Removing an Aluminum Alloy
Hub Valve Hole Sealing Substitute
[0027] The device for automatically removing an aluminum alloy hub
valve hole sealing substitute will be described in detail below in
combination with the accompanying drawing.
[0028] The device for automatically removing an aluminum alloy hub
valve hole sealing substitute comprises a collection container 1, a
laser ranging sensor 2, a color identification camera 3, a removal
manipulator 4, a valve hole sealing substitute 5, a shield 6, a
rotary encoder 7, a clamping spindle 8, an aluminum alloy hub 9 and
an industrial camera 10.
[0029] According to the device for automatically removing an
aluminum alloy hub valve hole sealing substitute, the hub 9
entering the shield 6 is first positioned by the industrial camera
10, and then the hub 9 is clamped onto the spindle 8.
[0030] The industrial camera 10 begins to identify the valve hole
sealing substitute 5. After the valve hole sealing substitute is
detected, the position of the valve hole sealing substitute on the
wheel is recorded, and the phase difference between the valve hole
sealing substitute 5 and the removal manipulator 4 is
calculated.
[0031] The spindle 8 rotates a phase difference angle calculated by
the rotary encoder 7 installed on the spindle 8, and rough
positioning between the valve hole sealing substitute 5 and the
removal manipulator 4 is completed.
[0032] After the phase angle of the valve hole sealing substitute 5
is roughly positioned, the color identification camera 3 fixedly
installed behind the removal manipulator 4 accurately positions the
black valve hole sealing substitute 5, so that the phase angle of
the valve hole sealing substitute 5 is superposed with the phase
angle of the removal manipulator 4.
[0033] The distance between the black valve hole sealing substitute
5 and the laser ranging sensor 2 is accurately measured by the
laser ranging sensor 2, and the accurate displacement that the
removal manipulator 4 advances is calculated through the distance
parameter, so that the removal manipulator 4 can accurately remove
the black valve hole sealing substitute 5.
[0034] After the removal manipulator 4 removes the black valve hole
sealing substitute 5, the black valve hole sealing substitute 5 is
collected into the container 1 by means of its own weight through
retraction and release, so that the black valve hole sealing
substitute 5 can be reused.
[0035] After the removal operation is completed, the device for
automatically removing an aluminum alloy hub valve hole sealing
substitute is prepared for next removal operation instruction, and
the hub sequentially enters the shield to remove the valve hole
sealing substitute.
Embodiment 2: A Device for Automatically Removing an Aluminum Alloy
Hub Valve Hole Sealing Substitute
[0036] As described in Embodiment 1, when different types of hubs 9
enter the shield 6, each hub runs to the clamping spindle 8, the
shape and size of the outer side of the hub 9 are roughly
identified by the industrial camera 10, and the center hole of the
hub 9 is clamped and positioned after being identified.
[0037] The industrial camera 10 compares the shape of the outer
side of the hub 9 with a database of an industrial computer to
roughly analyze the shape and size of the hub 9, then the black
valve hole sealing substitute 5 is positioned and identified, and
the phase angle difference between the black valve hole sealing
substitute 5 and the removal manipulator 4 is calculated when the
black valve hole sealing substitute 5 is detected. Subsequently,
the clamping spindle 8 drives the hub 9 to rotate the phase angle
difference, the angle of rotation is determined by the rotary
encoder 7, and the longitudinal axes of the black valve hole
sealing substitute 5 and the removal manipulator 4 are superposed
and positioned.
[0038] Then, the black valve hole sealing substitute 5 is
accurately positioned by the color identification camera 3, and the
spatial position of the black valve hole sealing substitute 5 is
transmitted to the removal manipulator 4. The laser ranging sensor
2 feeds accurate distance data back to the removal manipulator 4,
so that the removal manipulator 4 can accurately remove the black
valve hole sealing substitute 5 from the hub 9 under the servo
drive control.
[0039] The device can be applied to hubs having the diameters of 12
to 24 inches. For example, before the device for automatically
removing an aluminum alloy hub valve hole sealing substitute works,
the position where the removal manipulator 4 is located is set to a
0.degree. phase angle. The industrial camera 10 measures the
diameter of the hub 9 to be 18 inches, then begins to identify the
position of the black valve hole sealing substitute 5 on the hub 9,
and calculates the phase angle difference which should be 0.degree.
to 180.degree.. According to the phase angle difference, the
clamping spindle 8 drives the hub 9, and the rotary encoder 7
calculates the angle so that the rotation angle is equal to the
phase angle difference. At this time, the positions of the removal
manipulator 4 and the black valve hole sealing substitute 5 are
substantially superposed, and then the color identification camera
3 performs precise positioning to ensure that the black valve hole
sealing substitute 5 can be accurately removed. According to the
actual production situation, the device can remove 900 black valve
hole sealing substitutes 5 in one hour, which completely meets the
requirements of the production line, the success rate of removal is
as high as 99.99%, and almost no substitute is missing. By actual
production verification, the device can completely replace manual
operation, and missing removal due to human omission is therefore
avoided.
* * * * *