阅读说明：本技术 一种轮毂码垛装置及方法 (Hub stacking device and method ) 是由 陈建伟 马志英 刘鑫焱 周成 胡斌 张明旭 遇言 杨兴 徐佐 武汉琦 肖长存 于 2020-12-28 设计创作，主要内容包括：本发明属于铝合金轮毂转运技术领域,提供了一种轮毂码垛装置及方法,包括送料辊道、控制单元、搬运机器人和矩形拍子,所述送料辊道上设置有摄像头支架、摄像头、取料顶升组件,所述摄像头可以拍摄所述轮毂图像,所述控制单元根据所述轮毂图像计算出所述轮毂需要旋转的角度,所述取料顶升组件将所述送料辊道上的轮毂顶升并旋转一定的角度,所述搬运机器人不改变轮毂的气门孔方向将所述轮毂拾取至所述矩形拍子上的对应的编号位置,这样码垛的轮毂的气门孔均朝外,并且靠近拍子的边缘,汽车制造厂的工作人员无需费时寻找气门孔,只需要站在拍子边缘,自上而下就能够完成每层轮毂气门的安装,气门安装方便,节约时间。(The invention belongs to the technical field of aluminum alloy wheel hub transfer, and provides a wheel hub stacking device and a method, which comprises a feeding roller way, a control unit, a carrying robot and a rectangular racket, wherein a camera support, a camera and a material taking jacking assembly are arranged on the feeding roller way, the camera can shoot an image of a wheel hub, the control unit calculates the angle of the wheel hub required to rotate according to the image of the wheel hub, the material taking jacking assembly jacks the wheel hub on the feeding roller way and rotates the wheel hub for a certain angle, the carrying robot picks the wheel hub to the corresponding serial number position on the rectangular racket without changing the direction of a valve hole of the wheel hub, so that the valve holes of the stacked wheel hub are all outward and are close to the edge of the racket, workers in an automobile manufacturing plant do not need to waste time to search for valve holes, and can complete the installation of the valve of each layer of wheel hub from top to bottom only by standing at the edge of, the valve is convenient to install, and the time is saved.)

1. A hub stacking device comprises a feeding roller way, a control unit, a carrying robot and a rectangular racket, wherein a camera support is arranged above a feeding end of the feeding roller way, and a camera with a downward direction is mounted on the camera support;

the material taking jacking assembly comprises jacking cylinder brackets, jacking cylinders, lifting plates, rotating motors, encoders and jacking brackets, two L-shaped jacking cylinder brackets are symmetrically arranged on two sides, perpendicular to the conveying direction, below the discharge end of the feeding roller bed, two jacking cylinders with upward directions are symmetrically arranged on the two jacking cylinder brackets, an upper magnetoelectric switch is arranged at the upper end of a cylinder barrel of one of the jacking cylinders, and a lower magnetoelectric switch is arranged at the lower end of the cylinder barrel; the output ends of the two jacking cylinders are fixedly connected with the lifting plate, a rotating motor is fixed on the lifting plate, the rotating motor is coaxially provided with an encoder, a jacking bracket is fixed at the top of a rotating shaft of the rotating motor, a notch matched with the jacking bracket in shape is formed in the middle of the discharge end of the feeding roller bed, and the jacking bracket is arranged at the notch;

a first laser correlation type photoelectric sensor is arranged on the roller way supports on the two sides of the feeding roller way and behind the camera support; second laser correlation type photoelectric sensors are arranged on the roller way supports on the two sides of the feeding roller way and behind the material taking jacking assembly; the control unit is electrically connected with the camera, the rotating motor, the encoder, the upper magnetoelectric switch, the lower magnetoelectric switch, the electromagnetic valve of the jacking cylinder, the first laser correlation type photoelectric sensor and the second laser correlation type photoelectric sensor;

the transfer robot can pick up the hub to a specified position on the rectangular racket without changing the direction of the valve hole of the hub.

2. The hub stacking device as claimed in claim 1, wherein the feeding roller table comprises a roller table support, long rollers, short rollers, a driving motor and a chain, two rows of short rollers are mounted on two sides of the gap, a row of long rollers is mounted on the roller table support, the short rollers are parallel to the long rollers, chain wheels are arranged on the short rollers and the long rollers, one long roller adjacent to the two rows of short rollers is a double chain wheel, and the two chain wheels of the long roller are connected with the chain wheels of the two short rollers in different adjacent rows through the chain; the chain wheels of the long rollers and the chain wheels of the short rollers are sequentially connected through chains, the output shaft of the driving motor is connected through the chains, the first chain wheel of the long roller is arranged at the feeding end of the feeding roller table, and the driving motor can drive the long rollers and the short rollers to rotate through the matching of the chains and the chain wheels.

3. A hub palletizing device as in claim 1, wherein the jacking carriage comprises at least two cross bars perpendicular to the conveying direction of the feeding roller table and a longitudinal bar passing through the center of the cross bars.

4. The hub stacking device according to claim 1, wherein two jacking cylinder brackets are respectively and fixedly provided with a guide post, the two guide posts are bilaterally symmetrical, two bilaterally symmetrical guide post openings are formed in the lifting plate, vertical guide sleeves are fixedly arranged at the two guide post openings, the two guide sleeves are respectively sleeved on the two guide posts, and top ends of the two guide posts are fixed on a short roller supporting frame of the roller way support.

5. A hub palletising apparatus as claimed in any one of claims 1 to 4, wherein the control unit includes a PLC control module.

6. A hub palletizing method applied to a hub palletizing device as claimed in any one of claims 1 to 5, characterized by comprising the steps of:

the control unit calculates Ɵ the angle by which the hub needs to be rotated clockwise to place the hub at the specified position of the rectangular beat and to bring the valve hole close to the edge of the rectangular beat;

the feeding roller table rotates the hub clockwise by an angle Ɵ;

the carrying robot does not change the direction of the valve hole and picks up the hub to a specified position on the rectangular racket.

7. A hub stacking method according to claim 6, wherein the angle Ɵ is a clockwise angle formed by a connecting line of a valve hole of a current hub and a central point and a preset hub zero-degree datum line; the preset hub zero-degree datum line is a connecting line of a tangent point on the hub, which is closest to the edge of the racket, and the hub center point after the hub is placed on the rectangular racket at the designated position.

8. A hub palletizing method applied to a hub palletizing device as claimed in any one of claims 1 to 5, characterized by comprising the steps of:

the wheel hub is placed from the feeding end of the feeding roller way and conveyed along the feeding roller way;

the hub shields the first laser correlation type photoelectric sensor and triggers the camera to acquire a hub image;

the control unit identifies the hub image and calculates Ɵ the angle by which the hub is currently placed at the specified position of the rectangular beat and the valve hole needs to be rotated clockwise to be close to the edge of the rectangular beat;

the hub shields the second laser correlation photoelectric sensor, the feeding roller way stops conveying the hub, the piston rods of the two jacking cylinders simultaneously rise to the top end, and the control unit receives a trigger signal of the upper magnetoelectric switch and triggers the rotating motor to rotate clockwise by an angle Ɵ;

the carrying robot picks up the wheel hub to a specified position on the rectangular racket in a picking mode without changing the direction of the valve hole;

piston rods of the two jacking cylinders are simultaneously contracted to the bottom end, the control unit receives a trigger signal of the lower magnetoelectric switch, and the feeding roller way starts to convey the next wheel hub.

9. A method as claimed in claim 8, wherein the angle Ɵ is a clockwise angle between the current hub valve hole and a line connecting the centre points and a predetermined hub zero degree datum line; the preset hub zero-degree datum line is a connecting line of a tangent point on the hub, which is closest to the edge of the racket, and the hub center point after the hub is placed on the rectangular racket at the designated position.

10. A method of hub palletizing as in claim 9, further comprising the step of:

the hub part image is obtained by intercepting the hub part of the hub image collected by the camera;

establishing a rectangular pixel plane coordinate system of the hub partial image, performing coordinate calibration on each pixel point of the hub partial image, calculating a gray value of each pixel point, an average gray value of the hub partial image and a gray difference value between the gray value of each pixel point and the average gray value, and setting a threshold value of the gray difference value;

and filtering the coordinate point sets with the gray difference value larger than the threshold value in the spoke gaps, reserving the two circular point sets with the gray difference value larger than the threshold value, respectively obtaining the central pixel coordinates of the two circular point sets, and obtaining a connecting line between the valve hole of the hub and the central point.

Technical Field

The application relates to the technical field of aluminum alloy wheel hub transferring, in particular to a wheel hub stacking device and a wheel hub stacking method.

Background

In the technical field of automobile aluminum alloy wheel hub transportation, when aluminum alloy wheel hubs are stacked in a packaging workshop, a carrying robot is used for sequentially picking wheel hubs to be packaged, which are conveyed to the tail end of a roller way, onto a first layer of beats, 4-6 wheel hubs are uniformly placed on one beat, a robot picks a second layer of beats, stacks the second layer of beats on the first layer of wheel hubs, picks the wheel hubs to be packaged according to the placing sequence of the first layer and places the wheel hubs on the second layer of beats, and the wheel hubs are stacked to 5-6 layers to form a stack according to the sequence.

The wheel hub that piles up becomes a pile of again after the packaging film parcel, the loading is sent to the automobile manufacturing factory, and the automobile manufacturing factory demolishs the packaging film behind the wheel hub that piles up, unloads before the wheel hub again, needs install the valve hole on every wheel hub by the manual work earlier, prepares for follow-up installation tire. In prior art, the robot is when carrying out wheel hub pile up neatly, and the direction of putting to every wheel hub is random, and the staff of automobile manufacturing factory need find valve hole position earlier when the installation valve, installs the valve hole again, in addition, because the direction that wheel hub put is random, and half probability is wheel hub's valve hole direction inside in addition, and this will make staff's valve installation work very inconvenient, waste a large amount of installation time moreover.

Disclosure of Invention

The embodiment of the application provides a hub stacking device and method, which can solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the first aspect provides a hub stacking device which comprises a feeding roller way, a control unit, a carrying robot and a rectangular racket, wherein a camera support is arranged above a feeding end of the feeding roller way, and a camera in a downward direction is mounted on the camera support; the material taking jacking assembly comprises jacking cylinder brackets, jacking cylinders, lifting plates, rotating motors, encoders and jacking brackets, two L-shaped jacking cylinder brackets are symmetrically arranged on two sides, perpendicular to the conveying direction, below the discharge end of the feeding roller bed, two jacking cylinders with upward directions are symmetrically arranged on the two jacking cylinder brackets, an upper magnetoelectric switch is arranged at the upper end of a cylinder barrel of one of the jacking cylinders, and a lower magnetoelectric switch is arranged at the lower end of the cylinder barrel; the output ends of the two jacking cylinders are fixedly connected with the lifting plate, a rotating motor is fixed on the lifting plate, the rotating motor is coaxially provided with an encoder, a jacking bracket is fixed at the top of a rotating shaft of the rotating motor, a notch matched with the jacking bracket in shape is formed in the middle of the discharge end of the feeding roller bed, and the jacking bracket is arranged at the notch; a first laser correlation type photoelectric sensor is arranged on the roller way supports on the two sides of the feeding roller way and behind the camera support; second laser correlation type photoelectric sensors are arranged on the roller way supports on the two sides of the feeding roller way and behind the material taking jacking assembly; the control unit is electrically connected with the camera, the rotating motor, the encoder, the upper magnetoelectric switch, the lower magnetoelectric switch, the electromagnetic valve of the jacking cylinder, the first laser correlation type photoelectric sensor and the second laser correlation type photoelectric sensor; the transfer robot can pick up the hub to a specified position on the rectangular racket without changing the direction of the valve hole of the hub.

In some embodiments, the feeding roller table comprises a roller table support, long rollers, short rollers, a driving motor and a chain, two rows of short rollers are installed on two sides of the gap, one row of long rollers are installed on the roller table support, the short rollers are parallel to the long rollers, chain wheels are arranged on the short rollers and the long rollers, one long roller adjacent to the two rows of short rollers is a double chain wheel, and the two chain wheels of the long roller are connected with the chain wheels of the two short rollers in different adjacent rows through the chain; the chain wheels of the long rollers and the chain wheels of the short rollers are sequentially connected through chains, the output shaft of the driving motor is connected through the chains, the first chain wheel of the long roller is arranged at the feeding end of the feeding roller table, and the driving motor can drive the long rollers and the short rollers to rotate through the matching of the chains and the chain wheels.

In some embodiments, the jacking bracket comprises at least two cross bars perpendicular to the conveying direction of the feeding roller way and a longitudinal bar passing through the center of the cross bars.

In some embodiments, two guide posts are respectively and fixedly arranged on the jacking cylinder brackets, the two guide posts are bilaterally symmetrical, two guide post openings which are bilaterally symmetrical are arranged on the lifting plate, two guide sleeves in the vertical direction are fixedly arranged at the guide post openings, the two guide sleeves are respectively sleeved on the two guide posts, and the top ends of the two guide posts are fixed on the short roller supporting frame of the roller way support.

In some embodiments, the control unit comprises a PLC control module. .

In a second aspect, an embodiment of the present application provides a hub stacking method, which is applied to a hub stacking apparatus described in any one of the above embodiments, and includes the following steps: the control unit calculates Ɵ the angle by which the hub needs to be rotated clockwise to place the hub at the specified position of the rectangular beat and to bring the valve hole close to the edge of the rectangular beat; the feeding roller table rotates the hub clockwise by an angle Ɵ; the carrying robot does not change the direction of the valve hole and picks up the hub to a specified position on the rectangular racket.

In some embodiments, the angle Ɵ is a clockwise angle between the current hub valve hole and a center point connection line and a predetermined hub zero degree reference line; the preset hub zero-degree datum line is a connecting line of a tangent point on the hub, which is closest to the edge of the racket, and the hub center point after the hub is placed on the rectangular racket at the designated position.

In a third aspect, an embodiment of the present application provides a hub stacking method, which is applied to a hub stacking apparatus described in any one of the foregoing embodiments, and includes the following steps: the wheel hub is placed from the feeding end of the feeding roller way and conveyed along the feeding roller way; the hub shields the first laser correlation type photoelectric sensor and triggers the camera to acquire a hub image; the control unit identifies the hub image and calculates Ɵ the angle by which the hub is currently placed at the specified position of the rectangular beat and the valve hole needs to be rotated clockwise to be close to the edge of the rectangular beat; the hub shields the second laser correlation photoelectric sensor, the feeding roller way stops conveying the hub, the piston rods of the two jacking cylinders simultaneously rise to the top end, and the control unit receives a trigger signal of the upper magnetoelectric switch and triggers the rotating motor to rotate clockwise by an angle Ɵ; the carrying robot picks up the wheel hub to a specified position on the rectangular racket in a picking mode without changing the direction of the valve hole; piston rods of the two jacking cylinders are simultaneously contracted to the bottom end, the control unit receives a trigger signal of the lower magnetoelectric switch, and the feeding roller way starts to convey the next wheel hub.

In some embodiments, the angle Ɵ is a clockwise angle between the current hub valve hole and a center point connection line and a predetermined hub zero degree reference line; the preset hub zero-degree datum line is a connecting line of a tangent point on the hub, which is closest to the edge of the racket, and the hub center point after the hub is placed on the rectangular racket at the designated position.

In some embodiments, further comprising the step of: the hub part image is obtained by intercepting the hub part of the hub image collected by the camera; establishing a rectangular pixel plane coordinate system of the hub partial image, performing coordinate calibration on each pixel point of the hub partial image, calculating a gray value of each pixel point, an average gray value of the hub partial image and a gray difference value between the gray value of each pixel point and the average gray value, and setting a threshold value of the gray difference value; and filtering the coordinate point sets with the gray difference value larger than the threshold value in the spoke gaps, reserving the two circular point sets with the gray difference value larger than the threshold value, respectively obtaining the central pixel coordinates of the two circular point sets, and obtaining a connecting line between the valve hole of the hub and the central point.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a hub stacking device and a method, which comprises a feeding roller way, a control unit, a carrying robot and a rectangular racket, wherein a camera support, a camera and a material taking jacking assembly are arranged on the feeding roller way, the camera can shoot an image of a hub, the control unit calculates the angle of the hub required to rotate according to the image of the hub, the material taking jacking assembly jacks up the hub on the feeding roller way and rotates for a certain angle, the carrying robot picks up the hub to the corresponding serial number position on the rectangular racket without changing the direction of a valve hole of the hub, so that the valve holes of the stacked hub are all outward and are close to the edge of the racket, workers in an automobile manufacturing plant do not need to search for the valve holes in a time-consuming manner, and the installation of the valve of each layer of the hub can be completed from top to bottom only by standing at the edge of the racket, the valve is convenient to install, and the time is saved. In addition, the time of opening the rotation of the rotating electrical machines after jacking cylinder jacking is rationally controlled by setting up the upper magnetoelectric switch in the embodiment of the application, the time of opening the continuation pay-off of the next wheel hub of pay-off roll table is rationally controlled by setting up the lower magnetoelectric switch, the accurate control of the rotation angle of the rotating electrical machines is controlled by setting up the encoder, it is more accurate to set up first laser correlation formula photoelectric sensor to make the collection of image, it is best to gather the image position, set up the second laser correlation formula photoelectric sensor simultaneously and make the driving motor of pay-off roll table stop carrying and get material jacking subassembly and begin to jack and rotate in suitable position, the setting up of above-mentioned sensor and encoder makes equipment operation safer, more accurate, and strong in controllability.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a hub stacking apparatus according to the present application.

Fig. 2 is a schematic view showing a first state of a conveying hub of a feeding roller table of the hub stacking device.

Fig. 3 is a schematic view of a second state of a conveying hub of a feeding roller table of the hub stacking device.

Fig. 4 is a top view of a feed table of a hub palletizing device according to the present application.

Fig. 5 is a left side view of a feed table of a hub palletizing device according to the present application.

Fig. 6 is a schematic view of a rectangular beat of a hub palletizing device of the present application for placing 4 hubs.

Fig. 7 is a schematic view of a rectangular beat placing 5 hubs of a hub palletizing device according to the present application.

Fig. 8 is a schematic view of a rectangular beat placing 6 hubs of a hub palletizing device according to the present application.

Wherein: 1-feeding roller bed, 2-carrying robot, 3-rectangular racket, 11-camera support, 111-camera, 12-material taking jacking assembly, 121-jacking cylinder bracket, 122-jacking cylinder, 123-lifting plate, 124-rotating motor, 125-jacking bracket, 126-guide column, 13-first laser correlation type photoelectric sensor, 14-second laser correlation type photoelectric sensor, 15-roller bed support, 151-short roller, 152-long roller, 153-driving motor and 154-chain.

Detailed Description

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Example 1:

the embodiment 1 of the application provides a hub stacking device, which is specifically shown in fig. 1 to 6 and comprises a feeding roller table 1, a control unit, a carrying robot 2 and a rectangular racket 3. The transfer robot 2 is a commonly used six-axis industrial robot and comprises a robot base, a mechanical arm, a gripper and the like. The camera support 11 that is door type structure is erect above the pan feeding end of pay-off roll table 1, the both sides stabilizer blade fixed mounting of camera support 11 is in on the both sides roll table support 15 of pay-off roll table 1, the central point of the top crossbeam of camera support 11 puts the fixed camera 111 that is provided with the orientation down.

The discharge end of pay-off roll table 1 is provided with gets material jacking subassembly 12, it includes jacking cylinder bracket 121, jacking cylinder 122, lifter plate 123, rotating electrical machines 124, encoder, jacking bracket 125 to get material jacking subassembly 12. The bilateral symmetry of the discharge end below perpendicular to direction of delivery of pay-off roll table 1 is provided with the jacking cylinder bracket 121 of two L types, two the symmetry is provided with two direction jacking cylinders 122 up on jacking cylinder bracket 121. An upper magnetoelectric switch is arranged at the upper end of the cylinder barrel of one of the jacking cylinders 122, and a lower magnetoelectric switch is arranged at the lower end of the cylinder barrel of one of the jacking cylinders 122. The output ends of the two jacking cylinders 122 are fixedly connected with the lifting plate 123, the lifting plate 123 is driven by the piston rods of the two jacking cylinders 122 in a combined manner, and the lifting plate 123 is fixed with a rotating motor 124. The central point of lifter plate 123 puts and is provided with the pivot opening, the lifter plate lower surface is located the pivot opening part and is fixed with rotating electrical machines 124, rotating electrical machines 124's pivot is passed pivot opening direction is up, the coaxial encoder that is provided with in below of rotating electrical machines 124, the top of pivot is fixed with jacking bracket 125. Two fixed guide post 126 that sets up respectively on jacking cylinder bracket 121, two guide posts 126 are bilateral symmetry, be provided with two bilateral symmetry's guide post opening on the lifter plate 123, two the guide post opening part is the fixed uide bushing that is provided with vertical direction all, two the uide bushing is established respectively at two on the guide post 126, two the top of guide post 126 is all fixed on the short roller support frame of roll table support 15. A jacking bracket 125 is fixed on the top of the rotating shaft of the rotating motor 124, and the jacking bracket 125 comprises at least two cross rods perpendicular to the conveying direction of the feeding roller table (i.e. parallel to the long rollers 152 or the short rollers 151) and a longitudinal rod passing through the center of the cross rods. The intermediate position of pay-off roll table 1's discharge end be provided with the breach that the jacking bracket 125 shape matches, the jacking bracket sets up breach department.

The feeding roller way 1 comprises a roller way support 15, a long roller 152, a short roller 151, a driving motor 153 and a chain 154. The roller way support 15 is provided with a plurality of rollers which are sequentially arranged, the middle position of the discharge end of the feeding roller way 1 is provided with a notch matched with the shape of the jacking bracket 125, two rows of short rollers 151 are arranged on two sides of the notch, a row of long rollers 152 are arranged on the roller way support 15, and the short rollers 151 are parallel to the long rollers 152. The short rollers 151 and the long rollers 152 are both provided with chain wheels, and one long roller 152 adjacent to two rows of the short rollers 151 is a double chain wheel, and the two chain wheels of the long roller are respectively connected with the chain wheels of two adjacent short rollers 151 in different rows through chain transmission. The sprockets of the long rollers 152 and the sprockets of the short rollers 151 are sequentially connected through a chain 154 in a transmission manner. The roller way support 15 is provided with a driving motor 153 for driving the rollers to rotate by chains, an output shaft of the driving motor 153 is connected with a chain wheel of the first long roller 152 at the feeding end of the feeding roller way 1 by a chain 154, and the driving motor 153 can drive the long roller 152 and the short roller 151 to rotate by the matching of the chain 154 and the chain wheel.

And first laser correlation type photoelectric sensors 13 are arranged on roller way supports on two sides of the feeding roller way 1 and behind the camera support 11. And second laser correlation photoelectric sensors 14 are arranged on the roller way supports on the two sides of the feeding roller way 1 and behind the material taking jacking assembly 12. The control unit includes PLC control module, the control unit electricity is connected camera 111, rotating electrical machines 124, encoder, upper magnetoelectric switch, next magnetoelectric switch the solenoid valve of jacking cylinder 122 first laser correlation formula photoelectric sensor 13 with second laser correlation formula photoelectric sensor 14. Camera 111, encoder, upper magnetoelectric switch, next magnetoelectric switch first laser correlation formula photoelectric sensor 13 with second laser correlation formula photoelectric sensor 14 passes through the incoming signal line and connects the signal input part of PLC module, the signal output part of PLC module passes through the outgoing signal line and connects rotating electrical machines 124 with the solenoid valve of jacking cylinder 122.

The transfer robot 2 can pick up the hub to a specified position (e.g., A, B, C or D) on the rectangular racket 3 without changing the valve hole direction of the hub.

The stacking method of the hub stacking device in the embodiment 1, as shown in fig. 3 to 4, includes the following steps:

the driving motor 153 is started, and the wheel hub is put in from the feeding end of the feeding roller way 1 and conveyed along the feeding roller way 1;

the hub shields the first laser correlation type photoelectric sensor 13 and triggers the camera 111 to collect a hub image;

the control unit recognizes the hub image and calculates Ɵ the angle by which the current hub needs to be placed at the specified position of the rectangular beat 3 and the valve hole needs to be rotated clockwise to be close to the edge of the rectangular beat;

the hub covers the second laser correlation photoelectric sensor 14, the driving motor 153 stops, the feeding roller table 1 stops conveying the hub, the piston rods of the two jacking cylinders 122 simultaneously lift to the top end, and the control unit receives a trigger signal of the upper magnetoelectric switch and triggers the rotating motor 124 to rotate clockwise by an angle Ɵ;

the carrying robot 2 picks up the hub to a specified position on the rectangular racket 3 in a picking-up mode without changing the direction of the valve hole;

two the piston rod of jacking cylinder 122 contracts to the bottom simultaneously, the control unit receives the trigger signal of next magnetoelectric switch, opens driving motor 153, pay-off roll table 1 begins to carry next wheel hub.

The angle Ɵ is a clockwise angle formed by a connecting line of the valve hole of the current hub and the center point and a preset hub zero-degree datum line. The preset hub zero-degree datum line is a connecting line of a tangent point on the hub, which is closest to the edge of the racket, and the hub center point after the hub is placed on the rectangular racket at the designated position. The acquisition of the connecting line of the valve hole of the hub and the central point comprises the following steps: according to the characteristic that the gray level of the edge image of the hub image changes suddenly, hub part interception is carried out on the hub image collected by the camera to obtain a hub part image; according to the resolution of a camera, establishing a rectangular coordinate system of a pixel plane of the hub partial image, performing coordinate calibration on each pixel point of the hub partial image, calculating a gray value of each pixel point, an average gray value of the hub partial image and a gray difference value between the gray value of each pixel point and the average gray value, and setting a threshold value of the gray difference value; and filtering a coordinate point set with the gray difference value larger than the threshold value in the spoke clearance, reserving two circular point sets with the gray difference value larger than the threshold value, respectively obtaining central pixel coordinates of the two circular point sets, wherein the pixel coordinate at the center of the hub part image is a hub central hole coordinate, the pixel coordinate at the edge of the hub part image is a valve hole coordinate, and obtaining a connecting line between a valve hole and a central point of the hub according to the valve hole coordinate and the central hole coordinate of the hub.

And obtaining the valve hole coordinate and the central hole coordinate of the hub and a preset hub zero-degree datum line through the steps, setting the central hole coordinate of the hub as the origin of the pixel plane rectangular coordinate system, and calculating to obtain an angle Ɵ according to the horizontal and vertical coordinates of the valve hole.

As shown in fig. 6, 4 boss placement positions A, B, C, D are provided on the rectangular racket 3, and when the boss is the number a or B on one rectangular racket, the rotary motor rotates clockwise by an angle α, and when the boss is the number C or D on one racket, the rotary motor rotates clockwise by an angle α + 180.

In embodiment 1, a hub stacking device is provided, when a hub to be stacked enters a feeding roller table along a material flow roller table, a camera takes a picture of the hub to collect an image, the camera uploads picture information of the hub to a PLC, the PLC calculates a clockwise angle α formed by a connecting line between a valve hole of the hub and a central point and a predetermined zero-degree datum line of the hub, after the image collection is completed, the feeding roller table conveys the hub to a material taking jacking mechanism, the PLC triggers levers of two jacking cylinders to simultaneously lift to the top end, after an upper magnetoelectric switch trigger signal of the jacking cylinders, the PLC triggers a rotating motor to rotate clockwise, when the hub is a number a or B on one racket, the rotating motor rotates clockwise by an angle α, the hub also rotates clockwise by an angle α under the driving of a jacking bracket, and when the hub is a number C or D on one racket, the rotating motor rotates clockwise by an angle α +180 degrees, the hub is driven by the jacking bracket to rotate clockwise by an angle of alpha +180 degrees. After the completion, the robot picks up the wheel hub to the corresponding numbering position on the racket in a picking-up mode without changing the direction of the valve hole.

In the present invention, each of the layers in the stack is rotated and aligned in such a way that the hub valve holes at position A, B, C, D of each layer are all in the same orientation and are near the edge of the swatter. Like this, the staff of automobile manufacturing factory need not to take time to look for the valve hole, only need stand at the beat edge of A position, and every layer of A position wheel hub valve's installation just can be accomplished to top-down, can easily accomplish the valve hole installation of B, C, D positions like this. Therefore, compared with the prior art, the invention has the characteristics of convenient valve installation and time saving.

In another embodiment, as shown in fig. 7, 5 boss placement positions A, B, C, D, E are provided on the rectangular racket 3, the rotary motor rotates clockwise by α degrees when the boss is the number a or B on one rectangular racket, and rotates clockwise by α +180 degrees when the boss is the number C or D on one racket, and the boss at the E position in the middle of the racket may rotate by α degrees or may rotate by α +180 degrees along with the lift-up bracket.

In another embodiment, as shown in fig. 8, 6 boss placing positions A, B, C, D, E, F are provided on the rectangular racket 3, and the rotary motor is rotated clockwise by α degrees when the boss is number A, B or C on one rectangular racket, and by α +180 degrees when the boss is number D, E or F on one racket.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.