A vehicle tire assembly method, device, equipment and readable storage medium

Abstract

The application provides a vehicle tire assembling method, device, equipment and readable storage medium, which comprises the following steps: obtaining model information of a vehicle to be processed; determining the number of bolts required by a tire to be assembled according to the model information, and grabbing the corresponding number of bolts; obtaining a first visual image of a tire placement area where the tire to be assembled is placed, and obtaining the wheel center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image; and grabbing the tire to be assembled according to the wheel center position and each bolt hole position. In this way, the tire position is adjusted without setting mechanical rotating structure and position sensor and other structures, the tire placement requirement is effectively reduced, the tire only needs to be placed in the tire placement area to be successfully positioned and grabbed, on the other hand, the tire is not limited to the position limitation of the positioning structure, different tire models can be successfully positioned and grabbed, and the processing capacity of the production line is significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data processing, and in particular to a vehicle tire assembly method, device, equipment and readable storage medium. BACKGROUND

[0002] In the production line of vehicle assembly processing, for the tire assembly process, an automatic nail supply system is often used, the tire is rotated by a mechanical mechanism and the position sensor is used to judge the way, the attitude of the tire is automatically adjusted to be consistent; a robot places a nut (bolt), a second robot clamps the tire, and then takes a picture of the brake disc, and then according to the identification result, the alignment and pre-tightening of the tire and the brake disc are completed, and a third robot completes the secondary tightening of the bolt.

[0003] However, in the above process, a mechanical rotating mechanism and a position sensor are needed to judge whether the tire is in a standard position, so that each bolt hole position on the tire is in an accurate position, facilitating the subsequent robot to smoothly install and grasp the bolt. Therefore, the initial station of the tire has high requirements, and the setting of the mechanical rotating mechanism and the position sensor also makes the structure more complex, the flexibility is low, which leads to great difficulty in modification, is not conducive to the introduction of different vehicle tires, and thus it is difficult to install different vehicle tires under this condition. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle tire assembly method, device, equipment and readable storage medium, which aims to solve the problem of complex positioning structure of the tire, low flexibility and poor introduction of different vehicle tires in the tire assembly process in the related art.

[0005] In a first aspect, the present application provides a vehicle tire assembly method.

[0006] A vehicle tire assembly method includes the following steps:

[0007] Obtain the model information of a vehicle to be processed;

[0008] Determine the number of bolts required for the tire assembly according to the model information, and grasp the corresponding number of bolts;

[0009] Obtain a first visual image of a tire placement area where a tire to be assembled is placed, and obtain the wheel center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image;

[0010] Grasp the tire to be assembled according to the wheel center position and each bolt hole position.

[0011] In some embodiments, the grasping the tire to be assembled according to the wheel center position and each bolt hole position includes the following steps:

[0012] moving the grabbing robot to a position where the grabbing center of the grabbing robot is coaxial with the wheel center position;

[0013] determining an angle adjustment range of the grabbing robot according to the number of bolt hole positions;

[0014] obtaining a rotation angle of the grabbing robot according to the bolt hole positions within the angle adjustment range, and rotating the grabbing robot according to the rotation angle so that each bolt grabbed by the grabbing robot is aligned with each bolt hole position;

[0015] grabbing the tire to be assembled by the grabbing robot.

[0016] In some embodiments, the angle adjustment range of the grabbing robot is determined according to the number of bolt hole positions, and the angle adjustment range is (-180° / n, 180° / n), where n is the number of bolt hole positions.

[0017] In some embodiments, after the tire to be assembled is grabbed by the grabbing robot, the method further comprises:

[0018] obtaining a second visual image of the brake disc on the vehicle to be processed, and obtaining position data of the brake disc and each mounting hole position on the brake disc according to the second visual image;

[0019] assembling the grabbed tire to be assembled according to the position data and each mounting hole position on the brake disc.

[0020] In some embodiments, the assembling the grabbed tire to be assembled according to the position data and each mounting hole position on the brake disc comprises:

[0021] moving the grabbing robot to a position where the grabbed tire to be assembled is aligned with the brake disc according to the position data;

[0022] determining an angle rotation range of the grabbed tire to be assembled according to the number of mounting hole positions;

[0023] obtaining a rotation angle of the grabbed tire to be assembled according to the mounting hole positions within the angle rotation range, and rotating the grabbing robot according to the rotation angle so that the grabbed tire to be assembled is aligned with each mounting hole position;

[0024] assembling the grabbed tire to be assembled and the brake disc by the grabbing robot.

[0025] In some embodiments, the angle rotation range of the grabbed tire to be assembled is determined according to the number of mounting hole positions, and the angle adjustment range is (-180° / n, 180° / n), where n is the number of mounting hole positions.

[0026] In some embodiments, before the mobile grabbing robot is moved to align the grabbed tire to be assembled with the brake disc according to the position data, the method comprises:

[0027] obtaining an initial assembly station corresponding to the model information;

[0028] moving the mobile grabbing robot to the initial assembly station.

[0029] In a second aspect, the present application provides a vehicle tire assembly device.

[0030] A vehicle tire assembly device comprises:

[0031] an obtaining module for obtaining model information of a vehicle to be processed;

[0032] a bolt grabbing module for determining the number of bolts required for assembling the tire to be assembled according to the model information, and grabbing the corresponding number of bolts;

[0033] an image obtaining module for obtaining a first visual image of a tire placement area where the tire to be assembled is placed, and obtaining the wheel center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image;

[0034] a tire grabbing module for grabbing the tire to be assembled according to the wheel center position and each bolt hole position.

[0035] In a third aspect, the present application provides a vehicle tire assembly apparatus.

[0036] A vehicle tire assembly apparatus comprises a processor, a memory, and a vehicle tire assembly program stored in the memory and executable by the processor, wherein when the vehicle tire assembly program is executed by the processor, the steps of the vehicle tire assembly method described above are implemented.

[0037] In a fourth aspect, the present application provides a readable storage medium.

[0038] A readable storage medium, characterized in that the readable storage medium stores a vehicle tire assembly program, wherein when the vehicle tire assembly program is executed by a processor, the steps of the vehicle tire assembly method described above are implemented.

[0039] The application obtains the visual image of the tire to be assembled placed in the tire placement area in advance, and then obtains the wheel hub position after the tire to be assembled is placed and the position of each bolt hole thereon, and then the tire to be assembled is adaptively gripped according to the actually placed wheel hub position and each bolt hole, so that the tire position is adjusted without setting mechanical rotating structure and position sensor and the like, the tire placement requirement is effectively reduced, the tire can be smoothly positioned and gripped only when it is in the tire placement area, on the other hand, the tire is not limited to the position limitation of the positioning structure, different tire models can be smoothly positioned and gripped, the processing capacity of the production line is significantly improved, and the equipment cost of the production line of different models is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 The hardware structure schematic diagram of the vehicle tire assembly equipment involved in the embodiment scheme of the application is shown.

[0041] Figure 2 The flowchart of the vehicle tire assembly method of the application is shown.

[0042] Figure 3 The functional module schematic diagram of the first embodiment of the vehicle tire assembly device of the application is shown.

[0043] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0045] In the production line of vehicle assembly processing, for the tire assembly process, an automatic nail supply system is often used, the tire is adjusted to be consistent in posture by a mechanical mechanism rotation and a position sensor, a robot places a nut (bolt), a second robot clamps the tire, then the brake disc is photographed, then the alignment and pre-tightening of the tire and the brake disc are completed according to the identification result, and a third robot completes the secondary tightening of the bolt. However, in the above process, the mechanical rotating mechanism and the position sensor are needed to judge whether the tire is in the standard position, so that each bolt hole on the tire is in the accurate position, and the subsequent robot can smoothly install and clamp the bolt. Therefore, the initial station of the tire has high requirements, and the setting of the mechanical rotating mechanism and the position sensor also makes the structure more complex, the flexibility is low, the modification is difficult, it is not conducive to the introduction of different tire models, and it is difficult to install the tires of different models under this condition. Based on the above problems, the application provides a vehicle tire assembly method, device, equipment and readable storage medium.

[0046] The application provides a vehicle tire assembling method, device, equipment and readable storage medium. The application points of the application are as follows: a visual image of a tire to be assembled placed in a tire placing area is acquired in advance, the position of a wheel core after the tire to be assembled is placed and the positions of various bolt hole positions thereon are obtained, the tire to be assembled is adaptively gripped according to the actually placed wheel core position and various bolt hole positions, the tire position is adjusted without setting mechanical rotating structures and position sensors and the like, the tire placing requirement is effectively reduced, the tire can be smoothly positioned and gripped only when it is in the tire placing area, the tire is not limited to the position limitation of the positioning structure, the tires of different vehicle models can be smoothly positioned and gripped, the processing capacity of the production line is significantly improved, and the equipment cost of the production line of different vehicle models is reduced.

[0047] In a first aspect, an embodiment of the application provides a vehicle tire assembling device, which can be a personal computer (PC), a notebook computer, a server or the like device having a data processing function.

[0048] Reference Figure 1 , Figure 1 is a schematic diagram of a hardware structure of the vehicle tire assembling device involved in the embodiment of the application. In the embodiment of the application, the vehicle tire assembling device can include a processor 1001 (for example, a central processing unit (CPU)), a communication bus 1002, a user interface 1003, a network interface 1004 and a memory 1005. The communication bus 1002 is used to realize the connection and communication among the components; the user interface 1003 can include a display screen (Display) and an input unit such as a keyboard (Keyboard); the network interface 1004 can optionally include a standard wired interface, a wireless interface (for example, a wireless fidelity (WIreless-FIdelity, WI-FI) interface); the memory 1005 can be a high-speed random access memory (RAM), and can also be a stable memory (non-volatile memory) such as a disk memory; the memory 1005 can optionally be a storage device independent of the foregoing processor 1001. Those skilled in the art can understand that the hardware structure shown in the embodiment of the application does not constitute a limitation on the application, and can include more or fewer components than those shown in the figure, or combine certain components, or arrange different components. Figure 1 The hardware structure shown in the embodiment of the application does not constitute a limitation on the application, and can include more or fewer components than those shown in the figure, or combine certain components, or arrange different components.

[0049] Continue to refer to Figure 1 , Figure 1The memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a vehicle tire assembly program. The processor 1001 can call the vehicle tire assembly program stored in the memory 1005 and execute the vehicle tire assembly method provided by the embodiments of the application.

[0050] In a second aspect, the embodiments of the application provide a vehicle tire assembly method.

[0051] Referring to Figure 2 A vehicle tire assembly method includes the following steps:

[0052] S100, obtaining model information of a vehicle to be processed;

[0053] S200, determining the number of bolts required for assembling the tire to be assembled according to the model information, and grabbing the corresponding number of bolts;

[0054] S300, obtaining a first visual image of a tire placement area where the tire to be assembled is placed, and obtaining the wheel center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image;

[0055] S400, grabbing the tire to be assembled according to the wheel center position and each bolt hole position.

[0056] In this embodiment, step S100 is to obtain the model information of the vehicle from the MES system, and then in step S200, the number of bolts required for assembling the tire to be assembled is determined according to the model information, and the corresponding number of bolts is grabbed at the bolt taking station by controlling the grabbing robot. At the same time, after the grabbing robot grabs the corresponding number of bolts, a bolt detection station is also provided in this embodiment, which realizes the judgment of whether the grabbing robot successfully grabs the corresponding number of bolts through vision or laser system, so that the problem of the number of grabbed bolts can be found in time after missing or falling of the bolts, and feedback and re-grabbing can be performed in time. In step S300, when obtaining the first visual image of the tire placement area where the tire to be assembled is placed, different image acquisition devices can be adopted in different embodiments, for example, a 2D visual camera can be arranged near the tire placement area to acquire images in some embodiments, and a camera arranged on the grabbing robot can be used to acquire images in some other embodiments, which is not limited herein. In step S400, the grabbing robot is controlled to move according to the obtained wheel center position and each bolt hole position, so as to finally realize the alignment of the grabbing robot to the tire to be assembled, and each bolt is passed through each bolt hole when grabbing, which is convenient for subsequent assembly.

[0057] In this way, by obtaining the visual image of the tire to be assembled placed in the tire placing area in advance, the position of the wheel center after the tire to be assembled is placed and the positions of the bolt holes thereon are obtained, and then the tire to be assembled is adaptively gripped according to the actually placed wheel center position and the bolt holes, the tire position is adjusted without setting mechanical rotating structure and position sensor and the like, the tire placing requirement is effectively reduced, the tire can be smoothly positioned and gripped only when it is in the tire placing area, on the other hand, the tire is not limited to the position of the positioning structure, different tire models can be smoothly positioned and gripped, the processing capacity of the production line is significantly improved, and the equipment cost of the production line of different models is reduced.

[0058] Optionally, the step S400 of gripping the tire to be assembled according to the wheel center position and the bolt holes comprises the following steps:

[0059] S410, moving the gripping robot to be coaxial with the wheel center position;

[0060] S420, determining the angle adjustment range of the gripping robot according to the number of bolt holes;

[0061] S430, obtaining the rotation angle of the gripping robot according to the bolt hole in the angle adjustment range, and rotating the gripping robot according to the rotation angle, so that each bolt gripped by the gripping robot is aligned with each bolt hole;

[0062] S440, gripping the tire to be assembled by the gripping robot.

[0063] The action of aligning the gripping robot with the tire to be assembled is divided into two independent actions, i.e. steps S410 and S430, and the two actions can be performed simultaneously or sequentially according to specific needs, which is not limited in the present application, and the alignment operation is more efficient. On the other hand, in step S420, the angle adjustment range of the gripping robot is determined in advance according to the number of bolt holes, and the gripping robot is rotated within the angle adjustment range, so that a suitable rotation angle can be quickly determined in the process of controlling the rotation of the gripping robot, facilitating the control of the gripping robot. For example, when the tire to be assembled has 5 bolt holes, the angle adjustment range of the gripping robot is 360 / 5, i.e. 72 degrees. Then, within the 72-degree rotation range, there must be a bolt hole available for correspondence, at which time the bolt hole within the angle adjustment range can be found according to the first visual image, and the actual angle at which the gripping robot needs to be rotated is analyzed after the correspondence, so as to adjust the angle of the gripping robot within the angle range and complete the alignment of the gripping robot with the tire to be assembled.

[0064] Further, the angle adjustment range of the grabbing robot is determined according to the number of bolt hole positions, and the angle adjustment range is (-180° / n, 180° / n), where n is the number of bolt hole positions.

[0065] In this way, the grabbing robot can find the closest bolt hole position within the angle adjustment range. For example, when there are 5 bolt hole positions on the tire to be assembled, the angle adjustment range is (-36°, +36°), so the grabbing robot only needs to rotate clockwise or counterclockwise by a maximum of 36 degrees to find the corresponding bolt hole position for alignment, which is more efficient. Meanwhile, in other embodiments, the angle adjustment range can also be set as [(-180° / n)+X, (180° / n)+X], which is not limited herein.

[0066] Optionally, after the step S400, the grabbing robot grabs the tire to be assembled, and the step S400 further includes:

[0067] S500, obtaining a second visual image of a brake disc on a vehicle to be processed, and obtaining position data of the brake disc and each mounting hole position on the brake disc according to the second visual image;

[0068] S600, assembling the grabbed tire to be assembled according to the position data and each mounting hole position on the brake disc.

[0069] In this embodiment, the position data of the brake disc is the three-dimensional data of the brake disc, i.e., the position information under six degrees of freedom, including the center point (x, y, z) of the brake disc and the rotation angle (α, β, γ) of the brake disc itself. Meanwhile, the position information of each mounting hole position on the surface of the brake disc is obtained. Finally, when the grabbing robot is controlled to assemble the tire to be assembled, the position data and each mounting hole position can be used for smooth installation.

[0070] In this way, by obtaining the second visual image of the brake disc placed on the vehicle to be processed in advance, the position data of the brake disc and the positions of each mounting hole position thereon are obtained, and then the tire to be assembled is adaptively assembled according to the position data of the brake disc and each mounting hole position under the actual state, which effectively reduces the tire assembly requirements. On the other hand, the assembly process of the tire to be assembled is not limited to a specific vehicle model, and the tire of different vehicle models can be smoothly positioned and assembled, which significantly improves the processing capacity of the production line and reduces the equipment cost of the production line of different vehicle models.

[0071] Optionally, the step S600 of assembling the grabbed tire to be assembled according to the position data and each mounting hole position on the brake disc includes:

[0072] S610, moving the grabbing robot to align the grabbed tire to be assembled with the brake disc according to the position data;

[0073] S620, determining an angle rotation range of the grabbed tire to be assembled according to the number of mounting hole positions;

[0074] S630, obtaining a rotation angle of the grabbed tire to be assembled according to the mounting hole positions within the angle rotation range, and rotating the grabbing robot according to the rotation angle to align the grabbed tire to be assembled with each mounting hole position;

[0075] S640, assembling the tire to be assembled and the brake disc by the grabbing robot.

[0076] In step S610, the grabbing robot is moved to align the grabbed tire to be assembled with the brake disc, i.e. the grabbing robot is moved to a position where the grabbed tire to be assembled is parallel to the brake disc and coaxial with the brake disc, so that the subsequent assembly process of the bolt on the tire to be assembled and the mounting hole position on the brake disc can be performed after the alignment. In addition, the three-dimensional position and the angle of the tire to be assembled can be adjusted simultaneously or sequentially, and while adjusting the angle of the tire to be assembled, an appropriate angle rotation range can be obtained according to the number of mounting hole positions, and the tire to be assembled can be quickly rotated within the angle rotation range to facilitate the control of the grabbing robot. For example, when there are 5 mounting hole positions corresponding to bolt hole positions on the brake disc, the angle rotation range of the grabbing robot for the tire to be assembled is 360 / 5, i.e. 72 degrees. Within the 72-degree rotation range, there must be a mounting hole position on the brake disc, and the corresponding mounting hole position can be found according to the second visual image, and the actual angle at which the grabbing robot needs to rotate the tire to be assembled can be analyzed and obtained, so that the angle adjustment of the tire to be assembled on the grabbing robot within the angle rotation range can be controlled, and the alignment of the brake disc and the tire to be assembled can be achieved.

[0077] Further, the angle rotation range of the grabbed tire to be assembled is determined according to the number of mounting hole positions, and the angle rotation range is (-180° / n, 180° / n), where n is the number of mounting hole positions.

[0078] In this way, the grabbing robot can find the closest mounting hole position in the angle range and align the mounting hole position with the bolt on the tire to be assembled. For example, when the brake disc has five corresponding bolt hole positions and mounting hole positions on the assembled tire, the angle adjustment range is (-36°, +36°), so the grabbing robot only needs to rotate clockwise or counterclockwise by a maximum of 36 degrees to find the corresponding bolt hole position and mounting hole position, which is more efficient.

[0079] Further, the step 610 of moving the grabbing robot to align the tire to be assembled with the brake disc includes:

[0080] S601, obtaining an initial assembly station corresponding to the model information;

[0081] S602, moving the grabbing robot to the initial assembly station.

[0082] Specifically, according to the model information of the vehicle to be processed, an initial assembly station can be preset so that the grabbing robot can first reach the initial assembly station during the movement of the tire to be assembled, and then the initial assembly station can be used as the reference point for the adjustment of the deviation between the actual position and the target position.

[0083] In this way, the control logic of the grabbing robot during the assembly of the tire to be assembled is optimized, the real-time calculation of the distance is avoided, the efficiency is improved, and the stability of the assembly process is ensured.

[0084] In a third aspect, the embodiments of the present application also provide a vehicle tire assembly device.

[0085] Referring to Figure 3 , a functional module schematic diagram of the first embodiment of the vehicle tire assembly device.

[0086] In this embodiment, the vehicle tire assembly device comprises:

[0087] An acquisition module is configured to acquire model information of a vehicle to be processed;

[0088] A bolt grabbing module is configured to determine the number of bolts required for the assembly of the tire to be assembled according to the model information, and grab the corresponding number of bolts;

[0089] An image acquisition module is configured to acquire a first visual image of a tire placement area on which the tire to be assembled is placed, and obtain the center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image;

[0090] A tire grabbing module is used to grab the tire to be assembled according to the hub position and the respective bolt hole position.

[0091] Corresponding to the steps in the vehicle tire assembling method, the functions of the modules in the vehicle tire assembling device are not described here again.

[0092] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0093] The readable storage medium of the present application stores a vehicle tire assembling program, wherein the vehicle tire assembling program is executed by a processor to implement the steps of the vehicle tire assembling method.

[0094] The method implemented when the vehicle tire assembling program is executed can refer to the embodiments of the vehicle tire assembling method of the present application, which is not described here again.

[0095] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or systems that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or systems. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article, or system including the element.

[0096] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0097] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and a general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device execute the methods described in the embodiments of the present application.

[0098] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields based on the content of the specification and drawings of the present application, are also included in the patent protection scope of the present application.

Claims

1. A method of assembling a vehicle tire, characterized in that, It comprises the following steps: Obtaining the model information of the vehicle to be processed; Determining the number of bolts required for assembling the tire to be assembled according to the model information, and grabbing the corresponding number of bolts; Obtaining a first visual image of a tire placement area where the tire to be assembled is placed, and obtaining the wheel center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image; Grabbing the tire to be assembled according to the wheel center position and each bolt hole position; Grabbing the tire to be assembled according to the wheel center position and each bolt hole position comprises the following steps: Moving the grabbing robot to a position where the center of the grabbing robot is coaxial with the wheel center position; Determining the angle adjustment range of the grabbing robot according to the number of bolt hole positions; According to the bolt hole positions within the angle adjustment range, obtaining the rotation angle of the grabbing robot, and rotating the grabbing robot according to the rotation angle, so that each bolt grabbed by the grabbing robot is aligned with each bolt hole position; Grabbing the tire to be assembled by the grabbing robot; According to the bolt hole positions within the angle adjustment range, obtaining the rotation angle of the grabbing robot comprises the following steps: There must be a bolt hole position on the tire to be assembled within the angle adjustment range of the grabbing robot, so that the corresponding bolt hole position can be found according to the first visual image, and the actual angle at which the grabbing robot needs to be rotated can be analyzed and obtained after the corresponding bolt hole position is found.

2. The vehicle tire assembly method of claim 1, wherein, The angle adjustment range is (-180° / n, 180° / n), where n is the number of bolt hole positions.

3. The vehicle tire assembly method of claim 1, wherein, After the tire to be assembled is grabbed by the grabbing robot, it comprises: Obtaining a second visual image of the brake disc on the vehicle to be processed, and obtaining the position data of the brake disc and each mounting hole position on the brake disc according to the second visual image; Assembling the grabbed tire to be assembled according to the position data and each mounting hole position on the brake disc.

4. The vehicle tire assembly method of claim 3, wherein, According to the position data and each mounting hole position on the brake disc, assembling the grabbed tire to be assembled comprises: According to the position data, moving the grabbing robot to a position where the grabbed tire to be assembled is aligned with the brake disc; Determining the angle rotation range of the grabbed tire to be assembled according to the number of mounting hole positions; According to the mounting hole positions within the angle rotation range, obtaining the rotation angle of the grabbed tire to be assembled, and rotating the grabbing robot according to the rotation angle, so that the grabbed tire to be assembled is aligned with each mounting hole position; Assembling the tire to be assembled and the brake disc by the grabbing robot.

5. The vehicle tire assembly method of claim 4, wherein, The angle rotation range is (-180° / n, 180° / n), where n is the number of mounting hole positions.

6. The vehicle tire assembly method of claim 3, wherein, Before moving the grabbing robot to a position where the grabbed tire to be assembled is aligned with the brake disc according to the position data, it comprises: Obtaining an initial assembly station corresponding to the model information; Moving the grabbing robot to the initial assembly station.

7. A vehicle tire assembly apparatus characterized by, It comprises: An obtaining module for obtaining the model information of the vehicle to be processed; a bolt grabbing module configured to determine the number of bolts required for assembling the tire according to the model information and grab the corresponding number of bolts; an image acquisition module configured to acquire a first visual image of a tire placement area where the tire to be assembled is placed and obtain the center position of the tire to be assembled and each bolt hole position on the tire to be assembled according to the first visual image; a tire grabbing module configured to grab the tire to be assembled according to the center position and each bolt hole position; grabbing the tire to be assembled according to the center position and each bolt hole position comprises the following steps: moving the grabbing robot to a position where the center of the grabbing robot is coaxial with the center position of the tire to be assembled; determining the angle adjustment range of the grabbing robot according to the number of bolt hole positions; obtaining the rotation angle of the grabbing robot according to the bolt hole positions within the angle adjustment range and rotating the grabbing robot according to the rotation angle so that each bolt grabbed by the grabbing robot is aligned with each bolt hole position; grabbing the tire to be assembled by the grabbing robot; obtaining the rotation angle of the grabbing robot according to the bolt hole positions within the angle adjustment range comprises the following steps: there must be a bolt hole position on the tire to be assembled within the angle adjustment range of the grabbing robot, so that the bolt hole position can be found according to the first visual image, and the actual rotation angle of the grabbing robot can be obtained after the corresponding bolt hole position is found.

8. A vehicle tire assembly apparatus characterized by, The vehicle tire assembling apparatus comprises a processor, a memory, and a vehicle tire assembling program stored in the memory and executable by the processor, wherein the vehicle tire assembling program, when executed by the processor, implements the steps of the vehicle tire assembling method according to any one of claims 1 to 6.

9. A readable storage medium, characterized by, The readable storage medium stores a vehicle tire assembling program, wherein the vehicle tire assembling program, when executed by a processor, implements the steps of the vehicle tire assembling method according to any one of claims 1 to 6.

Images