Knuckle and hub automatic assembly system and assembly method

Abstract

The application provides a knuckle and wheel hub automatic assembly system and an assembly method. The assembly system comprises: an assembly line with multiple assembly stations; a following clamp for installing a disc hub assembly; a wheel hub rotating mechanism installed at the bottom of the following clamp for rotating the disc hub assembly; a wheel hub assembly positioning mechanism installed on both sides of the corresponding assembly station; a knuckle assembly placing mechanism installed above the corresponding assembly station for placing the knuckle assembly on the disc hub assembly; a knuckle assembly positioning mechanism installed on both sides of the corresponding assembly station; and a servo tightening mechanism installed above the corresponding assembly station. The application adjusts the sensor position and height, the motor speed distribution, and increases the compensation angle to improve the disc hub rotation accuracy and ensure the accuracy of the hole recognition. The knuckle assembly pre-positioning is changed, the knuckle grabbing mechanism is changed, the brake disc accurate positioning function is added, and the mobile and rotating motors are added to increase the flexibility of the mechanism.

Description

Technical Field

[0001] This invention relates to the field of automotive parts assembly, and in particular to an automatic assembly system and method for steering knuckles and wheel hubs. Background Technology

[0002] With the development of automotive technology, competition among manufacturing enterprises is becoming increasingly fierce, leading to higher demands on processing and manufacturing costs. However, the continuous maturation of automation technology has rapidly propelled the development of industrial automation in my country. Among these advancements, the automated assembly industry for construction machinery is constantly improving, and construction machinery equipment processes occupy a crucial position in industrial development. Therefore, increasing its automation level can significantly improve economic efficiency and assembly efficiency, while reducing overall assembly costs.

[0003] On the current assembly line, station OP10 performs runout testing on the wheel hub assembly. After passing the test, a pneumatic gantry robot places the wheel hub assembly onto a traveling fixture for positioning. At this point, the position of the wheel hub bolts is not fixed.

[0004] At the OP20 workstation, a pneumatic gantry robot is used to place the steering knuckle assembly assembled off-line onto the disc hub assembly, with a placement success rate of only 10%.

[0005] The OP30 operator manually places the steering knuckle assembly in place, aligns the bolt holes, places three bolts into the holes and pre-tightens them by more than three threads, and pre-assembles the wheel hub assembly and steering knuckle assembly.

[0006] The OP40 gantry-type automatic station drives three Atlas electric tightening shafts to tighten three bolts to the specified torque.

[0007] However, the existing assembly process requires manual secondary adjustments to the workpiece position and pre-installation of bolts, wasting production efficiency. Furthermore, the steering knuckle may not be properly positioned during assembly, posing a risk of collision and falling.

[0008] In view of this, the inventors of this application have designed an automatic assembly system and method for steering knuckles and wheel hubs in order to overcome the above-mentioned technical problems. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to overcome the defects of the existing technology, such as the need for manual secondary adjustment of the position of the steering knuckle and wheel hub during the assembly process, which results in low production efficiency and the risk of bumping and falling. The present invention provides an automatic assembly method and assembly system for steering knuckle and wheel hub.

[0010] The present invention solves the above-mentioned technical problems through the following technical solution: An automated assembly system for steering knuckles and wheel hubs, characterized in that the automated assembly system for steering knuckles and wheel hubs includes: an assembly line with multiple assembly stations; A follow-up fixture is used to install the disc hub assembly, and the follow-up fixture is placed at the corresponding assembly station; A hub rotation mechanism, installed at the bottom of the accompanying clamp, is used to rotate the hub assembly; A wheel hub assembly positioning mechanism is installed on both sides of the corresponding assembly station to position the wheel hub assembly. A steering knuckle assembly placement mechanism is installed above the corresponding assembly station to place the steering knuckle assembly on the disc hub assembly; A steering knuckle assembly positioning mechanism is installed on both sides of the corresponding assembly station to fix the steering knuckle assembly; A servo tightening mechanism is installed above the corresponding assembly station to tighten the steering knuckle assembly and the disc hub assembly.

[0011] According to one embodiment of the present invention, the hub rotation mechanism includes a spring column, a lifting mechanism plate, a clamp positioning pin, a first double guide rod cylinder and a stepper motor. The spring column is mounted on the lifting mechanism plate and, after moving upward, contacts the accompanying clamp, thereby driving the hub assembly to rotate. The first double-guide rod cylinder and the stepper motor are respectively installed at the bottom of the lifting mechanism plate. The first double-guide rod cylinder is used to drive the lifting mechanism plate to move up and down, and the stepper motor is used to drive the spring column. The fixture positioning pin is installed on the lifting mechanism plate and cooperates with the positioning hole of the accompanying fixture to enable precise positioning of the accompanying fixture in the XY plane.

[0012] According to one embodiment of the present invention, the hub rotation mechanism further includes a stopper and a counter-stopper, the stopper and the counter-stopper being respectively installed on corresponding assembly stations, located on the front and rear sides of the lifting mechanism plate.

[0013] According to one embodiment of the present invention, the wheel hub assembly positioning mechanism includes a second double-guide rod cylinder, a first nylon positioning block, a second nylon positioning block, and a servo electric cylinder. The first nylon positioning block is driven by the second double-guide rod cylinder, and the second nylon positioning block is driven by the servo electric cylinder. The first nylon positioning block and the second nylon positioning block are respectively located on both sides of the wheel hub assembly, so that the wheel hub assembly is clamped and fixed in an accurate position.

[0014] According to one embodiment of the present invention, the steering knuckle assembly placement mechanism includes: The mobile servo module is connected and fixed to the frame structure, enabling the steering knuckle assembly placement mechanism to move in a direction perpendicular to the line. A mobile servo motor is installed on the side of the mobile servo module to provide movement power for the steering knuckle assembly placement mechanism; A rotary servo motor is installed at the bottom of the mobile servo module to provide rotational power for the steering knuckle assembly placement mechanism; The XY floating mechanism, connected to the rotary servo motor, is used to place the steering knuckle assembly onto the wheel hub assembly; A steering knuckle clamping mechanism is installed on the side of the XY floating mechanism to grip the steering knuckle assembly and rotate it before placing it on the wheel hub assembly.

[0015] According to one embodiment of the present invention, the steering knuckle assembly positioning mechanism includes a third double guide rod cylinder, a gripper, and a nylon clamping block. The third double guide rod cylinder is installed on both sides of the corresponding assembly station, and the gripper is installed at the end of the third double guide rod cylinder. The third double guide rod cylinder drives the gripper to clamp or release the steering knuckle assembly.

[0016] According to one embodiment of the present invention, the servo tightening mechanism includes a cylinder, a servo motor, a sleeve connecting rod, and a clamp. The cylinder is connected to the servo motor and drives the servo motor to move up and down. The sleeve connecting rod is connected to the servo motor. The clamp is installed at the end of the sleeve connecting rod and is used to install fasteners.

[0017] According to one embodiment of the present invention, the clamp is provided with multiple fastener inlets for feeding various fasteners.

[0018] According to one embodiment of the present invention, the automatic assembly system for steering knuckles and wheel hubs further includes a fastener conveying mechanism and a robotic arm, the robotic arm being driven by the fastener conveying mechanism and driving the servo tightening mechanism to move.

[0019] The present invention also provides an automatic assembly method for steering knuckles and wheel hubs, characterized in that the automatic assembly method for steering knuckles and wheel hubs adopts the automatic assembly system for steering knuckles and wheel hubs as described above, and includes the following steps: S1. The assembly system completes the disc assembly runout detection according to the vehicle model information configured in the production system, and automatically transports it to the corresponding assembly station of the assembly system, and positions the disc assembly on the accompanying fixture. S2. The assembly system transfers the fixture and hub assembly to the corresponding assembly station. After the accompanying fixture is lifted and positioned, the motor on the lower side of the accompanying fixture drives the hub assembly to rotate, rotating the hub assembly to the correct angle according to the vehicle model information. S3. The assembly system transfers the fixture and hub assembly to the corresponding assembly station. After the accompanying fixture is in place, the moving servo motor of the steering knuckle assembly placement mechanism moves to the parameter setting position, and the cylinder inside the line moves forward to fix the hub assembly in the accurate position, so that the positioning center of each part is consistent every time. S4. The assembly system transfers the combination of the accompanying fixture, the hub assembly and the steering knuckle assembly to the corresponding assembly station. After the accompanying fixture is in place, the steering knuckle assembly positioning mechanism clamps the workpiece to a fixed position, and the servo tightening mechanism automatically passes the bolt through the hole and pre-tightens it a specified number of turns. S5. The assembly system transfers the fixture and the assembly angle assembly to the corresponding assembly station. After the accompanying fixture is positioned, the automatic station electric tightening shaft automatically changes position according to the vehicle model information to tighten multiple bolts and simultaneously tighten the bolts to the torque and angle specified in the process.

[0020] According to an embodiment of the present invention, step S2 includes: The accompanying fixture enters the workstation, the accompanying fixture is positioned and lifted, the motor drives the hub assembly to rotate, the laser sensor senses the threaded hole once, and when it senses that the motor has stopped rotating, the motor automatically rotates to compensate for the angle of -4°.

[0021] According to an embodiment of the present invention, step S2 includes: the accompanying fixture entering the work station, the accompanying fixture being positioned and lifted, the motor driving the hub assembly to rotate, searching for the positions of the two holes with the smallest angle, the laser sensor sensing the threaded hole four times, sensing that the motor stops rotating, and the motor automatically rotating to compensate for the angle of -18°.

[0022] According to an embodiment of the present invention, the working steps of the XY floating mechanism of the steering knuckle assembly placement mechanism in step S3 include: S 31 The XY floating mechanism moves and grabs parts of the steering knuckle assembly on the first side; S 32 The XY floating mechanism drives the steering knuckle assembly on the first side to move toward the accompanying fixture, and rotates the gripper horizontally by 135° and the workpiece vertically by 180° during the movement. S 33 The XY floating mechanism moves into place, places the steering knuckle assembly on the first side downward onto the disc hub assembly on the first side, and completes the automatic assembly; S 34 The XY floating mechanism moves back to its original position; S 35 The XY floating mechanism moves to pick up the steering knuckle assembly part on the second side from the fixture; S 36 The XY floating mechanism moves the steering knuckle assembly on the second side toward the accompanying fixture, and during the movement, it rotates the gripper horizontally by -135° and the workpiece vertically by 180°. S 37 The XY floating mechanism moves into place, and the second-side steering knuckle assembly is placed downwards onto the right-side disc hub assembly, completing the assembly.

[0023] The positive and progressive effects of this invention are as follows: The automatic assembly system and method for steering knuckles and wheel hubs of the present invention have the following advantages: 1. To locate the hub hole angle, adjust the sensor position and height, motor speed distribution, and increase the compensation angle to improve the hub rotation accuracy and ensure the accuracy of hole position identification.

[0024] Second, regarding the pre-layout of the steering knuckle assembly, the steering knuckle gripping mechanism was modified, a precise positioning function for the brake disc was added, and a moving and rotating motor was added to increase the flexibility of the mechanism.

[0025] Third, for the bolt feeding mechanism, a replenishment buffer channel is added, and multiple feeding mechanisms are configured to achieve switching between different bolts and reduce the bolt jamming rate.

[0026] Fourth, it enables automatic pre-installation of bolts, adjusts motor parameter settings and clamping sequence, and uses a robot to locate each pre-tightening point, effectively improving the efficiency and accuracy of bolt pre-installation. Attached Figure Description

[0027] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always denote the same features, wherein: Figure 1 This is a schematic diagram showing the positioning of the disc hub assembly on the accompanying fixture in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0028] Figure 2 This is a schematic diagram illustrating the wheel hub hole location in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0029] Figure 3 This is a schematic diagram of the steering knuckle assembly placement mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0030] Figure 4 This is a schematic diagram showing the usage state of the servo tightening mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0031] Figure 5 This is a schematic diagram of the wheel hub rotation mechanism in the automatic assembly system of the steering knuckle and wheel hub of the present invention.

[0032] Figure 6 This is a schematic diagram of the wheel hub assembly positioning mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0033] Figure 7 This is a front view of the steering knuckle assembly placement mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0034] Figure 8 This is a perspective view of the steering knuckle assembly placement mechanism in the automatic steering knuckle and wheel hub assembly system of the present invention.

[0035] Figure 9 This is a schematic diagram of the steering knuckle assembly positioning mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0036] Figure 10 This is a schematic diagram of the servo tightening mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0037] Figure 11 This is a front view of the XY floating mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0038] Figure 12 This is a left view of the XY floating mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention.

[0039] Figure 13 This is a right view of the XY floating mechanism in the automatic assembly system for steering knuckles and wheel hubs of the present invention. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Embodiments of the invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the invention will now be described in detail, examples of which are shown in the drawings. Wherever possible, the same reference numerals will be used in all the drawings to denote the same or similar parts.

[0042] Furthermore, although the terminology used in this invention is selected from commonly known and used terms, some terms mentioned in this specification may have been selected by the applicant in his or her judgment, and their detailed meanings are explained in the relevant sections of the description herein.

[0043] Furthermore, the invention should be understood not only through the actual terminology used, but also through the meaning implied by each term.

[0044] like Figures 1 to 13As shown, this invention discloses an automatic assembly system for steering knuckles and wheel hubs, comprising: an assembly line with multiple assembly stations, a traveling fixture 1000, a wheel hub rotating mechanism 2000, a wheel hub assembly positioning mechanism 3000, a steering knuckle assembly placement mechanism 4000, a steering knuckle assembly positioning mechanism 5000, and a servo tightening mechanism 6000. The traveling fixture 1000 is used to mount the wheel hub assembly 1100, placing it at a corresponding assembly station. The wheel hub rotating mechanism 2000 is mounted at the bottom of the traveling fixture 1000 for rotating the wheel hub assembly. The wheel hub assembly positioning mechanism 3000 is mounted on both sides of the corresponding assembly station for positioning the wheel hub assembly. The steering knuckle assembly placement mechanism 4000 is mounted above the corresponding assembly station for placing the steering knuckle assembly on the wheel hub assembly. The steering knuckle assembly positioning mechanism 5000 is mounted on both sides of the corresponding assembly station for fixing the steering knuckle assembly. The servo tightening mechanism 6000 is installed above the corresponding assembly station and is used to tighten the steering knuckle assembly and the disc hub assembly.

[0045] like Figure 5 As shown, preferably, the hub rotation mechanism 2000 includes a spring column 2100, a lifting mechanism plate 2200, a clamp positioning pin 2300, a first double-guide rod cylinder 2400, and a stepper motor 2500. The spring column 2100 is mounted on the lifting mechanism plate 2200 and, after moving upwards, contacts the accompanying clamp 1000, thereby driving the hub assembly to rotate. The first double-guide rod cylinder 2400 and the stepper motor 2500 are respectively mounted on the bottom of the lifting mechanism plate 2200. The first double-guide rod cylinder 2400 drives the lifting mechanism plate 2200 to move up and down, and the stepper motor 2500 drives the spring column 2100. The clamp positioning pin 2300 is mounted on the lifting mechanism plate 2200 and engages with the positioning hole of the accompanying clamp 1000, enabling precise positioning of the accompanying clamp 1000 in the XY plane.

[0046] After the spring column 2100 moves upward, it contacts the accompanying clamp 1000, causing the hub assembly on the accompanying clamp 1000 to rotate. After the work is completed, it descends and disengages. The lifting mechanism plate 2200 is used to install the spring column 2100 and the clamp positioning pin 2300, and synchronously drives the spring column 2100 and the clamp positioning pin 2600 to move up and down. The clamp positioning pin 2300 rises by inserting the positioning pin into the positioning hole of the accompanying clamp 1000, achieving precise positioning of the accompanying clamp in the XY plane. The first double guide rod cylinder 2400 provides power for the up and down movement of the lifting mechanism plate 2200. The stepper motor 2500 provides power for the rotation of the spring column 2100.

[0047] Furthermore, the hub rotation mechanism 2000 also includes a stopper 2600 and a counter-stopper 2700, which are respectively installed on the corresponding assembly stations, located on the front and rear sides of the lifting mechanism plate 2200.

[0048] When the accompanying fixture 1000 enters its position, the stopper 2600 prevents the fixture from continuing to move forward. After the work at this position is completed, the stopper 2600 lowers to allow the accompanying fixture 1000 to pass through, and then rises again after passing through. The anti-blocker 2700 blocks the accompanying fixture 1000 from moving backward, allowing the fixture to pass in the forward direction but preventing it from passing in the backward direction.

[0049] like Figure 6 As shown, preferably, the wheel hub assembly positioning mechanism 3000 includes a second double-guide rod cylinder 3100, a first nylon positioning block 3200, a second nylon positioning block 3300, and a servo electric cylinder 3400. The first nylon positioning block 3200 is driven by the second double-guide rod cylinder 3100, and the second nylon positioning block 3300 is driven by the servo electric cylinder 3400. The first nylon positioning block 3200 and the second nylon positioning block 3300 are respectively located on both sides of the wheel hub assembly, thereby clamping and fixing the wheel hub assembly in an accurate position.

[0050] After the accompanying clamp hub assembly enters the workstation, the servo electric cylinder 3400 drives the second nylon positioning block 3300 to the accurate position according to the set stroke, ensuring that the V-shape of the nylon block is always in the same position. After the servo electric cylinder finishes its movement, the second double-guide rod cylinder 3100 drives the first nylon positioning block 3200 to move, clamping and fixing the hub assembly in the accurate position.

[0051] like Figure 7 and Figure 8 As shown, preferably, the steering knuckle assembly placement mechanism 4000 includes a mobile servo module 4100, a mobile servo motor 4200, a rotary servo motor 4300, an XY floating mechanism 4400, and a steering knuckle clamping mechanism 4500. The mobile servo module 4100 is fixedly connected to the frame structure, allowing the steering knuckle assembly placement mechanism 4000 to move perpendicular to the line. The mobile servo motor 4200 is mounted on the side of the mobile servo module 4100, providing the moving power for the steering knuckle assembly placement mechanism 4000. The rotary servo motor 4300 is mounted on the bottom of the mobile servo module 4100, providing the rotational power for the steering knuckle assembly placement mechanism 4000. The XY floating mechanism 4400 is connected to the rotary servo motor 4300 and is used to place the steering knuckle assembly onto the wheel hub assembly. The steering knuckle clamping mechanism 4500 is mounted on the side of the XY floating mechanism 4400 and is used to grip the steering knuckle assembly, rotate it, and place it onto the wheel hub assembly.

[0052] The mobile servo module 4100 is used to connect and fix to the frame structure, enabling the steering knuckle placement mechanism to move in the direction perpendicular to the line. The mobile servo motor 4200 provides the movement power for the steering knuckle placement mechanism, enabling the mechanism to move in the direction perpendicular to the line with sufficient movement accuracy. The rotary servo motor 4300 provides the rotational power for the steering knuckle placement mechanism, enabling the mechanism to grasp and place the steering knuckle assembly at different positions and angles in the XY plane. The XY floating mechanism 4400 improves the flexibility of placement when the steering knuckle assembly is placed onto the wheel hub assembly, ensuring 100% placement. The steering knuckle clamping mechanism 4500 picks up the correct steering knuckle assembly from the off-line assembly table, rotates it 180 degrees, and places it onto the wheel hub assembly.

[0053] The steering knuckle assembly placement mechanism 4000 also includes a lifting mechanism 4600 and a rotating mechanism 4700. The lifting mechanism 4600 enables the up-and-down movement of the steering knuckle clamping mechanism. The rotating mechanism enables the rotation of the steering knuckle clamping mechanism.

[0054] like Figure 9 As shown, the steering knuckle assembly positioning mechanism 5000 includes a third double guide rod cylinder 5100, a gripper 5200, and a nylon clamping block 5300. The third double guide rod cylinder 5100 is installed on both sides of the corresponding assembly station, and the gripper 5200 is installed at the end of the third double guide rod cylinder 5100. The third double guide rod cylinder 5100 drives the gripper 5200 to clamp or release the steering knuckle assembly.

[0055] The third double-guide rod cylinder 5100 drives the gripper 5200 to move back and forth. The retracted position avoids the workpiece and fixture, while the forward position clamps and fixes the steering knuckle assembly. The gripper 5200 opens to both sides to release the workpiece and closes to the middle to clamp the workpiece.

[0056] like Figure 10 As shown, the servo tightening mechanism 6000 includes a cylinder 6100, a servo motor 6200, a sleeve connecting rod 6300, and a clamp 6400. The cylinder 6100 is connected to the servo motor 6200, driving the servo motor 6200 to move up and down. The sleeve connecting rod 6300 is connected to the servo motor 6200. The clamp 6400 is installed at the end of the sleeve connecting rod 6300 and is used to install fasteners.

[0057] Preferably, the clamp 6400 is provided with multiple fastener inlets for feeding various fasteners.

[0058] Cylinder 6100 drives servo motor 6200 to move up and down. Servo motor 6200 performs bolt pre-tightening, allowing setting of the number of tightening turns and tightening speed, and monitoring of tightening torque. Sleeve connecting rod 6300 connects servo motor 6200 and bolt tightening head, transmitting the output torque value of servo motor 6200. Gripper 6400 has two bolt inlets, enabling feeding of two different types of bolts and ensuring accurate insertion into mounting holes and threads.

[0059] Furthermore, the automatic assembly system for steering knuckles and wheel hubs also includes a fastener conveying mechanism 7000 and a robotic arm 7100. The robotic arm 7100 is driven by the fastener conveying mechanism 7000 and drives the servo tightening mechanism 6000 to move.

[0060] like Figures 11 to 13 As shown, in this embodiment, preferably, the XY floating mechanism 4400 includes: a rotary motor module 10, a motor connecting plate 20, a first X-axis buffer assembly, a second X-axis buffer assembly, a first X-axis linear guide device, a second X-axis linear guide device, a first Y-axis buffer assembly, a second Y-axis buffer assembly, a first Y-axis linear guide device, a second Y-axis linear guide device, a mounting plate assembly, a drive mechanism, a first Z-axis buffer assembly, a second Z-axis buffer assembly, a first Z-axis linear guide device, and a second Z-axis linear guide device.

[0061] The rotary motor module 10 is mounted on the motor connecting plate 20. The first X-axis buffer assembly and the second X-axis buffer assembly are respectively mounted on the motor connecting plate 20. The first X-axis linear guide device and the second X-axis linear guide device are respectively mounted between the motor connecting plate 20 and the guide rail connecting plate 30, so that the guide rail connecting plate 30 floats relative to the motor connecting plate 20, realizing movement in the X direction.

[0062] The first Y-axis buffer assembly and the second Y-axis buffer assembly are respectively mounted on the guide rail connecting plate 30. The first Y-axis linear guide device and the second Y-axis linear guide device are respectively mounted between the guide rail connecting plate 30 and the horizontal mounting plate 40, so that the horizontal mounting plate 40 floats relative to the guide rail connecting plate 30, realizing movement in the Y direction.

[0063] The mounting plate assembly is connected to the horizontal mounting plate 40, and the drive mechanism is mounted on the horizontal mounting plate 40.

[0064] The first Z-axis buffer assembly and the second Z-axis buffer assembly are respectively mounted on the mounting plate assembly to achieve buffering in the Z direction. The first Z-axis linear guide device and the second Z-axis linear guide device are respectively mounted on the mounting plate assembly to achieve movement in the Z direction.

[0065] Preferably, the first X-axis linear guide device includes a first X-axis linear guide seat 50 and a first X-axis linear guide 51 mounted on the first X-axis linear guide seat 50. The second X-axis linear guide device includes a second X-axis linear guide seat 52 and a second X-axis linear guide 53 mounted on the second X-axis linear guide seat 52. The first X-axis linear guide 51 and the second X-axis linear guide 53 are respectively fixed on the motor connecting plate 20, and the first X-axis linear guide seat 50 and the second X-axis linear guide seat 52 are respectively fixed on the guide rail connecting plate 30.

[0066] The first X-axis buffer assembly includes a first X-axis buffer mounting plate 60 and a first X-axis buffer 61 mounted on the first X-axis buffer mounting plate 60. The second X-axis buffer assembly includes a second X-axis buffer mounting plate 62 and a second X-axis buffer 63 mounted on the second X-axis buffer mounting plate 62. The first X-axis buffer mounting plate 60 and the second X-axis buffer mounting plate 62 are respectively fixed to the motor connecting plate 20.

[0067] In this embodiment, the rotary motor module 10 is connected to the motor connecting plate 20 by multiple bolts (e.g., six), and the first X-direction linear guide rail 51 and the second X-direction linear guide rail 53 are respectively connected to the motor connecting plate 20 by multiple bolts (e.g., four). The first X-direction linear guide rail 51 and the second X-direction linear guide rail 53 are respectively installed in the first X-direction linear guide rail seat 50 and the second X-direction linear guide rail seat 52 to realize the movement of the device in the X direction.

[0068] The first X-axis buffer mounting plate 60 and the second X-axis buffer mounting plate 62 are respectively mounted on the motor connecting plate 20 with multiple bolts (e.g., three). The first X-axis buffer 61 and the second X-axis buffer 63 are respectively mounted on the first X-axis buffer mounting plate 60 and the second X-axis buffer mounting plate 62 with multiple bolts (e.g., two), so that the guide rail connecting plate 30 can float relative to the motor connecting plate 20. The first X-axis linear guide rail seat 50 and the second X-axis linear guide rail seat 52 are respectively mounted on the guide rail connecting plate 30 with multiple bolts (e.g., four).

[0069] Preferably, the first Y-axis linear guide device includes a first Y-axis linear guide seat 70 and a first Y-axis linear guide 71 mounted on the first Y-axis linear guide seat 70. The second Y-axis linear guide device includes a second Y-axis linear guide seat 72 and a second Y-axis linear guide 73 mounted on the second Y-axis linear guide seat 72. The first Y-axis linear guide 71 and the second Y-axis linear guide 73 are respectively fixed on the guide rail connecting plate 30, and the first Y-axis linear guide seat 70 and the second Y-axis linear guide seat 72 are respectively fixed on the horizontal mounting plate 40.

[0070] The first Y-axis buffer assembly includes a first Y-axis buffer mounting plate 80 and a first Y-axis buffer 81 mounted on the first Y-axis buffer mounting plate 80. The second Y-axis buffer assembly includes a second Y-axis buffer mounting plate 82 and a second Y-axis buffer 83 mounted on the second Y-axis buffer mounting plate 82. The first Y-axis buffer mounting plate 80 and the second Y-axis buffer mounting plate 82 are respectively fixed to the guide rail connecting plate 30.

[0071] In this embodiment, the first Y-direction linear guide rail 71 and the second Y-direction linear guide rail 73 are respectively connected to the guide rail connecting plate 30 by multiple bolts (e.g., four). The first Y-direction linear guide rail 71 and the second Y-direction linear guide rail 73 are respectively installed in the first Y-direction linear guide rail seat 70 and the second Y-direction linear guide rail seat 72 to realize the movement of the device in the Y direction.

[0072] The first Y-axis buffer mounting plate 80 and the second Y-axis buffer mounting plate 82 are respectively mounted on the guide rail connecting plate 30 by multiple bolts (e.g., three). The first Y-axis buffer 81 and the second Y-axis buffer 83 are respectively mounted on the first Y-axis buffer mounting plate 82 and the second Y-axis buffer mounting plate 83 by multiple bolts (e.g., two), so that the horizontal mounting plate 40 can float relative to the guide rail connecting plate 30. The first Y-axis linear guide rail seat 70 and the second Y-axis linear guide rail seat 72 are respectively mounted on the horizontal mounting plate 40 by multiple bolts (e.g., four).

[0073] Furthermore, the mounting plate assembly includes a vertical mounting plate 90, a first reinforcing plate 91, and a second reinforcing plate 92, connecting the vertical mounting plate 90 to the horizontal mounting plate 40. The first reinforcing plate 91 and the second reinforcing plate 92 are respectively connected to the vertical mounting plate 90 and the horizontal mounting plate 40.

[0074] The vertical mounting plate 90 is connected to the horizontal mounting plate 40 by a plurality of bolts (e.g., seven). The first reinforcing plate 91 and the second reinforcing plate 92 are respectively connected to the vertical mounting plate 90 by a plurality of bolts (e.g., seven). The first reinforcing plate 91 and the second reinforcing plate 92 are respectively connected to the horizontal mounting plate 40 by a plurality of bolts (e.g., four).

[0075] The driving mechanism includes a lifting cylinder 100, a cylinder connecting block 110, a lifting connecting block 120, and a T-shaped connecting plate 130. The lifting cylinder 100 is connected to the horizontal mounting plate 40, the cylinder connecting block 110 is connected to the lifting connecting block 120, the lifting cylinder 100 is connected to the lifting connecting block 120 via the cylinder connecting block 110, and the lifting connecting block 120 is connected to the T-shaped connecting plate 130. The lifting cylinder 100 drives the clamping module to rise or fall.

[0076] The lifting cylinder 100 is connected to the horizontal mounting plate 40 by multiple bolts (e.g., four), the cylinder connecting block 110 is connected to the lifting connecting block 120 by multiple bolts (e.g., two), the lifting cylinder 100 is connected to the lifting connecting block 120 by the cylinder connecting block 110, and the lifting connecting block 120 is connected to the T-shaped connecting plate 130 by multiple bolts (e.g., two). The lifting cylinder 100 drives the clamping module to achieve the function of raising and lowering.

[0077] Preferably, the first Z-axis buffer assembly includes a first Z-axis buffer upper mounting plate 200, a first Z-axis buffer lower mounting plate 210, a first Z-axis buffer upward 220 mounted on the first Z-axis buffer upper mounting plate 200, and a first Z-axis buffer downward 230 mounted on the first Z-axis buffer lower mounting plate 210. The first Z-axis buffer upper mounting plate 200 and the first Z-axis buffer lower mounting plate 210 are respectively fixed on the vertical mounting plate 90.

[0078] The second Z-axis buffer assembly includes a second Z-axis buffer upper mounting plate 300, a second Z-axis buffer lower mounting plate 310, a second Z-axis buffer upward 320 mounted on the second Z-axis buffer upper mounting plate 300, and a second Z-axis buffer downward 330 mounted on the second Z-axis buffer lower mounting plate 310. The second Z-axis buffer upper mounting plate 300 and the second Z-axis buffer lower mounting plate 310 are respectively fixed on a vertical mounting plate 90.

[0079] The first Z-axis buffer assembly further includes a first Z-axis limiting block 400, and the second Z-axis buffer assembly further includes a second Z-axis limiting block 500. The first Z-axis limiting block 400 and the second Z-axis limiting block 500 are connected to the T-shaped connecting plate 130.

[0080] In this embodiment, the first Z-axis buffer mounting plate 200 and the second Z-axis buffer mounting plate 300 are respectively connected to the vertical mounting plate 90 by multiple bolts (e.g., two). The first Z-axis upward buffer 220 and the second Z-axis upward buffer 320 are respectively mounted on the first Z-axis buffer mounting plate 200 and the second Z-axis buffer mounting plate 300 to realize the buffering function of the Z-axis device.

[0081] The first Z-axis buffer lower mounting plate 210 and the second Z-axis buffer lower mounting plate 310 are respectively connected to the vertical mounting plate 90 by multiple bolts (e.g., two). The first Z-axis downward buffer 220 and the second Z-axis downward buffer 320 are respectively mounted on the first Z-axis buffer lower mounting plate 210 and the second Z-axis buffer lower mounting plate 310 to realize the Z-axis device downward buffering function.

[0082] The first Z-direction limiting block 400 and the second Z-direction limiting block 500 are respectively connected to the T-shaped connecting plate 130 by multiple bolts (e.g., two) to realize the limiting function of the device in the Z direction.

[0083] Preferably, the first Z-axis linear guide device includes a first Z-axis linear guide seat 600 and a first Z-axis linear guide 610 mounted on the first Z-axis linear guide seat 600. The second Z-axis linear guide device includes a second Z-axis linear guide seat 700 and a second Z-axis linear guide 710 mounted on the second Z-axis linear guide seat 700. The first Z-axis linear guide 610 and the second Z-axis linear guide 710 are respectively fixed on the guide rail connecting plate 30, and the first Z-axis linear guide seat 600 and the second Z-axis linear guide seat 700 are respectively fixed on the horizontal mounting plate 40.

[0084] In this embodiment, the first Z-axis linear guide 610 and the second Z-axis linear guide 710 are respectively connected to the vertical mounting plate 90 by multiple bolts (e.g., five). The first Z-axis linear guide 610 and the second Z-axis linear guide 710 are respectively installed in the first Z-axis linear guide seat 600 and the second Z-axis linear guide seat 700 to realize the movement of the device in the Z direction. The first Z-axis linear guide seat 600 and the second Z-axis linear guide seat 700 are respectively installed on the T-shaped connecting plate 130 by multiple bolts (e.g., four).

[0085] Furthermore, the gripper device also includes a rotary cylinder module 800, a first rotary buffer device, a second rotary buffer device, and a rotary limiting block 810. The rotary cylinder module 800 is connected to the T-shaped connecting plate 130 and the L-shaped connecting plate 820, and the rotary cylinder module 800 drives the clamping module to rotate 180°. The first and second rotary buffer devices are connected to the T-shaped connecting plate 130, and the rotary limiting block 810 is connected to the L-shaped connecting plate 820.

[0086] The first rotary damper device includes a first rotary damper mounting plate 830 and a first rotary damper 831 mounted on the first rotary damper mounting plate 830. The second rotary damper device includes a second rotary damper mounting plate 840 and a second rotary damper 841 mounted on the second rotary damper mounting plate 840.

[0087] In this embodiment, the rotary cylinder module 800 is connected to the T-shaped connecting plate 130 by eight bolts, and the rotary cylinder module 800 is connected to the L-shaped connecting plate 820 by eight bolts. The rotation of the rotary cylinder module 800 drives the clamping module to rotate 180°.

[0088] The first rotary buffer mounting plate 830 and the second rotary buffer mounting plate 840 are respectively connected to the T-shaped connecting plate 130 by two bolts. The first rotary buffer 831 and the second rotary buffer 841 are respectively connected to the first rotary buffer mounting plate 831 and the second rotary buffer mounting plate 841 by threads. The rotary limiting block 810 is connected to the L-shaped connecting plate 820 by two bolts to realize the 180° rotation limit of the clamping module.

[0089] The clamping module includes a first clamping linear guide device, a second clamping linear guide device, a clamping cylinder connecting block 900, a cylinder connecting block 910, and a clamping moving plate 930. The first clamping linear guide device and the second clamping linear guide device are respectively mounted on the clamping moving plate 930. The clamping cylinder 940 is connected to the clamping cylinder connecting block 900, which is connected to the L-shaped connecting plate 820. The cylinder connecting block 910 is connected to the clamping moving plate 930.

[0090] Preferably, the first clamping linear guide device includes a first clamping linear guide seat 950 and a first clamping linear guide 951 mounted on the first clamping linear guide seat 950. The second clamping linear guide device includes a second clamping linear guide seat 960 and a second clamping linear guide 961 mounted on the second clamping linear guide seat 960. The first clamping linear guide 951 and the second clamping linear guide 961 are respectively connected to the L-shaped connecting plate 820. The first clamping linear guide seat 950 and the second clamping linear guide seat 960 are respectively fixed on the clamping moving plate 930.

[0091] In this embodiment, the first clamping linear guide 951 and the second clamping linear guide 961 are respectively connected to the L-shaped connecting plate 820 by multiple bolts (e.g., three). The first clamping linear guide 951 and the second clamping linear guide 961 are respectively installed in the first clamping linear guide seat 950 and the second clamping linear guide seat 960 to realize the clamping function of the device.

[0092] The first clamping linear guide seat 950 and the second clamping linear guide seat 960 are respectively mounted on the clamping moving plate 930 by multiple bolts (e.g., four). The clamping cylinder 940 is connected to the clamping cylinder connecting block 910 by four bolts. The clamping cylinder connecting block 910 is connected to the L-shaped connecting plate 820 by multiple bolts (e.g., two). The cylinder connecting block 910 is connected to the clamping moving plate 930 by two bolts.

[0093] The clamping cylinder 940 achieves the clamping and releasing functions of the clamping module through the clamping cylinder connecting block 910 and the clamping moving plate 930. The diamond-shaped clamping pin 970 and the round clamping pin 971 are connected to the clamping moving plate 930 by threads. The first clamping block 972 and the second clamping block 973 are respectively connected to the L-shaped connecting plate 820 by multiple (e.g., four) bolts. The clamping pins and clamping blocks achieve the clamping function of the steering knuckle assembly A.

[0094] The XY floating mechanism can effectively improve the feasibility of automated assembly and can also be applied to other locations with small assembly gaps, making sufficient preparations for the automatic pre-assembly of the assembly line.

[0095] The present invention also provides an automatic assembly method for steering knuckles and wheel hubs, which employs the automatic assembly system for steering knuckles and wheel hubs as described above, and includes the following steps: Step S1: The assembly system, according to the vehicle model information configured in the production system, completes the disc / hub assembly runout detection and automatically transports it to the corresponding assembly station in the assembly system, placing the disc / hub assembly on the accompanying fixture for positioning. The disc / hub assembly here includes the brake disc, wheel assembly, and disc / hub bolts (such as...). Figure 1 (As shown).

[0096] Step S2: The assembly system transfers the fixture and hub assembly to the corresponding assembly station (e.g., OP15 station, rotating hub bolt hole position). After the accompanying fixture is lifted and positioned, the motor on the lower side of the accompanying fixture drives the hub assembly to rotate, rotating the hub assembly to the correct angle according to the vehicle model information (e.g., ...). Figure 2 (As shown).

[0097] Preferably, step S2 includes: The three-hole wheel hub working process is as follows: the accompanying fixture enters the work station, the accompanying fixture is precisely positioned and lifted, the motor drives the wheel hub assembly to rotate (for example, the motor drives the wheel hub assembly to rotate at a speed of 10 degrees / second), the laser sensor 1200 senses the threaded hole once, senses that the motor stops rotating, and the motor automatically rotates to compensate for the angle of -4°.

[0098] Furthermore, step S2 also includes: The four-hole hub working process is as follows: The accompanying fixture enters the workstation, and the accompanying fixture is precisely positioned and lifted. The motor drives the hub assembly to rotate (for example, the motor drives the hub assembly to rotate at a speed of 10 degrees / second). The four holes are asymmetrically distributed. The equipment finds the positions of the two holes with the smallest angle. The 1200 laser sensor senses the threaded holes four times. When it senses this, the motor stops rotating, and the motor automatically rotates to compensate for the angle of -18°.

[0099] The descent air pressure of the lifting cylinder is set to 0.25MPa. After the wheel hub assembly is placed in place, the slow descent will greatly reduce the product displacement caused by the descent impact.

[0100] Step S3: The assembly system transfers the fixture and hub assembly to the corresponding assembly station (e.g., OP20 station, automatically assembling the steering knuckle assembly and hub assembly). After the accompanying fixture is in place, the moving servo motor of the steering knuckle assembly placement mechanism moves to the parameter setting position, and the cylinder inside the line advances, fixing the hub assembly in the accurate position, ensuring that the positioning center of each part is consistent each time (e.g., ...). Figure 3 (As shown).

[0101] The working steps of the XY floating mechanism of the steering knuckle assembly placement mechanism in step S3 include: Step S 31 The XY floating mechanism moves and grabs parts of the steering knuckle assembly on the first side; Step S 32 The XY floating mechanism drives the steering knuckle assembly on the first side to move toward the accompanying fixture, and rotates the gripper horizontally by 135° and the workpiece vertically by 180° during the movement. Step S 33 The XY floating mechanism moves into place, places the steering knuckle assembly on the first side downward onto the disc hub assembly on the first side, and completes the automatic assembly; Step S 34 The XY floating mechanism moves back to its original position; Step S 35 The XY floating mechanism moves to pick up the steering knuckle assembly part on the second side from the fixture; Step S 36 The XY floating mechanism moves the steering knuckle assembly on the second side toward the accompanying fixture, and during the movement, it rotates the gripper horizontally by -135° and the workpiece vertically by 180°. Step S 37 The XY floating mechanism moves into place, and the second-side steering knuckle assembly is placed downwards onto the right-side disc hub assembly, completing the assembly.

[0102] Step S4: The assembly system transfers the combination of the accompanying fixture, hub assembly, and steering knuckle assembly to the corresponding assembly station (e.g., OP30 station, automatically pre-installing wheel hub bolts). After the accompanying fixture is in place, the steering knuckle assembly positioning mechanism clamps the workpiece to a fixed position, and the servo tightening mechanism automatically passes the bolts through the holes and pre-tightens them a specified number of turns (e.g., ...). Figure 4 (As shown).

[0103] The servo tightening mechanism 6000 is mounted on the robotic arm 7100. The robotic arm 7100 is driven by the fastener delivery mechanism 7000 (e.g., the fastener is a bolt), and the robotic arm 7100 drives the servo tightening mechanism 6000 to move.

[0104] The fastener conveying mechanism 7000 includes a feeding mechanism and multiple vibratory feeders. The material pool of the vibratory feeder can hold 500 bolts. The usage in the field is as follows: 8 bolts are used for four-hole models and 6 bolts are used for three-hole models. The cycle time is 60 seconds per bolt.

[0105] Therefore, a full vibratory feeder can produce continuously for 60 minutes, after which it is automatically replenished by a belt conveyor from four other compartments. Each compartment contains 300 bolts, thus meeting the requirement that a single load can last for 4 hours of continuous use.

[0106] When there is material in the hopper, the material shortage sensor lever is moved by the bolt and tilts, so the tail sensor switch cannot detect the iron plate. When the vibratory feeder is low on material, the lever naturally hangs vertically, and the sensor switch detects the sensor plate. After a continuous signal for 10 seconds, the feeding belt rotates one notch, completing the automatic feeding process.

[0107] Automatic bolt feeding: Two vibratory feeders feed both coarse and fine thread bolts respectively. First, the bolts are output to two feeding mechanisms, then fed to the chucks through two different feed tubes. The system switches between bolt types based on vehicle model information. Since the bolts have identical external dimensions, they can be used with the same set of chucks for compatibility.

[0108] Automatic bolt pre-tightening: Verification results show that the maximum allowable coaxial deviation between the steering knuckle through hole and the wheel hub threaded hole is 3 mm, which does not affect the pre-threading and pre-tightening functions. At station OP15, there is a rotation angle correction for the wheel hub, ±1 mm. After precise placement of the steering knuckle, the theoretical coaxial deviation should not exceed ±1.5 mm. This station has a clamping system for the steering knuckle; vibration during the clamping process may cause greater deviation, but after multiple multi-product verifications, this coaxial deviation will not exceed 2 mm.

[0109] Drive method: Basic positioning control (EPOS). Speed: Verified speed is 80° / s. Number of turns: Verified number of turns is 10 turns (pre-tightening turns are set according to bolt length). Torque: 3Nm.

[0110] Final determination of whether tightening is complete: By setting the maximum and minimum torque values, the maximum instantaneous torque value of the servo is captured during the tightening process. If the final torque does not exceed the set maximum value, it is considered qualified; otherwise, it is unqualified.

[0111] Step S5: The assembly system transfers the fixture and the assembly angle assembly to the corresponding assembly station (e.g., OP40 station, automatically tightening wheel hub bolts). After the accompanying fixture is positioned, the automatic station electric tightening shaft automatically changes position based on the vehicle model information to achieve the tightening of multiple bolts (e.g., 3 or 4 bolts), and simultaneously tightens the bolts to the torque and angle specified in the process.

[0112] Based on the above description, the automatic assembly method for steering knuckles and wheel hubs of the present invention differs from traditional methods in the following ways: First, the technology for finding bolt holes, gripping and positioning small-clearance parts, and automatic feeding and pre-assembly of M12 bolts has been improved. The wheel hub assembly threaded holes are rotated to the required assembly position by a stepper motor. The steering knuckle assembly is accurately assembled with the disc hub assembly by a servo floating gantry robot arm. The robot arm with a servo motor pre-tightens the bolts into the wheel hub assembly and steering knuckle assembly.

[0113] Second, the accuracy of sensor-based hole position identification has been improved, and the impact of stepper motor start-stop inertia on the final hole position has been reduced. A rotating mechanism has been added to the lower side of the accompanying fixture, which can rotate the wheel hub threaded hole to the required angle via a stepper motor. The rotation accuracy of the wheel hub has been ensured through stepper motor parameter development and verification. A hole position identification mechanism has been added to the upper side of the accompanying fixture, which uses a laser sensor to identify different models of wheel hubs. The logic of the ranging sensor has been developed to ensure the accuracy of hole position identification. A secondary rotation compensation angle for the rotating mechanism and the stepper motor speed have been developed to ensure the final hole position. At the same time, the deceleration of the lifting cylinder has been developed to ensure the final hole position.

[0114] A stepper motor drives the brake disc and bearing to rotate. A Keyence laser rangefinder sensor is used to detect the bearing bolt holes. Once the sensor detects the bolt holes, the rotation stops. A compensation angle is set, and the hole position error at the stop position is ±0.5 degrees.

[0115] Third, to improve the accuracy of the steering knuckle placement in the wheel hub, the system adds an X-axis floating gripper function to accommodate X-axis hole position errors, a Y-axis floating gripper function to accommodate Y-axis hole position errors, and a U-axis rotating floating gripper function to accommodate part plane errors. It employs a combination of electric and pneumatic cylinders to achieve precise positioning (centering) of the wheel hub.

[0116] IV. A replenishment hopper function has been added to meet the production needs of 2.5-5 hours. The assembly system uses an electromagnetic spring-loaded vibratory feeding mechanism and a custom-designed nail separator.

[0117] 5. For the fastener feeding mechanism, modify the nail feeder and install two or more nail feeding inlets. Use a nail feeding tube with a matching inner diameter, lengthen the nail feeding tube to reduce the change in pipe curvature caused by changes in robot posture, and adjust the nail feeding tube blowing time and air cut-off delay time.

[0118] Bolts are delivered to the gun head mechanism via air tubes. A robot locates each pre-tightening point, and a robotic arm drives a servo tightening tool to pre-tighten the bolts, completing the pre-tightening of 3 / 4 bolts on one side. The servo tightening tool can control the tightening torque or angle and determine whether the pre-tightening is complete.

[0119] In summary, the automatic assembly system and method for steering knuckles and wheel hubs of the present invention have the following advantages: 1. To locate the hub hole angle, adjust the sensor position and height, motor speed distribution, and increase the compensation angle to improve the hub rotation accuracy and ensure the accuracy of hole position identification.

[0120] Second, regarding the pre-layout of the steering knuckle assembly, the steering knuckle gripping mechanism was modified, a precise positioning function for the brake disc was added, and a moving and rotating motor was added to increase the flexibility of the mechanism.

[0121] Third, for the bolt feeding mechanism, a replenishment buffer channel is added, and multiple feeding mechanisms are configured to achieve switching between different bolts and reduce the bolt jamming rate.

[0122] Fourth, it enables automatic pre-installation of bolts, adjusts motor parameter settings and clamping sequence, and uses a robot to locate each pre-tightening point, effectively improving the efficiency and accuracy of bolt pre-installation.

[0123] For those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0124] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0125] Similarly, it should be noted that, in order to simplify the description of the embodiments disclosed in this application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of this application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of this application requires more features than those mentioned in the claims. In fact, the embodiments have fewer features than all the features of the single embodiments disclosed above.

[0126] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. An automatic assembly system for steering knuckles and wheel hubs, characterized in that, The automated assembly system for steering knuckles and wheel hubs includes an assembly line with multiple assembly stations. A follow-up fixture is used to install the disc hub assembly, and the follow-up fixture is placed at the corresponding assembly station; A hub rotation mechanism, installed at the bottom of the accompanying clamp, is used to rotate the hub assembly; The wheel hub assembly positioning mechanism is installed on both sides of the corresponding assembly station to position the wheel hub assembly. A steering knuckle assembly placement mechanism is installed above the corresponding assembly station to place the steering knuckle assembly on the disc hub assembly; A steering knuckle assembly positioning mechanism is installed on both sides of the corresponding assembly station to fix the steering knuckle assembly; A servo tightening mechanism is installed above the corresponding assembly station to tighten the steering knuckle assembly and the disc hub assembly; The steering knuckle assembly placement mechanism includes: The mobile servo module is connected and fixed to the frame structure, enabling the steering knuckle assembly placement mechanism to move in a direction perpendicular to the line. A mobile servo motor is installed on the side of the mobile servo module to provide movement power for the steering knuckle assembly placement mechanism; A rotary servo motor is installed at the bottom of the mobile servo module to provide rotational power for the steering knuckle assembly placement mechanism; The XY floating mechanism, connected to the rotary servo motor, is used to place the steering knuckle assembly onto the wheel hub assembly; A steering knuckle clamping mechanism is installed on the side of the XY floating mechanism to grip the steering knuckle assembly, rotate it, and place it on the wheel hub assembly. The XY floating mechanism includes a rotary motor module, a motor connecting plate, a guide rail connecting plate, a horizontal mounting plate, a mounting plate assembly, and a drive mechanism. It is equipped with linear guide rail devices and buffer assemblies in the X, Y, and Z directions. The rotary motor module is mounted on the motor connecting plate. The X-direction linear guide rail device is located between the motor connecting plate and the guide rail connecting plate. The Y-direction linear guide rail device is located between the guide rail connecting plate and the horizontal mounting plate. The Z-direction linear guide rail device and the Z-direction buffer assembly are mounted on the mounting plate assembly to achieve floating in the X, Y, and Z directions, respectively. The mounting plate assembly is connected to the horizontal mounting plate, and the drive mechanism is mounted on the horizontal mounting plate.

2. The automatic assembly system for steering knuckles and wheel hubs as described in claim 1, characterized in that, The hub rotation mechanism includes a spring column, a lifting mechanism plate, a clamp positioning pin, a first double guide rod cylinder and a stepper motor. The spring column is mounted on the lifting mechanism plate and moves upward to contact the accompanying clamp, thereby driving the hub assembly to rotate. The first double-guide rod cylinder and the stepper motor are respectively installed at the bottom of the lifting mechanism plate. The first double-guide rod cylinder is used to drive the lifting mechanism plate to move up and down, and the stepper motor is used to drive the spring column. The fixture positioning pin is installed on the lifting mechanism plate and cooperates with the positioning hole of the accompanying fixture to enable precise positioning of the accompanying fixture in the XY plane.

3. The automatic assembly system for steering knuckles and wheel hubs as described in claim 2, characterized in that, The hub rotation mechanism also includes a stopper and a counter-stopper, which are respectively installed on the corresponding assembly stations and located on the front and rear sides of the lifting mechanism plate.

4. The automatic assembly system for steering knuckles and wheel hubs as described in claim 1, characterized in that, The wheel hub assembly positioning mechanism includes a second double-guide rod cylinder, a first nylon positioning block, a second nylon positioning block, and a servo electric cylinder. The first nylon positioning block is driven by the second double-guide rod cylinder, and the second nylon positioning block is driven by the servo electric cylinder. The first nylon positioning block and the second nylon positioning block are respectively located on both sides of the wheel hub assembly, so that the wheel hub assembly is clamped and fixed in an accurate position.

5. The automatic assembly system for steering knuckles and wheel hubs as described in claim 1, characterized in that, The steering knuckle assembly positioning mechanism includes a third double guide rod cylinder, a gripper, and a nylon clamping block. The third double guide rod cylinder is installed on both sides of the corresponding assembly station, and the gripper is installed at the end of the third double guide rod cylinder. The third double guide rod cylinder drives the gripper to clamp or release the steering knuckle assembly.

6. The automatic assembly system for steering knuckles and wheel hubs as described in claim 1, characterized in that, The servo tightening mechanism includes a cylinder, a servo motor, a sleeve connecting rod, and a clamp. The cylinder is connected to the servo motor and drives the servo motor to move up and down. The sleeve connecting rod is connected to the servo motor, and the clamp is installed at the end of the sleeve connecting rod for installing fasteners.

7. The automatic assembly system for steering knuckles and wheel hubs as described in claim 6, characterized in that, The clamp is provided with multiple fastener inlets for feeding various fasteners.

8. The automatic assembly system for steering knuckles and wheel hubs as described in claim 7, characterized in that, The automatic assembly system for steering knuckles and wheel hubs also includes a fastener conveying mechanism and a robotic arm. The servo tightening mechanism is mounted on the robotic arm, and the robotic arm drives the servo tightening mechanism to move.

9. An automatic assembly method for steering knuckles and wheel hubs, characterized in that, The automatic assembly method for steering knuckles and wheel hubs employs the automatic assembly system for steering knuckles and wheel hubs as described in any one of claims 1-8, and includes the following steps: S1. The assembly system completes the disc assembly runout detection according to the vehicle model information configured in the production system, and automatically transports it to the corresponding assembly station of the assembly system, and positions the disc assembly on the accompanying fixture. S2. The assembly system transfers the fixture and hub assembly to the corresponding assembly station. After the accompanying fixture is lifted and positioned, the motor on the lower side of the accompanying fixture drives the hub assembly to rotate, rotating the hub assembly to the correct angle according to the vehicle model information. S3. The assembly system transfers the fixture and hub assembly to the corresponding assembly station. After the accompanying fixture is in place, the moving servo motor of the steering knuckle assembly placement mechanism moves to the parameter setting position. The cylinder inside the assembly line moves forward to fix the hub assembly in the accurate position, so that the positioning center of each part is consistent every time. S4. The assembly system transfers the combination of the accompanying fixture, the hub assembly and the steering knuckle assembly to the corresponding assembly station. After the accompanying fixture is in place, the steering knuckle assembly positioning mechanism clamps the workpiece to a fixed position, and the servo tightening mechanism automatically passes the bolt through the hole and pre-tightens it a specified number of turns. S5. The assembly system transfers the fixture and the assembly angle assembly to the corresponding assembly station. After the accompanying fixture is positioned, the automatic station electric tightening shaft automatically changes position according to the vehicle model information to tighten multiple bolts and simultaneously tighten the bolts to the torque and angle specified in the process.

10. The automatic assembly method for steering knuckles and wheel hubs as described in claim 9, characterized in that, Step S2 includes: The accompanying fixture enters the workstation, the accompanying fixture is positioned and lifted, the motor drives the hub assembly to rotate, the laser sensor senses the threaded hole once, and when it senses that the motor has stopped rotating, the motor automatically rotates to compensate for the angle of -4°.

11. The automatic assembly method for steering knuckles and wheel hubs as described in claim 9, characterized in that, Step S2 includes: the accompanying fixture enters the workstation, the accompanying fixture is positioned and lifted, the motor drives the hub assembly to rotate, the position of the two holes with the smallest angle is found, the laser sensor senses the threaded hole four times, the motor stops rotating when it senses the angle, and the motor automatically rotates to compensate for the angle of -18°.

12. The automatic assembly method for steering knuckles and wheel hubs as described in claim 9, characterized in that, The working steps of the XY floating mechanism of the steering knuckle assembly placement mechanism in step S3 include: S 31 The XY floating mechanism moves and grabs parts of the steering knuckle assembly on the first side; S 32 The XY floating mechanism drives the steering knuckle assembly on the first side to move toward the accompanying fixture, and rotates the gripper horizontally by 135° and the workpiece vertically by 180° during the movement. S 33 The XY floating mechanism moves into place, places the steering knuckle assembly on the first side downward onto the disc hub assembly on the first side, and completes the automatic assembly; S 34 The XY floating mechanism moves back to its original position; S 35 The XY floating mechanism moves to pick up the steering knuckle assembly part on the second side from the fixture; S 36 The XY floating mechanism moves the steering knuckle assembly on the second side toward the accompanying fixture, and during the movement, it rotates the gripper horizontally by -135° and the workpiece vertically by 180°. S 37 The XY floating mechanism moves into place, and the second-side steering knuckle assembly is placed downwards onto the right-side disc hub assembly, completing the assembly.

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