Wheel assembling method of toy car, wheel assembling equipment and storage medium

Abstract

The embodiment of the invention provides a toy car wheel assembling method and device and a storage medium, and the method comprises the steps that an axle positioning module is controlled to move a to-be-assembled axle to a first preset position; the first moving unit is controlled to move the first wheel to the first end of the first preset position, and the second moving unit is controlled to move the second wheel to the second end of the first preset position; an axle positioning module is controlled to move the axle to be assembled to a second preset position; the manipulator module is controlled to move the to-be-assembled vehicle body to the vehicle body fixing module; and the vehicle body fixing module is controlled to assemble the to-be-assembled vehicle body and the to-be-assembled axle to obtain a toy vehicle finished product. The wheel assembling efficiency of the toy car can be effectively improved, the product percent of pass and the quality stability after assembling are improved, and the wheel assembling device can be widely applied to the technical field of toy car manufacturing.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of toy car manufacturing, and particularly relates to a method for assembling wheels of a toy car, a wheel assembling device and a storage medium. Background Art

[0002] In the assembly process of a toy car, there are several main assembly processes including part grasping, car body fitting, car body chassis fastening, wheel assembly, and finished car inspection. Most of the existing toy car wheel assemblies require manual assembly, resulting in low wheel assembly efficiency, low product qualification rate, and unstable quality of the toy car. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail in this document. This overview is not intended to limit the scope of protection of the claims.

[0004] The main purpose of the embodiments of the present invention is to provide a method for assembling wheels of a toy car, a wheel assembling device and a storage medium, which can effectively improve the wheel assembly efficiency of the toy car, as well as improve the product qualification rate and quality stability after assembly.

[0005] In a first aspect, an embodiment of the present invention provides a method for assembling wheels of a toy car, which is applied to a wheel assembling device. The wheel assembling device includes a wheel assembling module, an axle positioning module, a manipulator module and a car body fixing module. The wheel assembling module includes a first moving unit and a second moving unit. The method includes:

[0006] Controlling the axle positioning module to move the axle to be assembled to a first preset position;

[0007] Controlling the first moving unit to move a first wheel to a first end of the first preset position, and controlling the second moving unit to move a second wheel to a second end of the first preset position, so that the first wheel and the second wheel are opposite to each other along the direction of the axle to be assembled;

[0008] Controlling the first moving unit and the second moving unit to synchronously assemble the first wheel and the second wheel to the first end and the second end of the axle to be assembled, wherein the first wheel is assembled at the first end of the axle to be assembled, and the second wheel is assembled at the second end of the axle to be assembled;

[0009] Controlling the axle positioning module to move the axle to be assembled to a second preset position, and the second preset position is located in the car body fixing module;

[0010] Controlling the manipulator module to move the car body to be assembled to the car body fixing module;

[0011] Control the body fixing module to assemble the body to be assembled and the axle to be assembled to obtain a finished toy car.

[0012] In some alternative embodiments, the axle positioning module includes a first pose recognition unit and an axle moving unit. The control of the axle positioning module to move the axle to be assembled to a first preset position includes:

[0013] Identify the first spatial position information of the axle to be assembled through the first pose recognition unit;

[0014] Determine the first spatial movement path of the axle moving unit according to the first spatial position information and the first preset position;

[0015] Control the axle moving unit to move along the first spatial movement path so that the axle moving unit moves the axle to be assembled to the first preset position.

[0016] In some alternative embodiments, the first moving unit includes a first cylinder assembly and a second pose recognition unit. The control of the first moving unit to move the first wheel to the first end of the first preset position includes:

[0017] Identify the second spatial position information of the first wheel through the second pose recognition unit;

[0018] Determine the second spatial movement path of the first wheel according to the second spatial position information and the first preset position;

[0019] Control the first cylinder assembly to drive the first wheel to move along the second spatial movement path so that the first wheel is located at the first end of the first preset position.

[0020] In some alternative embodiments, the first cylinder assembly includes a first direction cylinder, a second direction cylinder, a third direction cylinder and a first clamping cylinder. The first direction cylinder is connected to the first end of the first clamping cylinder through a first cylinder rod. The second direction cylinder is connected to the third direction cylinder through a second cylinder rod. The third direction cylinder is connected to the first cylinder rod through a third cylinder rod. The first direction cylinder moves the first cylinder rod in a first direction. The second direction cylinder moves the first cylinder rod in a second direction. The third direction cylinder moves the first cylinder rod in a third direction. The control of the first cylinder assembly to drive the first wheel to move along the second spatial movement path includes:

[0021] Clamp the first wheel with the first clamping cylinder;

[0022] Generate cylinder drive information according to the second spatial movement path;

[0023] Drive the first-direction cylinder, the second-direction cylinder, and / or the third-direction cylinder according to the cylinder driving information, so that the first cylinder rod moves the first clamping cylinder in the first direction, the second direction, and / or the third direction, where the first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0024] In some alternative embodiments, the first clamping cylinder includes a vent hole, a fixed frame, and an elastic frame. The vent hole is provided on the fixed frame. There is an air chamber between the fixed frame and the elastic frame. The elastic frame is arranged inside the fixed frame. The elastic frame is used to clamp the first wheel. Clamping the first wheel by the first clamping cylinder includes:

[0025] Control the first-direction cylinder, the second-direction cylinder, and / or the third-direction cylinder to drive the first clamping cylinder to move to the position of the first wheel according to the second spatial position information, so that the first wheel is located inside the elastic frame;

[0026] Determine the air intake of the air chamber according to the second spatial position information, where the second spatial position information includes the shape information of the first wheel and the spatial position information of each part of the first wheel;

[0027] Inflate the vent hole according to the air intake, so that the elastic frame clamps the first wheel, where the air chamber is evacuated to the initial state through the vent hole before inflation.

[0028] In some alternative embodiments, the second moving unit includes a second cylinder assembly and a third pose recognition unit. Controlling the second moving unit to move the second wheel to the second end of the first preset position includes:

[0029] Identify the third spatial position information of the second wheel through the third pose recognition unit;

[0030] Determine the third spatial movement path of the second wheel according to the third spatial position information and the first preset position;

[0031] Control the second cylinder assembly to drive the second wheel to move on the third spatial movement path, so that the second wheel is located at the second end of the first preset position.

[0032] In some alternative embodiments, the wheel assembly device further includes a base. The wheel assembly module and the vehicle body fixing module are both disposed on the first surface of the base. The axle positioning module and the manipulator module are both disposed outside the base. The second surface of the base is fixedly connected with a control module, and the control module is used to control the wheel assembly module, the vehicle body fixing module, the axle positioning module, and the manipulator module.

[0033] In some alternative embodiments, the vehicle body fixing module includes a fixed bottom plate, a cylinder fixing plate, and a fixed cylinder disposed on the cylinder fixing plate. The fixed cylinder is connected with a vehicle body pressing block through a fixed air rod. The fixed cylinder is used to drive the vehicle body pressing block to move in a third direction and then press the to-be-assembled vehicle body placed on the fixed bottom plate. The fixed bottom plate is provided with a first groove, a second groove, a third groove, and a fourth groove. The first groove is used to place the to-be-assembled axle, the second groove is used to place the first wheel, the third groove is used to place the second wheel, and the fourth groove is used to place the to-be-assembled vehicle body.

[0034] In a second aspect, an embodiment of the present invention provides a wheel assembly device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the wheel assembly method of the toy car described in the first aspect is implemented.

[0035] In a third aspect, a computer storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the wheel assembly method of the toy car described in the first aspect.

[0036] The beneficial effects of the present invention include: controlling the axle positioning module to move the axle to be assembled to a first preset position; controlling the first moving unit to move the first wheel to the first end of the first preset position, and controlling the second moving unit to move the second wheel to the second end of the first preset position, so that the first wheel and the second wheel are opposite to each other along the direction of the axle to be assembled; controlling the first moving unit and the second moving unit to synchronously assemble the first wheel and the second wheel to the first end and the second end of the axle to be assembled, wherein the first wheel is assembled at the first end of the axle to be assembled, and the second wheel is assembled at the second end of the axle to be assembled; controlling the axle positioning module to move the axle to be assembled to a second preset position, and the second preset position is located at the vehicle body fixing module; controlling the manipulator module to move the vehicle body to be assembled to the vehicle body fixing module; controlling the vehicle body fixing module to assemble the vehicle body to be assembled and the axle to be assembled to obtain a finished toy car. In the technical solution of this embodiment, the axle positioning module can move the axle to be assembled to the first preset position, improving the assembly accuracy. And through the coordinated control of the first moving unit and the second moving unit, the first wheel and the second wheel can be quickly assembled onto the axle to be assembled, and the synchronous assembly prevents the skew of the axle to be assembled. Through the coordinated control of the axle positioning module, the wheel assembly module, the manipulator module and the vehicle body fixing module, the assembly of the wheels can be completed at one time, with a high degree of automation. This embodiment can effectively improve the wheel assembly efficiency of the toy car, as well as the product qualification rate and quality stability after assembly.

[0037] Other features and advantages of the present invention will be described in the following description, and in part will be obvious from the description, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the description, the claims and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of a system platform architecture for implementing a method for assembling wheels of a toy car provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of the structure of a wheel assembly device provided by an embodiment of the present invention;

[0040] Figure 3 is a cross-sectional view of a first cylinder assembly provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the structures of a second direction cylinder and a third direction cylinder provided by an embodiment of the present invention;

[0042] Figure 5It is a schematic structural diagram of a fixed base plate provided by an embodiment of the present invention;

[0043] Figure 6 It is a flowchart of a method for assembling wheels of a toy car provided by an embodiment of the present invention.

[0044] Reference numerals:

[0045] System platform architecture 1000, processor 1100, memory 1200;

[0046] Fixed cylinder 100, cylinder fixing plate 110, body pressing block 200, fixed base plate 300, second groove 310, first groove 311, third groove 312, fourth groove 320, base 400, first cylinder assembly 500, fixed frame 510, elastic frame 511, ventilation hole 512, first-direction cylinder 520, first cylinder rod 530, third-direction cylinder 531, third cylinder rod 532, second-direction cylinder 541, second cylinder rod 542, first clamping cylinder 510, second cylinder assembly 600, second clamping cylinder 610, control module 700. Detailed implementation manners

[0047] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] It should be noted that although the functional modules are divided in the device schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown or described may be executed in a different manner from the module division in the device or the sequence in the flowchart. Terms such as "first" and "second" in the description, claims or the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0049] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0050] As Figure 1 shown, Figure 1 It is a schematic diagram of a system platform architecture for executing a method for assembling wheels of a toy car provided by an embodiment of the present invention.

[0051] In Figure 1 example, the system platform architecture 1000 is provided with a processor 1100 and a memory 1200, wherein the processor 1100 and the memory 1200 can be connected through a bus or other means, Figure 1 and the connection through the bus is taken as an example herein.

[0052] The memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory 1200 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 1200 may optionally include memories remotely disposed relative to the processor 1100, and these remote memories can be connected to the wheel assembly device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0053] Those skilled in the art can understand that the system platform architecture 1000 can be applied to 5G communication network systems and subsequent evolved mobile communication network systems, etc., and this embodiment does not make specific limitations thereto.

[0054] Those skilled in the art can understand that Figure 1 the system platform architecture 1000 shown in

[0055] does not constitute a limitation to the embodiments of the present invention, and may include more or fewer components than those shown, or combine certain components, or have different component arrangements. Figure 2 Referring to

[0056] a wheel assembly device provided by an embodiment of the present invention includes a wheel assembly module, an axle positioning module, a manipulator module, and a vehicle body fixing module. The wheel assembly module includes a first moving unit and a second moving unit.

[0057] It should be noted that the first moving unit and the second moving unit are oppositely arranged on the first direction axis. The manipulator module specifically includes a manipulator for moving the axle to be assembled, a manipulator for loading the vehicle body to be assembled, a manipulator for unloading the vehicle body to be assembled, etc., and specific details are not limited herein.

[0058] In some alternative embodiments, the first cylinder assembly 500 includes a first-direction cylinder 520, a second-direction cylinder 541, a third-direction cylinder 531, and a first clamping cylinder 510. The first-direction cylinder 520 is connected to the first end of the first clamping cylinder 510 through a first cylinder rod 530. The second-direction cylinder 541 is connected to the third-direction cylinder 531 through a second cylinder rod 542. The third-direction cylinder 531 is connected to the first cylinder rod 530 through a third cylinder rod 532. The first-direction cylinder 520 moves the first cylinder rod 530 in a first direction, the second-direction cylinder 541 moves the first cylinder rod 530 in a second direction, and the third-direction cylinder 531 moves the first cylinder rod 530 in a third direction.

[0059] It should be noted that, with reference to Figures 3 - 4 , the first-direction cylinder 520, the second-direction cylinder 541, the third-direction cylinder 531, and the third-direction cylinder 531 are disposed within the same housing. The bottom end of the first-direction cylinder 520 is slidably connected to the first inner wall of the housing, and the first-direction cylinder 520 can slide freely on the first inner wall. The bottom end of the second-direction cylinder 541 is slidably connected to the second inner wall of the housing, and the second-direction cylinder 541 can slide freely on the second inner wall. The bottom end of the third-direction cylinder 531 is slidably connected to the third inner wall of the housing, and the third-direction cylinder 531 can slide freely on the third inner wall. By the first-direction cylinder 520, the first cylinder rod 530 is pushed to move on the first-direction axis. By the third-direction cylinder 531, the first cylinder rod 530 is pushed to move on the third-direction axis and simultaneously the first-direction cylinder 520 is pushed to move on the third-direction axis. By the second-direction cylinder 541, the second cylinder rod 542 is pushed to move on the second-direction axis and simultaneously the third-direction cylinder 531 is pushed to move on the second-direction axis, and further the first cylinder rod 530 and the first-direction cylinder 520 are simultaneously pushed to move on the third-direction axis.

[0060] In some alternative embodiments, the first clamping cylinder 510 includes a ventilation hole 512, a fixed frame 510, and an elastic frame 511. The ventilation hole 512 is disposed on the fixed frame 510. An air chamber is provided between the fixed frame 510 and the elastic frame 511. The elastic frame 511 is disposed within the fixed frame 510 and is used for clamping the first wheel.

[0061] It should be noted that the ventilation hole 512 is connected to an air inlet / outlet device, and air is pumped into or out of the air chamber through the air inlet / outlet device. The air chamber between the fixed frame 510 and the elastic frame 511 is sealed. After air is introduced, the elastic frame 511 is squeezed, thereby increasing the air chamber, and the first wheel is clamped by the elastic frame 511. Therefore, wheels of different sizes can be adapted, and the applicability is good.

[0062] In some embodiments, the second moving unit includes a second cylinder assembly 600 and a third pose recognition unit.

[0063] It should be noted that the second cylinder assembly 600 has the same structure as the first cylinder assembly 500, and the specific working principles are the same. The second cylinder assembly 600 is disposed opposite to the first cylinder assembly 500 on the first direction axis. The third pose recognition unit specifically includes a video shooting device, a photographing device, an infrared shooting device, etc., and is not specifically limited.

[0064] In some alternative embodiments, the wheel assembly device further includes a base 400. The wheel assembly module and the vehicle body fixing module are both disposed on the first surface of the base 400. The axle positioning module and the manipulator module are both disposed outside the base 400. A control module 700 is fixedly connected to the second surface of the base 400. The control module 700 is used to control the wheel assembly module, the vehicle body fixing module, the axle positioning module, and the manipulator module.

[0065] It should be noted that the axle positioning module and the manipulator module are both disposed outside the base 400 and cooperate with the transmission module. The control module 700 uniformly coordinates and controls the wheel assembly module, the vehicle body fixing module, the axle positioning module, and the manipulator module. The control module 700 is also provided with a corresponding touch display screen and buttons, etc. The operation parameters and operation states of each module are input and displayed through the touch display screen, and power on / off, emergency stop, parameter adjustment, etc. are performed through the buttons. The functions of the specific buttons and the touch display screen are not limited herein.

[0066] In some embodiments, the vehicle body fixing module includes a fixed bottom plate 300, a cylinder fixing plate 110, and a fixed cylinder 100 disposed on the cylinder fixing plate 110. The fixed cylinder 100 is connected to a vehicle body pressing block 200 through a fixed air rod. The fixed cylinder 100 is used to drive the vehicle body pressing block 200 to move in the third direction and then press the vehicle body to be assembled placed on the fixed bottom plate 300. The fixed bottom plate 300 is provided with a first groove 311, a second groove 310, a third groove 312, and a fourth groove 320. The first groove 311 is used to place the axle to be assembled, the second groove 310 is used to place the first wheel, the third groove 312 is used to place the second wheel, and the fourth groove 320 is used to place the vehicle body to be assembled.

[0067] It should be noted that with reference to Figure 5, the first surface of the fixed base plate 300 is fixedly connected to the base 400. The second surface of the fixed base plate 300 is provided with a first groove 311, a second groove 310, a third groove 312, and a fourth groove 320. The specific shapes of the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320 match the corresponding axles, wheels, and the body to be assembled. Corresponding linkage components can also be arranged in the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320 to adjust the sizes of the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320 through the linkage components, so as to adapt to axles, wheels, and the body to be assembled with different sizes.

[0068] Referring to Figure 6 , Figure 6 is a flowchart of a method for assembling wheels of a toy car provided by an embodiment of the present invention. The method for assembling wheels of the toy car in the embodiment of the present invention may include, but is not limited to, steps S610 - S660.

[0069] Step S610, controlling the axle positioning module to move the axle to be assembled to a first preset position.

[0070] Specifically, after clamping the axle to be assembled, the axle positioning module moves it to a position convenient for wheel assembly. Specifically, the first preset position is determined according to the sizes of the first wheel and the second wheel, as well as the length and diameter of the axle to be assembled. That is, the length of the first preset position matches the length of the axle to be assembled, the position where no wheel is installed in the first preset position matches the diameter of the axle to be assembled, and at the same time, the height of the first preset position matches the sizes of the first wheel and the second wheel; that is, the first preset position is obtained through prior calculation or can be calculated in real time according to the assembled wheels and the axle to be assembled, and no limitation is made here.

[0071] In some alternative embodiments, the axle positioning module includes a first pose recognition unit and an axle moving unit. Controlling the axle positioning module to move the axle to be assembled to the first preset position includes: identifying the first spatial position information of the axle to be assembled through the first pose recognition unit; determining the first spatial movement path of the axle moving unit according to the first spatial position information and the first preset position; controlling the axle moving unit to move along the first spatial movement path so that the axle moving unit moves the axle to be assembled to the first preset position.

[0072] Specifically, the first pose recognition unit can be arranged on the axle moving unit or above the vehicle body fixing module. The specific setting position is not limited herein. The first pose recognition unit can be a video shooting device, a photographing device, a light emitting device, etc., and generates corresponding first spatial position information based on the acquired video, picture, light information, etc. According to the first spatial position information and the first preset position, the first spatial movement path of the axle moving unit can be determined. The first spatial movement path is the spatial movement path of the axle moving unit that moves the axle to be assembled to the first preset position. After generating the corresponding first spatial movement path, corresponding driving information can be generated, thereby driving the axle moving unit to move along the first spatial movement path to move the axle to be assembled to the first preset position for subsequent wheel assembly.

[0073] Step S620: Control the first moving unit to move the first wheel to the first end of the first preset position, and control the second moving unit to move the second wheel to the second end of the first preset position, so that the first wheel and the second wheel face each other along the direction of the axle to be assembled.

[0074] Specifically, after the first moving unit clamps the first wheel, it moves the first wheel to the first end of the first preset position. The first moving unit specifically cooperates with the manipulator in the manipulator module that transfers the first wheel. Similarly, after the second moving unit clamps the second wheel, it moves the second wheel to the second end of the first preset position. The second moving unit specifically cooperates with the manipulator in the manipulator module that transfers the second wheel. The first wheel and the second wheel face each other along the direction of the axle to be assembled, so that the assembly of the first wheel and the second wheel can be carried out synchronously.

[0075] In some alternative embodiments, the first moving unit includes a first cylinder assembly 500 and a second pose recognition unit. The step of controlling the first moving unit to move the first wheel to the first end of the first preset position includes: recognizing the second spatial position information of the first wheel through the second pose recognition unit; determining the second spatial movement path of the first wheel according to the second spatial position information and the first preset position; controlling the first cylinder assembly 500 to drive the first wheel to move on the second spatial movement path so that the first wheel is located at the first end of the first preset position.

[0076] Specifically, the second pose recognition unit can be set on the first cylinder assembly 500, or on the base 400, the vehicle body fixing module, etc. The specific setting position is not limited herein. The second pose recognition unit specifically includes a video shooting device, a photographing device, a light measuring device, etc., and is not specifically limited. By the second pose recognition unit, the second spatial position information of the first wheel is recognized. The second spatial position information represents the spatial position where the first wheel is located and the specific shape of the first wheel. Based on the second spatial position information and the first preset position where the axle to be assembled is located, the second spatial movement path of the first wheel can be calculated, and a corresponding control signal is generated to control the first cylinder assembly 500 to drive the first wheel to move on the second spatial movement path, so as to move the first wheel to the first end of the first preset position, that is, to move the first wheel to the first end of the axle to be assembled at the first preset position. Among them, the center line of the first wheel coincides with the center line of the axle to be assembled.

[0077] In some alternative embodiments, the first cylinder assembly 500 includes a first-direction cylinder 520, a second-direction cylinder 541, a third-direction cylinder 531, and a first clamping cylinder 510. The first-direction cylinder 520 is connected to the first end of the first clamping cylinder 510 through a first cylinder rod 530. The second-direction cylinder 541 is connected to the third-direction cylinder 531 through a second cylinder rod 542. The third-direction cylinder 531 is connected to the first cylinder rod 530 through a third cylinder rod 532. The first-direction cylinder 520 moves the first cylinder rod 530 in the first direction. The second-direction cylinder 541 moves the first cylinder rod 530 in the second direction. The third-direction cylinder 531 moves the first cylinder rod 530 in the third direction. Controlling the first cylinder assembly 500 to drive the first wheel to move on the second spatial movement path includes: clamping the first wheel by the first clamping cylinder 510; generating cylinder driving information according to the second spatial movement path; driving the first-direction cylinder 520, the second-direction cylinder 541, and / or the third-direction cylinder 531 through the cylinder driving information, so that the first cylinder rod 530 moves the first clamping cylinder 510 in the first direction, the second direction, and / or the third direction, where the first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0078] Specifically, referring to Figures 3 - 4, the first-direction cylinder 520, the second-direction cylinder 541, the third-direction cylinder 531, and the third-direction cylinder 531 are arranged within the same housing. The bottom end of the first-direction cylinder 520 is slidably connected to the first inner wall of the housing, and the first-direction cylinder 520 can slide freely on the first inner wall; the bottom end of the second-direction cylinder 541 is slidably connected to the second inner wall of the housing, and the second-direction cylinder 541 can slide freely on the second inner wall; the bottom end of the third-direction cylinder 531 is slidably connected to the third inner wall of the housing, and the third-direction cylinder 531 can slide freely on the third inner wall. The first-direction cylinder 520 is used to push the first cylinder rod 530 to move along the first-direction axis, the third-direction cylinder 531 is used to push the first cylinder rod 530 to move along the third-direction axis and simultaneously push the first-direction cylinder 520 to move along the third-direction axis, and the second-direction cylinder 541 is used to push the second cylinder rod 542 to move along the second-direction axis and simultaneously push the third-direction cylinder 531 to move along the second-direction axis, and further simultaneously push the first cylinder rod 530 and the first-direction cylinder 520 to move along the third-direction axis. After the first clamping cylinder 510 clamps the first wheel, the first moving amount of the first-direction cylinder 520, the second moving amount of the second-direction cylinder 541, and the third moving amount of the third-direction cylinder 531 are determined according to the second-space movement path. Then, the first driving information of the first-direction cylinder 520 is generated according to the first moving amount to drive the first-direction cylinder 520 to move the first moving amount in the first direction, the second driving information of the second-direction cylinder 541 is generated according to the second moving amount to drive the second-direction cylinder 541 to move the second moving amount in the second direction, and the third driving information of the third-direction cylinder 531 is generated according to the third moving amount to drive the third-direction cylinder 531 to move the third moving amount in the third direction. The first driving information, the second driving information, and the third driving information are the cylinder driving information. After the first-direction cylinder 520, the second-direction cylinder 541, and the third-direction cylinder 531 complete the movement, the first wheel of the first clamping cylinder 510 is moved to the first end of the axle to be assembled. There are two third-direction cylinders 531 oppositely arranged along the third-direction axis, and the moving directions of the two third-direction cylinders 531 are opposite, so as to stabilize the first cylinder rod 530, and the first cylinder rod 530 is stabilized to move in the third direction; similarly, there are two second-direction cylinders 541, and the two second-direction cylinders 541 are respectively arranged on the sides of the two third-direction cylinders 531.

[0079] In some alternative embodiments, the first clamping cylinder 510 includes a ventilation hole 512, a fixed frame 510, and an elastic frame 511. The ventilation hole 512 is provided on the fixed frame 510. There is an air chamber between the fixed frame 510 and the elastic frame 511. The elastic frame 511 is disposed within the fixed frame 510. The elastic frame 511 is used to clamp the first wheel. Clamping the first wheel by the first clamping cylinder 510 includes: controlling the first direction cylinder 520, the second direction cylinder 541, and / or the third direction cylinder 531 to drive the first clamping cylinder 510 to move to the position of the first wheel according to the second spatial position information, so that the first wheel is located within the elastic frame 511; determining the air intake of the air chamber according to the second spatial position information, where the second spatial position information includes the shape information of the first wheel and the spatial position information of each part of the first wheel; inflating the ventilation hole 512 according to the air intake, so that the elastic frame 511 clamps the first wheel, where the air chamber is evacuated to the initial state through the ventilation hole 512 before inflation.

[0080] Specifically, the ventilation hole 512 is connected to an air inlet / outlet device, and air is inflated into or evacuated from the air chamber through the air inlet / outlet device. The air chamber between the fixed frame 510 and the elastic frame 511 is sealed. After inflation, the elastic frame 511 is squeezed, thereby increasing the air chamber, and the first wheel is clamped by the elastic frame 511. Therefore, wheels of different sizes can be adapted, and the applicability is good. Control the first direction cylinder 520, the second direction cylinder 541, and / or the third direction cylinder 531 to drive the first clamping cylinder 510 to move to the position of the first wheel according to the second spatial position information, so that the first wheel is clamped by the elastic frame 511; then determine whether the elastic frame 511 clamps the first wheel stably according to the wheel size information represented by the second spatial position information (calculated according to the spatial position information of each part of the first wheel), and determine the corresponding air intake. The ventilation hole 512 injects the required gas into the air chamber, so that the elastic frame 511 presses the first wheel tightly. The air chamber is evacuated to the initial state through the ventilation hole 512 before inflation, that is, the initial state can adapt to various sizes of wheels, and the corresponding air intake is determined according to the specific wheel size, and the applicability is good.

[0081] In some alternative embodiments, the second moving unit includes a second cylinder assembly 600 and a third pose recognition unit. Controlling the second moving unit to move the second wheel to the second end of the first preset position includes: recognizing the third spatial position information of the second wheel through the third pose recognition unit; determining the third spatial movement path of the second wheel according to the third spatial position information and the first preset position; controlling the second cylinder assembly 600 to drive the second wheel to move on the third spatial movement path so that the second wheel is located at the second end of the first preset position.

[0082] Specifically, the third pose recognition unit can be arranged on the second cylinder assembly 600, or on the base 400, the vehicle body fixing module, etc. The specific setting position is not limited here. The third pose recognition unit specifically includes a video shooting device, a photographing device, a light measuring device, etc., which is not specifically limited. By the third pose recognition unit recognizing the third spatial position information of the second wheel, the third spatial position information represents the spatial position where the second wheel is located and the specific shape of the second wheel. Through the third spatial position information and the first preset position where the axle to be assembled is located, the third spatial movement path of the second wheel can be calculated, and a corresponding control signal can be generated to control the second cylinder assembly 600 to drive the second wheel to move on the third spatial movement path, so as to move the second wheel to the second end of the first preset position, that is, to move the second wheel to the second end of the axle to be assembled at the first preset position, wherein the center line of the second wheel coincides with the center line of the axle to be assembled.

[0083] In some alternative embodiments, the second cylinder assembly 600 has the same structure as the first cylinder assembly 500, and the specific working principles are the same. The second cylinder assembly 600 is arranged opposite to the first cylinder assembly 500 on the first direction axis. For the specific structure and working principle of the second cylinder assembly 600, refer to the first cylinder assembly 500. The difference is that the second cylinder assembly 600 is used to move the second wheel to the second end of the axle to be assembled, which can be realized by setting corresponding cylinder driving information, and will not be elaborated here.

[0084] In some alternative embodiments, the wheel assembly device further includes a base 400. The wheel assembly module and the vehicle body fixing module are both arranged on the first surface of the base 400. The axle positioning module and the manipulator module are both arranged outside the base 400. A control module 700 is fixedly connected to the second surface of the base 400, and the control module 700 is used to control the wheel assembly module, the vehicle body fixing module, the axle positioning module, and the manipulator module.

[0085] Specifically, the axle positioning module and the manipulator module are both arranged outside the base 400 and cooperate with the transmission module. The control module 700 coordinates and controls the wheel assembly module, the vehicle body fixing module, the axle positioning module and the manipulator module in a unified manner. The control module 700 is also provided with a corresponding touch display screen, buttons, etc. The corresponding operating parameters and operating states of each module are input and displayed through the touch display screen, and functions such as power on / off, emergency stop, and parameter adjustment are performed through the buttons. The functions of the specific buttons and the touch display screen are not limited herein.

[0086] In some embodiments, the vehicle body fixing module includes a fixing base plate 300, a cylinder fixing plate 110, and a fixing cylinder 100 arranged on the cylinder fixing plate 110. The fixing cylinder 100 is connected with a vehicle body pressing block 200 through a fixing air rod. The fixing cylinder 100 is used to drive the vehicle body pressing block 200 to move in the third direction and then press the to-be-assembled vehicle body placed on the fixing base plate 300. The fixing base plate 300 is provided with a first groove 311, a second groove 310, a third groove 312, and a fourth groove 320. The first groove 311 is used to place the to-be-assembled axle, the second groove 310 is used to place the first wheel, the third groove 312 is used to place the second wheel, and the fourth groove 320 is used to place the to-be-assembled vehicle body.

[0087] Specifically, referring to Figure 5 , the first surface of the fixing base plate 300 is fixedly connected to the base 400. The second surface of the fixing base plate 300 is provided with a first groove 311, a second groove 310, a third groove 312, and a fourth groove 320. The specific shapes of the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320 match the corresponding to-be-assembled axle, wheels, and to-be-assembled vehicle body. Corresponding linkage components can also be arranged in the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320. The sizes of the first groove 311, the second groove 310, the third groove 312, and the fourth groove 320 are adjusted through the linkage components, so as to adapt to to-be-assembled axles, wheels, and to-be-assembled vehicle bodies of different sizes. That is, side plates that can be linked are arranged on both sides of the groove, and the size of the groove is changed through the side plates, so as to adapt to to-be-assembled axles, wheels, and to-be-assembled vehicle bodies of different sizes.

[0088] Step S630, control the first moving unit and the second moving unit to synchronously assemble the first wheel and the second wheel to the first end and the second end of the to-be-assembled axle, wherein the first wheel is assembled to the first end of the to-be-assembled axle, and the second wheel is assembled to the second end of the to-be-assembled axle.

[0089] Specifically, after the first wheel moves to the first end of the first preset position and the second wheel moves to the second end of the first preset position, the first wheel is assembled to the first end of the axle to be assembled and the second wheel is assembled to the second end of the axle to be assembled synchronously, preventing the axle to be assembled from being skewed and affecting the assembly effect.

[0090] Step S640: Control the axle positioning module to move the axle to be assembled to the second preset position, and the second preset position is located at the body fixing module.

[0091] Specifically, the fourth spatial movement path of the axle movement unit can be determined according to the first preset position and the second preset position. The fourth spatial movement path is the spatial movement path of the axle movement unit that moves the axle to be assembled to the second preset position. After generating the corresponding fourth spatial movement path, the corresponding driving information can be generated, so as to drive the axle movement unit to move along the fourth spatial movement path and move the axle to be assembled to the second preset position. The second preset position is the spatial position formed by the first groove 311, the second groove 310 and the third groove 312 on the fixed base plate 300, so as to limit the axle to be assembled and the first wheel and the second wheel on the axle to be assembled through the first groove 311, the second groove 310 and the third groove 312.

[0092] Step S650: Control the manipulator module to move the body to be assembled to the body fixing module.

[0093] Specifically, the body loading manipulator of the manipulator module moves the body to be assembled to the fourth groove 320. Specifically, the driving information of the body loading manipulator for the body to be assembled is generated according to the position information of the fourth groove 320, so as to drive the body loading manipulator for the body to be assembled to move the body to be assembled to the fourth groove 320.

[0094] Step S660: Control the body fixing module to assemble the body to be assembled and the axle to be assembled to obtain a finished toy car.

[0095] Specifically, the fixing cylinder 100 of the body fixing module drives the body pressing block 200 in the third direction through the fixing air rod, so that the body pressing block 200 moves in the third direction and presses the body to be assembled placed on the fourth groove 320, pressing the body to be assembled and the axle to be assembled together to complete the vehicle assembly of the toy car. Specifically, there is a movable buckle at the connection of the body to be assembled and the axle to be assembled. After pressing the body to be assembled by the body pressing block 200, the axle to be assembled is pressed into the movable buckle, so that the body to be assembled and the axle to be assembled are connected together.

[0096] In some alternative embodiments, the vehicle body to be assembled fixes the axle to be assembled in advance. After the vehicle body to be assembled is placed in the first groove 311 and the fourth groove 320 on the fixed floor by the manipulator module, the first wheel is moved to the second groove 310 by the first moving unit, and the first wheel is assembled at the first end of the axle to be assembled. The second wheel is moved to the third groove 312 by the second moving unit, and the second wheel is assembled at the second end of the axle to be assembled.

[0097] Implementing the embodiments of the present inventor has the following beneficial effects: controlling the axle positioning module to move the axle to be assembled to the first preset position; controlling the first moving unit to move the first wheel to the first end of the first preset position, and controlling the second moving unit to move the second wheel to the second end of the first preset position, so that the first wheel and the second wheel are opposite to each other along the direction of the axle to be assembled; controlling the first moving unit and the second moving unit to synchronously assemble the first wheel and the second wheel to the first end and the second end of the axle to be assembled, wherein the first wheel is assembled at the first end of the axle to be assembled, and the second wheel is assembled at the second end of the axle to be assembled; controlling the axle positioning module to move the axle to be assembled to the second preset position, and the second preset position is located at the vehicle body fixing module; controlling the manipulator module to move the vehicle body to be assembled to the vehicle body fixing module; controlling the vehicle body fixing module to assemble the vehicle body to be assembled with the axle to be assembled to obtain a finished toy vehicle. In the technical solution of this embodiment, the axle positioning module can move the axle to be assembled to the first preset position, improving the assembly accuracy. And through the coordinated control of the first moving unit and the second moving unit, the first wheel and the second wheel can be quickly assembled onto the axle to be assembled, and the synchronous assembly prevents the skew of the axle to be assembled. Through the coordinated control of the axle positioning module, the wheel assembly module, the manipulator module and the vehicle body fixing module, the assembly of the wheels is completed at one time, with a high degree of automation, which can effectively improve the wheel assembly efficiency of the toy vehicle, as well as the product qualification rate and quality stability after assembly.

[0098] In addition, an embodiment of the present invention provides a wheel assembly device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor.

[0099] The processor and the memory can be connected by a bus or other means.

[0100] It should be noted that the computer in this embodiment can correspond to the memory and the processor in the embodiment shown as Figure 1 and can constitute Figure 1Part of the system architecture platform in the illustrated embodiment, both belong to the same inventive concept, so they have the same implementation principle and beneficial effects, which will not be elaborated here.

[0101] The non-transitory software programs and instructions required to implement the uplink co-frequency interference cancellation method of the above embodiment are stored in the memory. When executed by the processor, the wheel assembly method of the toy car in the above embodiment is executed. For example, execute the Figure 6 method steps S610 to S660 described above.

[0102] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are used to execute the wheel assembly method of the toy car of the above wheel assembly device, for example, execute the Figure 6 method steps S610 to S660 described above.

[0103] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium generally includes computer-readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0104] The above is a specific description of the preferred embodiment of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A method for assembling the wheels of a toy car, characterized in that, Applied to a wheel assembly device, the wheel assembly device includes a wheel assembly module, an axle positioning module, a manipulator module, and a body fixing module. The wheel assembly module includes a first moving unit and a second moving unit. The method includes: Controlling the axle positioning module to move the axle to be assembled to a first preset position; Controlling the first moving unit to move the first wheel to the first end of the first preset position, and controlling the second moving unit to move the second wheel to the second end of the first preset position, so that the first wheel and the second wheel face each other along the direction of the axle to be assembled; Controlling the first moving unit and the second moving unit to synchronously assemble the first wheel and the second wheel to the first end and the second end of the axle to be assembled, wherein the first wheel is assembled to the first end of the axle to be assembled, and the second wheel is assembled to the second end of the axle to be assembled; Controlling the axle positioning module to move the axle to be assembled to a second preset position, and the second preset position is located in the body fixing module; Controlling the manipulator module to move the body to be assembled to the body fixing module; Controlling the body fixing module to assemble the body to be assembled and the axle to be assembled to obtain a finished toy car.

2. The method for assembling the wheels of the toy car according to claim 1, characterized in that, The axle positioning module includes a first pose recognition unit and an axle moving unit. Controlling the axle positioning module to move the axle to be assembled to the first preset position includes: Identifying the first spatial position information of the axle to be assembled through the first pose recognition unit; Determining the first spatial movement path of the axle moving unit according to the first spatial position information and the first preset position; Controlling the axle moving unit to move along the first spatial movement path, so that the axle moving unit moves the axle to be assembled to the first preset position.

3. The method for assembling the wheels of the toy car according to claim 1, characterized in that The first moving unit includes a first cylinder assembly and a second pose recognition unit. Controlling the first moving unit to move the first wheel to the first end of the first preset position includes: Identifying the second spatial position information of the first wheel through the second pose recognition unit; Determining the second spatial movement path of the first wheel according to the second spatial position information and the first preset position; Controlling the first cylinder assembly to drive the first wheel to move on the second spatial movement path, so that the first wheel is located at the first end of the first preset position.

4. The method for assembling the wheels of the toy car according to claim 3, characterized in that, The first cylinder assembly includes a first-direction cylinder, a second-direction cylinder, a third-direction cylinder, and a first clamping cylinder. The first-direction cylinder is connected to the first end of the first clamping cylinder through a first cylinder rod. The second-direction cylinder is connected to the third-direction cylinder through a second cylinder rod. The third-direction cylinder is connected to the first cylinder rod through a third cylinder rod. The first-direction cylinder moves the first cylinder rod in a first direction, the second-direction cylinder moves the first cylinder rod in a second direction, and the third-direction cylinder moves the first cylinder rod in a third direction. Controlling the first cylinder assembly to drive the first wheel to move on the second-space movement path includes: clamping the first wheel by the first clamping cylinder; generating cylinder driving information according to the second-space movement path; driving the first-direction cylinder, the second-direction cylinder, and / or the third-direction cylinder through the cylinder driving information, so that the first cylinder rod moves the first clamping cylinder in the first direction, the second direction, and / or the third direction, where the first direction, the second direction, and the third direction are perpendicular to each other in pairs.

5. The method for assembling the wheels of the toy car according to claim 4, wherein The first clamping cylinder includes a ventilation hole, a fixed frame, and an elastic frame. The ventilation hole is provided on the fixed frame. There is an air chamber between the fixed frame and the elastic frame. The elastic frame is arranged inside the fixed frame. The elastic frame is used to clamp the first wheel. Clamping the first wheel by the first clamping cylinder includes: controlling the first-direction cylinder, the second-direction cylinder, and / or the third-direction cylinder to drive the first clamping cylinder to move to the position of the first wheel according to the second-space position information, so that the first wheel is located inside the elastic frame; determining the air intake of the air chamber according to the second-space position information, where the second-space position information includes the shape information of the first wheel and the space position information of each part of the first wheel; injecting air into the ventilation hole according to the air intake, so that the elastic frame clamps the first wheel, where the air chamber is evacuated to the initial state through the ventilation hole before air injection.

6. The method for assembling the wheels of the toy car according to claim 1, characterized in that The second moving unit includes a second cylinder assembly and a third pose recognition unit. Controlling the second moving unit to move the second wheel to the second end of the first preset position includes: identifying the third-space position information of the second wheel through the third pose recognition unit; determining the third-space movement path of the second wheel according to the third-space position information and the first preset position; controlling the second cylinder assembly to drive the second wheel to move on the third-space movement path, so that the second wheel is located at the second end of the first preset position.

7. The method for assembling the wheels of the toy car according to claim 1, characterized in that, The wheel assembly device further includes a base. The wheel assembly module and the body fixing module are both disposed on the first surface of the base. The axle positioning module and the manipulator module are both disposed outside the base. A control module is fixedly connected to the second surface of the base. The control module is used to control the wheel assembly module, the body fixing module, the axle positioning module, and the manipulator module.

8. The method for assembling the wheels of the toy car according to claim 7, wherein, The body fixing module includes a fixing bottom plate, a cylinder fixing plate, and a fixing cylinder disposed on the cylinder fixing plate. The fixing cylinder is connected to a body pressing block through a fixing air rod. The fixing cylinder is used to drive the body pressing block to move in the third direction and then press the body to be assembled placed on the fixing bottom plate. The fixing bottom plate is provided with a first groove, a second groove, a third groove, and a fourth groove. The first groove is used to place the axle to be assembled, the second groove is used to place the first wheel, the third groove is used to place the second wheel, and the fourth groove is used to place the body to be assembled.

9. A wheel assembly device, characterized in that, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method for assembling the wheels of the toy car according to any one of claims 1-8 is implemented.

10. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the method for assembling the wheels of the toy car according to any one of claims 1-8.

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