Intelligent wheel positioning device and method

Abstract

The invention discloses an intelligent wheel positioning device and method and belongs to the field of machining. The device is composed of an industrial personal computer, a metal plate system, a rack system, a marking system, a detection system, a wheel blank, a centering system, a jacking rotating system, a baffle, a photoelectric switch, a roller way and the like. A high-precision laser sensor is used for detecting the deformation condition of a positioning surface of a wheel blank, an optimal clamping point is automatically optimized, identified or recorded, and machining is performed according to the optimal clamping point, so that the problem of blank clamping deviation is solved to the greatest extent, the problems of vehicle deviation, incapability of machining, more balance waste products and the like in the machining process are solved, and the machining efficiency is improved. And therefore, the wheel yield and the machining quality are improved, and the customer satisfaction and the automobile driving comfort are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile engineering, and in particular to a wheel intelligent positioning device and method. Background Art

[0002] Wheels are key components in automotive chassis assemblies, and their balance is a crucial characteristic, directly impacting the vehicle's ride stability and comfort. Currently, wheel blanks undergo deformation during the casting and heat treatment process, particularly on the positioning surfaces. This can cause deviations in the blank clamping process, and the blanks are processed at an angle and eccentrically during machining, ultimately affecting the product's balance. Furthermore, wheel quality issues such as skewed machining and incomplete machining can also arise from positioning deviations.

[0003] The present invention provides an intelligent wheel positioning device and method, which utilizes a high-precision laser sensor to detect the deformation of the positioning surface of the wheel blank, automatically optimizes and obtains the optimal clamping point, marks or records it, and performs processing according to the optimal clamping point, thereby solving the problem of blank positioning and clamping deviation to the greatest extent, improving the problems of deviation in machining, incomplete processing, and a large number of balancing waste products during the machining process, thereby improving the wheel yield and processing quality, and enhancing customer satisfaction and vehicle driving comfort. Summary of the Invention

[0004] The purpose of the present invention is to provide a wheel intelligent positioning device and method.

[0005] The intelligent wheel positioning device includes a control cabinet, an industrial computer, a sheet metal system, an adjustable angle seat, a plexiglass window, a lifting pull ring, an industrial computer turntable, a rack system, a marking system, a detection system, a centering system, a jacking and rotation system, a motor fixing seat, a point laser sensor, a first linear module, a motor, a reducer, a first sprocket, a rotating shaft, a second sprocket, a third sprocket, a cylinder setting seat, a cylinder, a baffle, a first guide column, a first photoelectric switch, a second photoelectric switch, a roller table, and a third photoelectric switch.

[0006] The rack system is welded with square tubes, steel plates, etc. Sheet metal systems are set around the rack system and on the top plate. An industrial computer turntable is set on the top of the rack system. An industrial computer is set at one end of the industrial computer turntable. The industrial computer can rotate along the circumferential direction. A control cabinet is set on the back of the rack system. Various PLC systems, servo motor controllers, module controllers, sensor controllers, etc. are set in the control cabinet. A visual organic glass window is set in front of the rack system. An adjustable angle seat is set at the bottom of the rack system to adjust the height of the whole machine. A lifting pull ring is set on the top of the rack system for easy lifting. A motor fixing seat is set at the bottom of the rack system, which is connected to the motor and reducer in sequence. The shaft is set to the machine The rack system has a roller conveyor in the middle of the rack system, and the motor transmits power through the reducer, the first sprocket, the second sprocket, and the third sprocket, and finally drives the roller conveyor to rotate. A cylinder setting seat is provided at the entrance of the rack system, and the cylinder is set on the cylinder setting seat to drive the baffle to move up and down. The first guide column plays a guiding role. A marking system and a detection system are provided above the rack system, and a jacking and rotation system is provided below the rack system. A first linear module is provided on the left side of the entrance of the rack system, and a point laser sensor is provided on the first linear module. A first photoelectric switch and a second photoelectric switch are provided on both sides of the roller conveyor, and a third photoelectric switch is provided above the baffle at the entrance.

[0007] The marking system consists of a laser generator, a fixed gland, a second linear module, a laser chassis, and a top plate. The top plate is fixed to the frame system, with the second linear module and laser chassis mounted above it. The laser generator is mounted above the second linear module and secured with a fixed gland. A rectangular slot is defined in the top plate, allowing the laser generator to mark the wheel blank below during operation.

[0008] The detection system includes a first servo turntable, a third linear module, a line laser sensor, and a sensor mounting base. The first servo turntable is mounted on the top plate, the third linear module is mounted on the first servo turntable, the sensor mounting base is mounted on the third linear module, and the line laser sensor is mounted on the sensor mounting base.

[0009] The centering system includes a centering roller, a centering roller mounting shaft, a centering arm, a guide rail seat, a guide rail slider, a guide rail, a rack system, a gear system, a tie rod cylinder, a nut seat, a floating joint, and a centering system frame. The centering system frame is mounted on the frame system, and the tie rod cylinder, guide rail, and gear system are mounted on the centering system frame. The guide rail seat and guide rail slider are sequentially mounted above the guide rail. The rack system is mounted on the guide rail seat and meshes with the gear system. The nut seat is mounted on the guide rail seat and connected to the tie rod cylinder via a floating joint. The centering arm is mounted on the guide rail seat. Four centering roller mounting shafts are located at the front section. The centering rollers are inserted into these shafts and can rotate freely.

[0010] The lifting and rotating system includes a cross, a cross shaft, a second servo turntable, a turntable mounting seat, a second guide column, a servo reduction motor, a first synchronous pulley, a second synchronous pulley, a roller screw, a lifting and rotating system base, and a guide sleeve. The lifting and rotating system base is mounted on the frame system, the servo reduction motor is mounted on the lifting and rotating system base, the first synchronous pulley is connected to the servo reduction motor, one end of the roller screw is fixed to the lifting and rotating system base, and the other end is fixed to the turntable mounting seat, and is also connected to the second synchronous pulley. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt. The lifting and rotating system base is provided with four guide sleeves, which pass through the second guide column. One end of the second guide column is connected to the turntable mounting seat. The turntable mounting seat is provided with a second servo turntable. The cross shaft and the cross are connected in sequence above the second servo turntable.

[0011] The movement process of the wheel intelligent positioning device is as follows: the wheel blank is roller-driven from the entrance of the device. When the wheel blank passes the third photoelectric switch, the cylinder drives the baffle to rise to prevent the rear wheel blank from continuing to enter. When the wheel blank just passes the second photoelectric switch or leaves the second photoelectric switch, the roller stops rotating, the centering system is centered, and the centering roller contacts the wheel blank. After the centering is completed, the centering system is released, and the lifting and rotating system drives the wheel blank to be lifted to the specified height and then drives the wheel blank to rotate. The first linear module drives the point laser sensor to move to the specified height, scans the barcode that records the wheel information, and obtains the wheel blank model, height, and diameter information through the barcode and transmits it to the control system. According to the wheel blank height information, the lifting and rotating system continues to drive the wheel blank to be lifted to the specified height. According to the wheel blank diameter information, the detection system and the marking system both move to the specified radial position. The detection system rotates circumferentially to complete the scanning of the positioning surface contour of the wheel blank and calculate the optimal clamping point for marking. After the calculation is completed, the control system automatically calculates the optimal clamping point angle information. The jacking and rotating system drives the wheel blank to rotate to the calculated angle. The marking system marks the wheel blank. The jacking and rotating system drives the wheel blank to rotate in the opposite direction to obtain the angle, and then drives the wheel blank to the bottom. The roller rotates to drive the wheel blank out, and the cylinder drives the baffle to descend, and the next wheel blank enters.

[0012] Align the marked optimal clamping point with the axial positioning block of the fixture. The material can be loaded from the entrance or automatically loaded by a robot. The robot loads the material by rotating the specified angle to grab the wheel blank, completing the optimized positioning and clamping, and then completing the processing of the wheel blank.

[0013] The wheel blank positioning surface includes an axial positioning surface and a radial positioning surface. The axial positioning surface has axial wave deformation. The ordinary positioning clamping method is random clamping, which cannot ensure that the three positioning points are in the optimal axial state, causing the wheel blank to tilt. The radial positioning surface has circumferential deformation. The ordinary positioning clamping method is random clamping, which cannot ensure that the three positioning points are in the optimal radial state, causing the wheel blank to be eccentric.

[0014] The method for intelligent wheel positioning and the optimal clamping point identification of the marking system are as follows: the line laser sensor collects a cross section at intervals of one degree, removes invalid data, and then removes the derivatives of the scanning points of each cross section in turn, looking for the mutation point of the axial positioning surface as the segmentation point, and then determining the midpoint of the segmentation point as the collection point, and then obtaining 360 sampling points. The sampling points are filtered to eliminate abnormal points such as bumps and scratches, and then the 360 ​​sampling points are fitted with the least squares method to establish a virtual plane. Due to the large deformation of the axial positioning surface and its greater impact on quality issues such as balance, the optimal point of the axial positioning surface is selected as the first optimization choice, and the optimal point of the radial positioning surface is selected as the second optimization choice. The height difference relative to the virtual plane is calculated for three points at intervals of 120 degrees, for a total of 120 sets of data. The set of data points with the best height difference is the optimal axial clamping point. The height difference of the common axial clamping point is defined as b, and the height difference of the optimal axial clamping point is defined as a. The axial optimal point threshold is increased by 10% (a+10%a). There are n axial optimal clamping points within the threshold range. The point with the smallest radial eccentricity is selected as the optimal clamping point. This clamping point ensures that both axial and radial clamping are in a relatively optimal state, with axial clamping being the primary and radial clamping being the secondary. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0016] Figure 1 It is an assembly diagram of the wheel intelligent positioning device of the present invention.

[0017] Figure 2 This is a perspective view of the wheel intelligent positioning device of the present invention (without the sheet metal part).

[0018] Figure 3 This is a two-view view of the wheel intelligent positioning device of the present invention (excluding the sheet metal part).

[0019] Figure 4 This is a structural diagram of the marking system and detection system of the present invention (top view).

[0020] Figure 5 It is a structural diagram of the marking system and detection system of the present invention (viewed from above).

[0021] Figure 6 It is a structural diagram of the centering system of the present invention.

[0022] Figure 7 It is a structural diagram of the jacking and rotating system of the present invention.

[0023] Figure 8 It is a schematic diagram of detecting the positioning surface of a wheel blank according to the present invention.

[0024] Figure 9 This is a schematic diagram of the common axial positioning and clamping of the wheel.

[0025] Figure 10 This is a schematic diagram of the optimal axial positioning and clamping of the wheel of the present invention.

[0026] Figure 11 This is a schematic diagram of the normal radial positioning clamping of the wheel.

[0027] Figure 12 This is a schematic diagram of the optimal radial positioning and clamping of the wheel of the present invention.

[0028] Figure 13 It is the working logic diagram of the present invention.

[0029] Figure 14 It is a data processing flow chart of the present invention.

[0030] Figure 15 It is a diagram showing the end face runout and the height difference of the clamping point of different wheel types of the present invention.

[0031] Figure 16 This is the improvement of the balanced offline rate of the present invention.

[0032] Figure 17 This is the improvement of the balance mean of the present invention.

[0033] Figure 18 This is the improvement of the balance standard deviation of the present invention.

[0034] In the figure: 1-control cabinet, 2-industrial computer, 3-sheet metal system, 4-adjustable angle seat, 5-plexiglass window, 6-lifting pull ring, 7-industrial computer turntable, 8-rack system, 9-marking system, 10-detection system, 11-wheel blank, 12-centering system, 13-lifting and rotating system, 14-motor fixing seat, 15-point laser sensor, 16-first linear module, 17-motor, 18-speed reducer, 19-first sprocket, 20-rotating shaft, 21-second sprocket, 22-third sprocket, 23-cylinder setting seat, 24-cylinder, 25-baffle, 26-first guide column, 27-first photoelectric switch, 28-second photoelectric switch, 29-roller table, 30-third photoelectric switch; 9-1-laser generator, 9-2-fixed gland, 9-3-second linear module, 9-4-laser chassis, 9-5-top plate; 10-1-first servo turntable, 10-2-third linear module, 10-3-line laser sensor, 10-4-sensor mounting base 12-1-Center roller, 12-2-Center roller mounting shaft, 12-3-Center pull arm, 12-4-Guide rail seat, 12-5-Guide rail slider, 12-6-Guide rail, 12-7-Rack system, 12-8-Gear system, 12-9-Tie rod cylinder, 12-10-Nut seat, 12-11-Floating joint, 12-12-Center system frame; 13-1-Cross, 13-2-Cross shaft, 13-3-Second servo turntable, 13-4-Turntable mounting seat, 13-5-Second guide column, 13-6-Servo reduction motor, 13-7-First synchronous pulley, 13-8-Second synchronous pulley, 13-9-Roller screw, 13-10-Jack-lifting rotation system base, 13-11-Guide sleeve. DETAILED DESCRIPTION

[0035] In one aspect of the present invention, a wheel intelligent positioning device is provided, comprising: a control cabinet 1, an industrial computer 2, a sheet metal system 3, an adjustable angle seat 4, a plexiglass window 5, a lifting pull ring 6, an industrial computer turntable 7, a rack system 8, a marking system 9, a detection system 10, a wheel blank 11, a centering system 12, a jacking and rotating system 13, a motor fixing seat 14, a point laser sensor 15, a first linear module 16, a motor 17, a reducer 18, a first sprocket 19, a rotating shaft 20, a second sprocket 21, a third sprocket 22, a cylinder setting seat 23, a cylinder 24, a baffle 25, a first guide column 26, a first photoelectric switch 27, a second photoelectric switch 28, a roller 29, and a third photoelectric switch 30.

[0036] The rack system 8 is welded with square tubes, steel plates, etc. The sheet metal system 3 is set around the rack system 8 and the top plate with bolts. An industrial computer turntable 7 is set on the top of the rack system 8. An industrial computer 2 is set at one end of the industrial computer turntable 7. The industrial computer 2 can rotate along the circumferential direction. A control cabinet 1 is set on the back of the rack system 8. The control cabinet 1 is equipped with various PLC systems, servo motor controllers, module controllers, sensor controllers, etc. A visual organic glass window 5 is set in front of the rack system 8. An adjustable angle seat 4 is set at the bottom of the rack system 8 to adjust the height of the whole machine. A lifting pull ring 6 is provided on the top of the rack system 8 for easy lifting. A motor fixing seat 14 is set at the bottom of the rack system 8, which is connected to the motor 17 and the reducer 18 in sequence. The shaft 20 is set to the rack system 8. A roller table 29 is provided in the part, and the motor 17 transmits power through the reducer 18, the first sprocket 19, the second sprocket 21, and the third sprocket 22, and finally drives the roller table 29 to rotate. A cylinder setting seat 23 is provided at the entrance of the rack system 8, and the cylinder 24 is set on the cylinder setting seat 23, driving the baffle 25 to move up and down. The first guide column 26 plays a guiding role. A marking system 9 and a detection system 10 are provided above the rack system 8, and a jacking and rotating system 13 is provided below the rack system 8. A first linear module 16 is provided on the left side of the entrance of the rack system 8, and a point laser sensor 15 is provided on the first linear module 16. A first photoelectric switch 27 and a second photoelectric switch 28 are provided on both sides of the roller table 29, and a third photoelectric switch 30 is provided above the baffle 25 at the entrance.

[0037] Marking system 9 includes laser generator 9-1, fixed cover 9-2, second linear module 9-3, laser chassis 9-4, and top plate 9-5. Top plate 9-5 is fixed to frame system 8. Second linear module 9-3 and laser chassis 9-4 are located above top plate 9-5. Laser generator 9-1 is located above second linear module 9-3 and secured by fixed cover 9-2. Top plate 9-5 has a rectangular slot through which laser generator 9-1 can mark wheel blank 11 below during operation.

[0038] The detection system 10 includes a first servo turntable 10-1, a third linear module 10-2, a line laser sensor 10-3, and a sensor mounting base 10-4. The first servo turntable 10-1 is mounted on the top plate 9-5, the third linear module 10-2 is mounted on the first servo turntable 10-1, the sensor mounting base 10-4 is mounted on the third linear module 10-2, and the line laser sensor 10-3 is mounted on the sensor mounting base 10-4.

[0039] The centering system 12 includes a centering roller 12-1, a centering roller mounting shaft 12-2, a centering pull arm 12-3, a guide rail seat 12-4, a guide rail slider 12-5, a guide rail 12-6, a rack system 12-7, a gear system 12-8, a pull rod cylinder 12-9, a nut seat 12-10, a floating joint 12-11, and a centering system frame 12-12. The centering system frame 12-12 is set on the frame system 8, the tie rod cylinder 12-9, the guide rail 12-6, and the gear system 12-8 are set on the centering system frame 12-12, and the guide rail seat 12-4 and the guide rail slider 12-5 are set in sequence above the guide rail 12-6. The rack system 12-7 is set on the guide rail seat 12-4 and engages with the gear system 12-8. The nut seat 12-10 is set on the guide rail seat 12-4 and is connected to the tie rod cylinder 12-9 through the floating joint 12-11. The centering pull arm 12-3 is set on the guide rail seat 12-4. Four centering roller mounting shafts 12-2 are set in the front section. The centering roller 12-1 is inserted into the centering roller mounting shaft 12-2 and can rotate freely.

[0040] The jacking and rotating system 13 includes a cross 13-1, a cross shaft 13-2, a second servo turntable 13-3, a turntable mounting seat 13-4, a second guide column 13-5, a servo reduction motor 13-6, a first synchronous pulley 13-7, a second synchronous pulley 13-8, a roller screw 13-9, a jacking and rotating system base 13-10, and a guide sleeve 13-11. The jacking and rotating system base 13-10 is set on the frame system 8, the servo reduction motor 13-6 is set on the jacking and rotating system base 13-10, the first synchronous pulley 13-7 is connected to the servo reduction motor 13-6, one end of the roller screw 13-9 is fixed to the jacking and rotating system base 13-10, and the other end is fixed to the turntable mounting seat 13-4, and is connected to the second synchronous pulley 13-8 at the same time. The first synchronous pulley 13-7 and the second synchronous pulley 13-8 are connected by a synchronous belt. The jacking and rotating system base 13-10 is provided with four guide sleeves 13-11, and the guide sleeve 13-11 passes through the second guide column 13-5. One end of the second guide column 13-5 is connected to the turntable mounting seat 13-4. The second servo turntable 13-3 is provided on the turntable mounting seat 13-4, and the cross shaft 13-2 and the cross 13-1 are connected in sequence above the second servo turntable 13-3.

[0041] The movement process of the wheel intelligent positioning device is as follows: the wheel blank 11 enters the roller conveyor 29 from the device entrance. When the wheel blank 11 passes the third photoelectric switch 30, the cylinder 24 drives the baffle 25 to rise, blocking the rear wheel blank 11 from continuing to enter. When the wheel blank 11 just passes the second photoelectric switch 28 or leaves the second photoelectric switch 27, the roller conveyor 29 stops rotating, the centering system 12 is centered, and the centering roller 12-1 contacts the wheel blank 11. After the centering is completed, the centering system 12 is released, and the lifting and rotating system 13 drives the wheel blank 11 to be lifted to the specified height and then drives the wheel blank 11 rotates, and the first linear module 16 drives the point laser sensor 15 to a specified height, scans the barcode of the wheel blank 11, and obtains the wheel blank 11 model, height, and diameter information from the barcode and transmits it to the control system. Based on the height information of the wheel blank 11, the lifting and rotating system 13 continues to lift the wheel blank 11 to the specified height. Based on the diameter information of the wheel blank 11, the detection system 10 and the marking system 9 both move to specified radial positions. The detection system 10 rotates circumferentially to complete the scanning of the positioning surface profile of the wheel blank 11 and automatically calculate the optimal clamping point. After the calculation is completed, the control system automatically calculates the optimal clamping point angle information. The lifting and rotating system 13 drives the wheel blank 11 to rotate the calculated angle. The marking system 9 marks the wheel blank 11. The lifting and rotating system 13 drives the wheel blank 11 to rotate in the opposite direction to the obtained angle, and then drives the wheel blank 11 to the bottom. The roller 29 rotates, driving the wheel blank 11 out. The cylinder 24 drives the baffle 25 to descend, and the next wheel blank 11 enters.

[0042] Align the marked optimal clamping point with the axial positioning block of the fixture. The material can be loaded from the entrance or automatically loaded by a robot. The robot loads the material by rotating the specified angle to grab the wheel blank 11, completing the optimized positioning and clamping, and then completing the processing of the wheel blank 11.

[0043] The positioning surface of the wheel blank 11 includes an axial positioning surface and a radial positioning surface. The axial positioning surface has axial wave deformation. The ordinary positioning clamping method is random clamping, which cannot ensure that the three positioning points are in the optimal axial state, causing the wheel blank 11 to tilt. The radial positioning surface has circumferential deformation. The ordinary positioning clamping method is random clamping, which cannot ensure that the three positioning points are in the optimal radial state, causing the wheel blank 11 to be eccentric.

[0044] The method for intelligent wheel positioning and the optimal clamping point identification of the marking system are as follows: the line laser sensor collects a cross section at intervals of one degree, removes invalid data through data processing, removes the derivatives of the scanning points of each cross section in turn, finds the mutation point of the axial positioning surface as the segmentation point, and then determines the midpoint of the segmentation point as the collection point, and then obtains 360 sampling points, filters the sampling points, removes abnormal points such as bumps and scratches, and then performs least squares fitting on the 360 ​​sampling points to establish a virtual plane. Due to the large deformation of the axial positioning surface and its greater impact on quality issues such as balance, the optimal point of the axial positioning surface is selected as the first optimization choice, and the optimal point of the radial positioning surface is selected as the second optimization choice. The height difference relative to the virtual plane is calculated for three points at intervals of 120 degrees, for a total of 120 sets of data. The set of data points with the best height difference is the optimal axial clamping point. The height difference of the common axial clamping point is defined as b, and the height difference of the optimal axial clamping point is defined as a. The axial optimal point threshold is increased by 10% (a+10%a). There are n axial optimal clamping points within the threshold range. The point with the smallest radial eccentricity is selected as the optimal clamping point. This clamping point ensures that both axial and radial clamping are in a relatively optimal state, with axial clamping being the primary and radial clamping being the secondary. Example

[0045] 105 production wheel types were randomly selected, and the end face runout, random clamping point height difference, and optimal clamping point height difference were calculated respectively. The clamping deviation was reduced by 0.41mm (end face runout 0.66mm, optimal clamping point height difference 0.15mm). The balanced offline rate, balanced mean, and standard deviation were calculated respectively. The balanced offline rate was reduced by 7.2% (from 12.6% to 5.4%), the balanced mean was reduced by 4.7g (from 20.2 to 15.5g), and the balanced standard deviation was reduced by 2.7g (from 10.4 to 7.7g). Example

[0046] A typical wheel type was selected for analysis, as shown in the table below. The average value improved by 19% and the offline rate improved by 14.6%.

[0047] Table 1 Typical wheel type analysis table

Claims

1. Wheel intelligent positioning device, including: Control cabinet, industrial computer, sheet metal system, adjustable angle seat, organic glass window, lifting pull ring, industrial computer turntable, rack system, marking system, detection system, centering system, jacking and rotating system, motor fixing seat, point laser sensor, first linear module, motor, reducer, first sprocket, rotating shaft, second sprocket, third sprocket, cylinder setting seat, cylinder, baffle, first guide column, first photoelectric switch, second photoelectric switch, roller table, third photoelectric switch; It is characterized in that a marking system and a detection system are arranged above the rack system, a lifting and rotating system is arranged below the rack system, a first linear module is arranged on the left side of the entrance of the rack system, a point laser sensor is arranged on the first linear module, a first photoelectric switch and a second photoelectric switch are arranged on both sides of the roller conveyor, and a third photoelectric switch is arranged above the baffle at the entrance.

2. The wheel intelligent positioning device according to claim 1, characterized in that: The marking system includes a laser generator, a fixed pressure cover, a second linear module, a laser chassis, and a top plate; the top plate is fixed to the frame system, the second linear module and the laser chassis are arranged above the top plate, the laser generator is arranged above the second linear module and is fixed with a fixed pressure cover, and a rectangular slot is opened on the top plate, and the laser generator can mark the wheel blank below through the rectangular slot during operation.

3. The wheel intelligent positioning device according to claim 1, characterized in that: The detection system includes a first servo turntable, a third linear module, a line laser sensor, and a sensor mounting base; the first servo turntable is set on the top plate, the third linear module is set on the first servo turntable, the sensor mounting base is set on the third linear module, and the line laser sensor is set on the sensor mounting base.

4. The wheel intelligent positioning device according to claim 1, characterized in that: The centering system includes a centering roller, a centering roller mounting shaft, a centering pull arm, a guide rail seat, a guide rail slider, a guide rail, a rack system, a gear system, a tie rod cylinder, a nut seat, a floating joint, and a centering system frame; the centering system frame is set on the frame system, the tie rod cylinder, the guide rail, and the gear system are set on the centering system frame, the guide rail seat and the guide rail slider are set above the guide rail in sequence, the rack system is set on the guide rail seat and meshed with the gear system, the nut seat is set on the guide rail seat and connected to the tie rod cylinder through a floating joint, the centering pull arm is set on the guide rail seat, four centering roller mounting shafts are set on the front section, the centering roller is inserted into the centering roller mounting shaft and can rotate freely.

5. The wheel intelligent positioning device according to claim 1, characterized in that: The jacking and rotating system includes a cross, a cross shaft, a second servo turntable, a turntable mounting seat, a second guide column, a servo reduction motor, a first synchronous pulley, a second synchronous pulley, a roller screw, a jacking and rotating system base, and a guide sleeve; the jacking and rotating system base is set on the frame system, the servo reduction motor is set on the jacking and rotating system base, the first synchronous pulley is connected to the servo reduction motor, one end of the roller screw is fixed to the jacking and rotating system base, and the other end is fixed to the turntable mounting seat, and is connected to the second synchronous pulley at the same time, the first synchronous pulley and the second synchronous pulley are connected by a synchronous belt, four guide sleeves are set on the jacking and rotating system base, the guide sleeve passes through the second guide column, one end of the second guide column is connected to the turntable mounting seat, a second servo turntable is set on the turntable mounting seat, and the cross shaft and the cross are connected in sequence above the second servo turntable.

6. Intelligent wheel positioning method. The optimal clamping point identification method for the marking system in the intelligent wheel positioning device is as follows: the line laser sensor collects a cross-section at every degree interval, removes invalid data through data processing, and removes the derivative of the scanning points of each cross-section in turn. The mutation point of the axial positioning surface is found as the segmentation point, and the midpoint of the segmentation point is determined as the collection point. Then, 360 sampling points are obtained, the sampling points are filtered, and abnormal points such as bumps and scratches are eliminated. Then, the 360 ​​sampling points are fitted by the least squares method to establish a virtual plane.

7. The wheel intelligent positioning method according to claim 6, characterized in that: The optimal point of the axial positioning surface is selected as the first optimization choice, and the optimal point of the radial positioning surface is selected as the second optimization choice; the height difference relative to the virtual plane is calculated for three points at intervals of 120 degrees, with a total of 120 groups of data. The group of data points with the optimal height difference is the axial optimal clamping point; the height difference of the axial common clamping point is defined as b, and the height difference of the axial optimal clamping point is defined as a. The axial optimal point threshold is increased by 10% (a+10%a). There are n axial optimal clamping points within the threshold range. Among them, the point with the smallest radial eccentricity is selected as the optimal clamping point. This clamping point ensures that both axial and radial clamping are in a relatively optimal state, with axial as the main and radial as the auxiliary.

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