Wheel and brake disc hole alignment and unbalanced point matching assembly system and method

Abstract

The invention relates to the technical field of vehicle assembly, and provides a wheel and brake disc hole alignment and unbalanced point matching assembly system and method.The wheel and brake disc hole alignment and unbalanced point matching assembly system comprises a laser sensor, a color code sensor, a motion controller and a motion execution structure; the motion execution structure comprises a rotating platform for driving a brake disc and wheels to rotate; the laser sensors and the color code sensors are installed above a brake disc and wheels and are arranged in pairs, one pair of laser sensors and color code sensors right face the circumferential edge of the brake disc, and the other pair of laser sensors and color code sensors right face the circumferential edge of the wheels. Based on measurement data of the laser sensor and the color code sensor, the rotating platform is controlled to adjust the relative angle of the wheel and the brake disc, and matching and automatic alignment assembly of hole alignment and unbalanced points of the wheel and the brake disc are achieved. Laser and a color code sensor are creatively fused, automatic recognition and alignment assembly of unbalanced points and alignment holes of the wheels and the brake disc are achieved, repeated hoisting and trial alignment are avoided, and the assembly precision and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle assembly, in particular to a wheel and brake disc hole matching and unbalance point matching assembly system and method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] In rail transit equipment, such as locomotive, motor train and subway train, the running safety and performance depend on the accurate assembly of the wheel and brake disc. The assembly of the brake disc and the wheel not only involves the transition fit accuracy, but also requires that the unbalance points are symmetrically arranged within a certain angle range to ensure the dynamic balance performance of the whole wheelset system. In the assembly process, if accurate hole matching and reasonable matching of the counterweight cannot be achieved, it is easy to cause the wheelset imbalance, thereby causing vibration in the train running process, decline of the braking performance, excessive wear of the bearing and other safety hazards. Therefore, how to efficiently and accurately complete the positioning and fitting of the brake disc and the wheel and the matching of the unbalance points is a key technical problem for improving the wheelset assembly quality and ensuring the running safety of the train.

[0004] At present, the assembly of the wheel and the brake disc mainly relies on manual operation, which specifically includes manual hole positioning and manual judgment of the symmetric angle range of the unbalance point. In actual operation, since the brake disc and the wheel are in transition fit, the assembly of the positioning hole often causes the positioning pin to be difficult to insert due to the hole position deviation, and workers usually use a copper hammer or a copper bar to knock the positioning pin to complete the forced assembly, which is easy to cause wear of the positioning pin or the pin hole, and even causes the wheelset assembly to be scrapped in severe cases. In addition, the unbalance point is found by relying on a dynamic balance test bench, the mass eccentric position of the wheel and the brake disc is determined through rotation detection, and is marked in an artificial way. During installation, the worker hoists the wheel and the brake disc to the assembly station by means of a crane, adjusts them through rotation so that the unbalance points are located within a symmetric range of ±30°. Since there is a lack of angle measurement and positioning auxiliary tools, the adjustment process mainly relies on experience judgment, and needs to be repeatedly hoisted and tried, which not only is low in efficiency and high in labor intensity, but also is difficult to control the angle error, often causes the counterweight to be asymmetric, and affects the dynamic balance performance of the wheelset and the installation quality. SUMMARY

[0005] In order to solve the above problems, the present application provides a wheel and brake disc hole matching and unbalance point matching assembly system and method, which innovatively combines laser and color mark sensors to realize automatic identification and alignment assembly of the unbalance points and the holes of the wheel and the brake disc, avoid repeated hoisting and trial, and improve the assembly accuracy and efficiency.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions: One or more embodiments provide a wheel and brake disc hole and imbalance point matching assembly system, comprising: a laser sensor, a color mark sensor, a motion controller, and a motion execution structure; The motion execution structure comprises a rotating platform, a rotating shaft for rotatably fixing the brake disc and the wheel is arranged on the rotating platform, and the rotating shaft drives the brake disc and the wheel to rotate respectively; The laser sensor and the color mark sensor are installed above the brake disc and the wheel in pairs, one pair of the laser sensor and the color mark sensor is opposite to the circumferential edge of the brake disc, and the other pair of the laser sensor and the color mark sensor is opposite to the circumferential edge of the wheel; The motion controller is connected with the laser sensor, the color mark sensor, and the motion execution structure respectively, and based on the measurement data of the laser sensor and the color mark sensor, the motion controller controls the rotating platform to adjust the relative angle of the wheel and the brake disc, so as to realize the matching and automatic alignment assembly of the wheel and the brake disc hole and the imbalance point.

[0007] One or more embodiments provide an assembly method based on the above-mentioned wheel and brake disc hole and imbalance point matching assembly system, comprising the following steps: The rotating platform is started to rotate, and the wheel and the brake disc are driven to rotate; The detection data of the color mark sensor is obtained, and the red mark lines on the wheel and the brake disc are identified respectively, when the red mark lines are identified, the angle values RLs and Rps of the angle encoders corresponding to the wheel and the brake disc are obtained respectively; After the red mark is detected, the rotating platform is continuously rotated, the detection signal of the laser sensor is obtained, the position of the positioning pin hole is identified, and the second angle values RLe and Rpe corresponding to the identification of the positioning pin holes of the wheel and the brake disc are obtained respectively; The difference between the zero angle of the wheel and the second angle value is calculated as the angle offset of the wheel, and the difference between the zero angle of the brake disc and the second angle value is calculated as the angle offset of the brake disc; The difference between the angle offset of the wheel and the angle offset of the brake disc is minimized as an optimization target, the rotation angle of the wheel or the brake disc is adjusted, so that the imbalance point of the assembled wheel and brake disc is within the alignment requirement relative angle, and the wheel and the brake disc are assembled.

[0008] Compared with the prior art, the beneficial effects of the present application are: (1) The application improves the assembly accuracy, solves the problems of large positioning error, complicated operation and low efficiency of traditional manual positioning, and significantly improves the dynamic balance quality of the wheel set by automatically identifying the hole and unbalance point and completing accurate pairing and assembly. In addition, the assembly process does not need to use tools to forcibly insert the pin, which reduces the damage risk of the brake disc, wheel and positioning pin hole, reduces the waste rate and repair cost. The system realizes the full-process automation from identification, judgment to execution adjustment, reduces the labor input, improves the operation safety and consistency, and has good repeatability and scalability.

[0009] (2) The application avoids the complicated steps of repeatedly lifting the wheel and brake disc for angle trial matching in traditional assembly through the cooperation of the rotating platform and high-precision sensor. The system can automatically identify the unbalance point and hole position of the wheel and brake disc, calculate and adjust the relative angle of the two in real time, so that the matching assembly can be completed after one-time lifting and positioning, which greatly reduces the trial assembly times. This effect not only significantly reduces the assembly time and labor intensity, improves the production efficiency, but also effectively avoids the equipment wear and personal risk caused by multiple lifting. At the same time, the automatic angle matching mechanism significantly improves the assembly angle accuracy, ensures the symmetry of the counterweight, and further optimizes the dynamic balance performance and installation quality of the wheel set.

[0010] The advantages of the application and the advantages of the additional aspects will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0011] The drawings accompanying the specification of this application form a part thereof, serve to further explain the application, and together with the description, make for the best mode of carrying out the application.

[0012] Figure 1 is a structural schematic diagram of the assembly system of embodiment 1 of the application; Figure 2 is a flowchart of the assembly method of embodiment 1 of the application; DETAILED DESCRIPTION The application will be further described below in conjunction with the drawings and embodiments.

[0013] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the application belongs.

[0014] It should be noted that the terminology used herein is for describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. It should be noted that, without conflict, the various embodiments and features within those embodiments can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0015] Example 1 In one or more of the technical solutions disclosed in the embodiments, such as Figures 1 to 2 As shown, a wheel and brake disc matching and assembly system for holes and imbalance points includes: a laser sensor, a color mark sensor, a motion controller, and a motion execution structure. The motion execution structure includes a rotating mechanism and a rotating platform. The rotating platform is equipped with a rotating shaft for rotatably fixing the brake disc and the wheel, which drives the brake disc and the wheel to rotate respectively. The rotating mechanism is used to provide power for the rotation of the rotating platform. Laser sensors and color mark sensors: mounted on the brake disc and wheel, in pairs. One pair of laser sensors and color mark sensors faces the circumferential edge of the brake disc, and the other pair faces the circumferential edge of the wheel. Motion controller: It is connected to the laser sensor, color mark sensor and motion execution structure respectively. Based on the measurement data of the laser sensor and color mark sensor, it controls the rotating platform to adjust the relative angle between the wheel and the brake disc, so as to realize the matching and automatic alignment assembly of the wheel and brake disc with the hole and the unbalance point. This system achieves rotatable fixing of the wheel and brake disc via a rotating shaft mounted on a rotating platform. A rotating mechanism provides torque to the rotating platform, causing it to rotate the fixed wheel and brake disc. Two pairs of sensors correspond to the wheel and brake disc respectively. On one hand, a laser sensor captures the positions of the alignment holes on the outer edges of the brake disc and wheel; on the other hand, a color mark sensor identifies color marks mounted on the outer circumference of the wheel and brake disc, representing the positions of imbalance points. A motion controller collects data from the two sets of sensors and calculates the angular difference between the wheel and brake disc in real time to determine if the current relative angle meets the matching requirements for the alignment holes and imbalance points. When the system determines that an angle adjustment is needed, the controller sends a command to control the rotating platform to rotate by the corresponding angle until precise alignment is achieved. The entire operation can be completed automatically without human intervention, significantly improving assembly efficiency and accuracy.

[0016] The system improves assembly accuracy, solves the problems of large positioning error, complicated operation and low efficiency in traditional manual positioning, and significantly improves the dynamic balance quality of the wheelset, reduces the vibration and component wear risk of the train during operation. In addition, no manual tool is needed to force the pin during assembly, which reduces the damage risk of the brake disc, wheel and positioning pin hole, and reduces the scrap rate and repair cost. The system realizes the full-process automation from identification, judgment to execution adjustment, reduces labor input, improves operation safety and consistency, and has good repeatability and scalability.

[0017] The system avoids the complicated steps of repeatedly lifting the wheel and brake disc for angle trial fitting in traditional assembly through the cooperation of the rotating platform and high-precision sensors. The system can automatically identify the unbalanced points and hole positions of the wheel and brake disc, calculate and adjust the relative angle of the two in real time, so that the matching assembly can be completed after one-time lifting and positioning, greatly reducing the trial fitting times. This effect not only significantly reduces the assembly time and labor intensity, improves the production efficiency, but also effectively avoids the equipment wear and personal risk caused by multiple lifting. At the same time, the automatic angle matching mechanism significantly improves the assembly angle accuracy, ensures the symmetry of the counterweight, and further optimizes the dynamic balance performance and installation quality of the wheelset.

[0018] In some embodiments, a color mark sensor is used to detect the positioning mark of the unbalanced point on the circumferential surface of the brake disc and the wheel; As Figure 1 the red block in the figure is the positioning mark of the unbalanced point; the color mark sensor is arranged on the fixed support above the rotating platform, ensuring that its optical axis is perpendicular to the end surface of the brake disc and the wheel, so as to realize accurate identification of the positioning mark.

[0019] The mark line is located on the end surface of the brake disc and the wheel and is marked by a red marker pen by hand for identification by the color mark sensor.

[0020] In some embodiments, a laser sensor is used to identify the hole position; the laser sensor scans the circumferential edge of the brake disc and the wheel, emits laser and receives reflected signals, and identifies the position of the hole through the change of the emitted signals; Optionally, the laser sensor is arranged directly above the positioning pin hole, ensuring that the laser beam is perpendicular to the surface of the wheel and the brake disc, so as to accurately capture the profile change of the hole edge and realize high-precision positioning. The laser sensor and the color mark sensor work together to transmit the collected unbalanced point mark and positioning pin hole position information to the motion controller in real time, and the motion controller calculates the best positioning angle of the wheel and the brake disc and drives the rotating platform to rotate accurately to the matching position.

[0021] One embodiment, the laser sensor identifies the positioning pin hole by emitting laser and receiving the reflected signal, and identifies by the change state of the reflected signal, specifically: when the laser emitted by the laser sensor irradiates to the entity surface, the laser is reflected, and the received reflected signal is high; when moving to the edge of the hole, the laser enters the hole without reflection, and the signal changes from high to low, forming a falling edge; when the laser sensor leaves from the other side edge of the hole, the emitted laser irradiates to the entity surface, the laser is reflected again, the signal changes from low to high, forming a rising edge, and the passing area between the rising edge and the falling edge is the area of a hole.

[0022] The unbalance points on the brake disc and the unbalance points on the wheel need to be as symmetric as possible with the assembly axis during assembly, so as to realize complementary mass superposition, reduce the overall rotational unbalance, and in an ideal state, the line connecting the two unbalance points and the axis is collinear, thereby canceling the unbalance degree, but the ideal state is not easy to achieve, therefore, the included angle between the unbalance point on the brake disc and the unbalance point on the wheel is between 150 degrees and 210 degrees; Specifically, the laser sensor can use a laser measuring device with a spot size of 2mm or less, and the smaller the spot size, the higher the positioning accuracy. A specific setting mode, the color code sensor facing the brake disc and the color code sensor facing the wheel are arranged on two opposite supports, and the two supports are parallel to the line connecting the rotating shafts fixing the brake disc and the wheel; the included angle between the two color code sensors and the line connecting the opposite rotating shafts is 180 degrees, as shown in Figure 1 Two color code sensors are arranged on both sides of the rotating platform.

[0023] The setting mode of the color code sensor can simplify the calculation process of whether the unbalance points meet the symmetric assembly requirement, and the measured angle is within plus or minus 30 degrees; An implementable setting mode, the setting mode of a pair of color code sensors and laser sensors is that the measurement direction of the color code sensor passes through the center of the rotating shaft, and the laser sensor is arranged at a distance from the color code sensor, so that the measurement areas of the color code sensor and the laser sensor are adjacent and do not overlap; as shown in the test schematic diagram Figure 1 Specifically, the relative positions of the two laser sensors and the rotating shaft axis are the same; the laser sensor is used for positioning the positioning pin holes on the brake disc and the wheel, and when the laser sensor is arranged at the same relative position, the positioning reference of the brake disc and the wheel can remain consistent after the positioning pin holes are positioned, and the positioning pin holes of the two are directly opposite; In some embodiments, the rotating mechanism comprises: A servo motor for providing a rotating driving force; A speed reducer connected with the output shaft of the servo motor for reducing the output rotation speed and increasing the torque;​ A coupling connects the speed reducer and the rotating platform spindle to transmit torque and compensate for axial deviation. An angle encoder is arranged on the end of the rotating shaft or the shaft of the servo motor to collect the rotation angle of the brake disc and the wheel in real time. The angle encoder is connected to the motion controller to transmit the rotation angle to the motion controller. A specific structure, the rotating platform, comprises: a pair of platform bases, each platform base is provided with a rotating shaft for fixing a brake disc or a wheel; the rotating shaft is connected with the base through a bearing assembly and is driven to rotate by a rotating mechanism; a limiting device or a quick-change clamp structure is arranged outside the rotating shaft to quickly install and position the brake disc and the wheel.

[0024] In a specific embodiment, the limiting device adopts an elastic pin structure inserted into a positioning hole in the end face of the rotating shaft to achieve circumferential fixation. The limiting device cooperates with the quick-change clamp to realize axial and circumferential positioning of the workpiece, ensuring that the workpiece remains stable and does not move axially during rotation. The quick-change clamp is driven by pneumatic or hydraulic pressure to achieve clamping and loosening, and cooperates with sensor feedback signals to achieve automatic clamping and positioning. The rotation accuracy of the rotating shaft is fed back in real time by a high-resolution encoder, and closed-loop control is performed by the motion controller to ensure the accuracy of angle adjustment.

[0025] Optionally, the motion controller is installed in the side or the console and is connected with each sensor and the running execution mechanism through a cable. Specifically, the motion controller can adopt a PLC control system. Further, it further comprises a translation device, which can be a manipulator or a linear module, for translating the brake disc to the wheel or translating the wheel to the brake disc to complete the alignment and assembly of the two. The translation process is precisely controlled in position and speed by the motion controller to ensure smooth docking.

[0026] Further, the translation device is connected with the motion controller and receives instructions from the motion controller to perform the translation action according to the preset trajectory and speed.

[0027] Embodiment 2 Based on embodiment 1, the present embodiment provides a wheel and brake disc hole and unbalance point matching assembly system based on embodiment 1. The present embodiment provides a wheel and brake disc hole and unbalance point matching assembly method, which can be configured to be executed in a motion controller, comprising the following steps: Step 1, start the rotating platform to rotate and drive the wheel and the brake disc to rotate; Optionally, two rotating shafts are arranged on the rotating platform and the wheel and the brake disc are placed side by side, as shown in the diagram position shown in Figure 1 ​Step 2, obtain the detection data of the color sensor, and identify the red mark lines on the wheel and the brake disc respectively, and obtain the angle values RLs and Rps of the angle encoders corresponding to the wheel and the brake disc respectively when the red mark lines are identified; Step 3, after detecting the red mark, continue to rotate the rotating platform, obtain the detection signal of the laser sensor, identify the position of the positioning pin hole, and obtain the second angle values RLe and Rpe corresponding to the identification of the positioning pin hole of the wheel and the brake disc respectively; Step 4, calculate the difference between the zero angle and the second angle value of the wheel and the brake disc respectively as the angle offset; Step 5, minimize the difference between the angle offset of the wheel and the angle offset of the brake disc as the optimization target, adjust the rotation angle of the wheel or the brake disc, so that the imbalance point of the assembled wheel and brake disc is within the alignment requirement relative angle, and the wheel and the brake disc are assembled; In step 1, the rotating platform is started to rotate, driving the wheel and the brake disc to rotate; During the rotation of the rotating platform, the current rotation angle feedback by the angle encoder is obtained in real time; Before this step, the wheel and the brake disc are installed on the two groups of rotating shafts of the rotating platform respectively, and fast positioning and clamping are realized through the quick-change clamp; and the clamping signal is confirmed to be in place; after the system initialization is completed, the servo motor is started to drive the rotating platform to rotate slowly, the angle encoder collects the rotation angle in real time and transmits it to the motion controller, forming a closed loop feedback; during the measurement process, the rotating platform is always rotating, and the motion controller synchronously receives the real-time angle data feedback by the angle encoder.

[0028] In step 2, the detection data of the color sensor is obtained, and the red mark lines on the wheel and the brake disc are identified respectively, and the angle values RLs and Rps of the angle encoders corresponding to the wheel and the brake disc are obtained respectively when the red mark lines are identified; In this embodiment, the red mark line is taken as the zero degree position, the wheel zero degree angle is recorded as RLs, and the brake disc zero degree angle is recorded as Rps; In step 3, after detecting the red mark, continue to rotate the rotating platform, obtain the detection signal of the laser sensor, identify the position of the positioning pin hole, and obtain the second angle values RLe and Rpe corresponding to the identification of the positioning pin hole of the wheel and the brake disc respectively; Specifically, the laser sensor detects the laser reflection signal on the wheel and the brake disc, and the positioning pin hole is identified and determined through the falling edge and the rising edge of the laser reflection signal, and the corresponding part is controlled to stop moving after the rising edge after the falling edge of the positioning pin hole is identified, the angle position of the positioning pin hole is recorded, the position angle of the wheel positioning pin hole is recorded as RLe, and the position angle of the brake disc positioning pin hole is recorded as Rpe; Specifically, the zero position of the wheel and the brake disc is set as the unbalanced point position of the brake disc and the wheel. A worker draws a red straight line with a length of 10 mm and a width of 5 mm at the unbalanced point position as the zero position by using a red oily marker. When the wheel or the brake disc rotates, the color sensor constantly searches for the red mark line on the wheel and the brake disc. When the wheel and the brake disc stop, the angle between the red mark line and the current positioning point is recorded.

[0029] In some embodiments, the method for acquiring the detection signal of the laser sensor and identifying the position of the positioning pin hole comprises the following steps: Step 31, filtering the signal collected by the laser sensor to eliminate the noise caused by the environmental light interference; Step 32, determining that the positioning pin hole region is entered when the falling edge appears and determining that the pin hole region is exited when the rising edge appears; Step 33, determining that it is the positioning pin hole when the number of pulses between the falling edge and the rising edge is a set value; The positioning mode of the positioning pin hole of the wheel is the same as that of the positioning pin hole of the brake disc.

[0030] In this step, the laser sensor is not only used for positioning the positioning pin hole but also used for searching the bolt hole and the positioning pin hole.

[0031] The determination of whether it is the positioning pin hole is based on the number of pulses between the falling edge and the rising edge. For example, the difference between the positioning pin hole and the bolt hole is the different diameters. When the falling edge is detected, the PLC records the current number of pulses. After a delay of 20 ms (the time is used for filtering to prevent the external light from interfering with the laser), the rising edge pulse is detected and the current number of pulses is recorded. The absolute value of the difference between the number of rising edge pulses and the number of falling edge pulses determines whether it is the positioning pin hole or the bolt hole. If the absolute value of the pulse of the positioning pin hole is 2.3 and the pulse value of the bolt hole is 1.8, when the absolute value of the pulse difference is greater than 1.8 and less than or equal to 2.3, it is determined that the hole is the positioning pin hole and the positioning is performed.

[0032] In further technical solutions, during the detection of the positioning pin hole by the laser sensor, after the falling edge of the positioning pin hole is detected, a delay of a set time, for example, 500 ms, is performed, and then the rising edge is detected again, so that the wheel or the brake disc is stopped to complete a complete detection of the positioning pin hole, thereby eliminating the detection error caused by the mechanical inertia and ensuring the positioning accuracy. In step 4, the difference between the zero angle of the wheel and the brake disc and the second angle value is calculated as the angle offset. Specifically, the angle offset of the positioning pin hole of the wheel relative to the zero position is calculated by the following formula: ΔRL = |RLe - RLs|; The angle offset of the locating pin hole on the brake disc relative to the zero position is calculated by the formula: ΔRP = |Rpe - Rps|; Step 5, rotating the wheel to minimize the difference between the angle offset of the wheel and the brake disc as the optimization target, and then translating the brake disc to the wheel for assembly.

[0033] In step 5, specifically, whether the difference between the zero angle and the second angle value is within the set range is compared, if yes, the brake disc is translated to be directly above the wheel, or the wheel is translated to be directly above the brake disc, so that the locating pin holes of the wheel and the brake disc are aligned for installation; otherwise, one of the brake disc or the wheel is rotated to the optimal phase angle to minimize the difference between ΔRL and ΔRP, and to ensure that the unbalance points offset each other.

[0034] A specific example is taken to require that the unbalance positions of the wheel and the brake disc are within 180°±30°, and the test device is used to measure Figure 1 During the test, the rotating platform is rotated clockwise, and the test data is shown in Table 1, when the number of locating pin holes is 6, the included angle between two adjacent locating pin holes is 60 degrees, and the rotating angle and direction are shown in Table 1. Table 1 Test data of angle offset of wheel and brake disc

[0035] In this embodiment, when the difference between ΔRL and ΔRP exceeds the range of 180°±30°, the system automatically calculates the optimal rotating angle to minimize the phase difference of the unbalance points. The wheel or the brake disc is rotated by the corresponding angle, so that the rotated locating pin holes can be accurately relative, and the unbalance points are within the required range. In this embodiment, the locating pin holes are taken as an example for description, when the number of locating pin holes is other values, the included angle between two adjacent holes changes accordingly, and the system automatically adjusts the rotating step angle according to the actual number of holes to ensure the positioning accuracy and assembly efficiency.

[0036] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0037] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or variations made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A wheel and brake disc hole and imbalance point matching assembly system, characterized in that, Comprise: laser sensor, color sensor, motion controller and motion execution structure; The motion execution structure comprises a rotating platform, a rotating shaft for rotatably fixing a brake disc and a wheel is arranged on the rotating platform, and the brake disc and the wheel are driven to rotate respectively; The laser sensor and the color sensor are installed above the brake disc and the wheel, and are arranged in pairs, one pair of laser sensor and color sensor is opposite to the circumferential edge of the brake disc, and the other pair of laser sensor and color sensor is opposite to the circumferential edge of the wheel; The motion controller is connected with the laser sensor, the color sensor and the motion execution structure respectively, based on the measurement data of the laser sensor and the color sensor, the relative angle between the rotating platform and the brake disc is adjusted to control the matching and automatic alignment assembly of the brake disc and the wheel.

2. A wheel and brake disc hole and imbalance point matching assembly system as claimed in claim 1, wherein: The color sensor is arranged on the fixed support above the rotating platform, and the optical axis thereof is perpendicular to the end surface of the brake disc and the wheel.

3. A wheel and brake disc hole and imbalance point matching assembly system as claimed in claim 1, wherein, The laser sensor identifies the positioning pin hole by emitting laser and receiving reflected signal, and identifies by the change state of the reflected signal, specifically: when the laser emitted by the laser sensor irradiates to the entity surface, the laser is reflected, and the received reflected signal is high; When moving to the edge of the hole, the laser enters the hole without reflection, and the signal changes from high to low, forming a falling edge, and the passing area between the rising edge and the falling edge is the area of a hole.

4. A wheel and brake disc hole and imbalance point matching assembly system as described in claim 1, wherein: The color sensor opposite to the brake disc and the color sensor opposite to the wheel are arranged on the two supports opposite to each other, and the two supports are parallel to the connecting line of the rotating shaft for fixing the brake disc and the wheel; The included angle between the two color sensors and the connecting line of the opposite rotating shaft center is 180 degrees.

5. A wheel and brake disc hole and imbalance point matching assembly system as described in claim 1, wherein: The setting mode of one pair of color sensor and laser sensor is that the measurement direction of the color sensor passes through the rotating shaft center, and the laser sensor is arranged at a distance from the color sensor, so that the measurement areas of the color sensor and the laser sensor are adjacent and do not overlap; The relative position of the two laser sensors and the rotating shaft center is the same.

6. A wheel and brake disc hole and imbalance point matching assembly system as described in claim 1, wherein, The rotating mechanism comprises: Servo motor, for providing rotating driving force; Speed reducer, connected with the output shaft of the servo motor, for reducing the output rotating speed and increasing the torque; Coupling, connecting the speed reducer and the rotating platform main shaft, for transmitting torque and compensating axial deviation; Angle encoder, arranged on the end of the rotating shaft or the shaft of the servo motor, for real-time acquisition of the rotating angle of the brake disc and the wheel; and the motion controller is connected, and the rotating angle is transmitted to the motion controller.

7. The wheel and brake disc hole matching and unbalance point matching assembly system according to claim 1, wherein: The rotating platform comprises: a pair of platform bases, each platform base is provided with a rotating shaft for fixing the brake disc or the wheel; The rotating shaft is connected with the base through the bearing assembly and is driven to rotate by the rotating mechanism; The rotating shaft is externally provided with a limiting device or a quick change clamp structure for quickly installing and positioning the brake disc and the wheel; Or, it also comprises a translation device, which is a mechanical hand or a linear module, for translating the brake disc to the wheel or translating the wheel to the brake disc to complete the alignment assembly.

8. The method of assembling a wheel and brake disc pair hole and imbalance point matching assembly system according to any one of claims 1-7, characterized in that, The steps comprise: Start rotating the rotating platform to drive the wheel and the brake disc to rotate; Acquire detection data of the color sensor, and identify the red mark lines on the wheel and the brake disc respectively, and acquire the angle values RLs and Rps of the angle encoders corresponding to the wheel and the brake disc respectively when the red mark lines are identified; After the red mark is detected, continue to rotate the rotating platform, acquire the detection signal of the laser sensor, identify the position of the positioning pin hole, and acquire the second angle values RLe and Rpe corresponding to the wheel and the brake disc respectively when the positioning pin hole is identified; Calculate the difference between the zero angle and the second angle value of the wheel and the brake disc respectively as the angle offset; Minimize the difference between the angle offset of the wheel and the angle offset of the brake disc as the optimization target, adjust the rotation angle of the wheel or the brake disc, so that the imbalance point of the assembled wheel and brake disc is within the alignment requirement relative angle, and assemble the wheel and the brake disc.

9. The assembly method of claim 8, wherein: The method for acquiring the detection signal of the laser sensor and identifying the position of the positioning pin hole comprises the following steps: Filter the signal collected by the laser sensor to eliminate the noise caused by the environmental light interference; When the falling edge appears, it is determined that the positioning pin hole region is entered, and when the rising edge appears, it is determined that the pin hole region is exited; When the number of pulses between the falling edge and the rising edge is a set value, it is determined that the positioning pin hole is detected.

10. The assembly method of claim 8, wherein: After the falling edge of the positioning pin hole is detected, the wheel or the brake disc is stopped after the rising edge is detected after a set time delay, and a complete detection of the positioning pin hole is completed.

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