A conveying device and method for processing automobile hub bearings

Abstract

The application relates to the technical field of automatic conveying and robot end effector, in particular to a conveying device and method for automobile hub bearing machining; the conveying device comprises a multi-axis mechanical arm, a pneumatic control cabinet and a grabbing mechanism composed of a rigid framework, an inner elastic capsule and an outer blocking capsule filled with ceramic particles; the core is that vacuum and positive pressure circuits are mechanically coupled through a differential pressure balance valve, when the outer capsule is vacuumized to cause particle blocking phase change, the inner positive pressure flow is linearly adjusted to realize dynamic balance of the inner supporting force and the outer shrinking force; the high shear modulus after the particle phase change is used for preventing high-speed conveying slip, meanwhile, the extremely low net radial force is maintained, ovalization deformation of the thin-wall bearing is effectively avoided, and the machining precision is ensured.

Description

Technical Field

[0001] This invention relates to the field of automated conveying and robotic end effector technology, specifically to a conveying device and method for processing automotive wheel hub bearings. Background Technology

[0002] In the current automated manufacturing and processing environment of automotive wheel bearings, the outer ring of thin-walled bearings, as a key precision ring component, needs to be gripped and transferred frequently between various processing stations. To achieve the conveying of such thin-walled bearings, existing solutions generally use rigid mechanical clamps or single-layer airbag tensioning devices to fix the thin-walled bearings by applying radial pressure. Although such solutions have basic operational capabilities in low-speed or thick-walled component scenarios, due to the low radial stiffness of thin-walled components, rigid clamping is prone to stress concentration, which can lead to elliptical deformation of the thin-walled bearings. Traditional pneumatic tensioning methods face a physical contradiction: increasing the contact pressure to prevent inertial slippage during high-speed conveying will exacerbate the outward expansion deformation of the thin-walled bearings, while reducing the pressure to maintain the roundness of the thin-walled bearings will result in insufficient clamping force, causing the thin-walled bearings to axially fall off or rotate circumferentially during the conveying process, which cannot meet the process requirements of high precision and high stability.

[0003] Therefore, how to eliminate rigid clamping stress to protect the geometric accuracy of thin-walled parts while simultaneously constructing sufficient and stable frictional resistance to resist inertial loads under high-speed motion has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a conveying device and method for processing automotive wheel hub bearings, which can solve the technical problems existing in the prior art. Specifically, the technical solution of this invention is as follows:

[0005] A conveying device for processing automotive wheel hub bearings, comprising:

[0006] Multi-axis conveyor robot arm; gripping actuator connected to the end of the multi-axis conveyor robot arm; pneumatic control cabinet connected to the gripping actuator via pneumatic pipelines;

[0007] The grasping execution mechanism includes: a rigid frame, which is a cylindrical rigid material structure; an inner elastic bladder, which is coaxially fitted onto the outer cylindrical surface of the rigid frame; and an outer blocking bladder, which is fitted onto the outside of the inner elastic bladder and is filled with a mixed medium, which includes irregular ceramic particles and filling gas.

[0008] The pneumatic control cabinet includes: a positive pressure air source, which is connected to the inner elastic bladder; a vacuum generator, which is connected to the outer blocking bladder; and a differential pressure balancing valve, which is connected between the positive pressure air source pipeline and the vacuum generator pipeline.

[0009] Preferably, the rigid frame is fixed to the end flange of the multi-axis conveying robot arm by high-strength bolts;

[0010] The inner elastic bladder is fixed to the rigid skeleton by vulcanization bonding.

[0011] The outer occlusion cyst is surrounded by a wear-resistant elastic membrane forming a ring-shaped closed chamber; the irregular ceramic particles have a sphericity of less than 0.8, a diameter of 0.2 mm to 0.5 mm, and a filling rate of 60%.

[0012] Preferably, the differential pressure balancing valve is configured to adjust the inflation pressure of the inner elastic bladder according to the vacuum degree of the outer blocking bladder, so that the outward supporting force of the inner elastic bladder and the centripetal tension of the volume contraction of the outer blocking bladder are dynamically balanced in numerical terms.

[0013] A conveying method for machining automotive wheel hub bearings includes:

[0014] Step 1: Without gripping the thin-walled bearing, control the vacuum generator to evacuate the outer layer of the blocking bladder and record the slope characteristics of the pressure drop curve as the no-load reference. Control the positive pressure gas source to inflate the inner layer of the elastic bladder and record the gas flow rate when the predetermined pressure is reached as the leakage reference.

[0015] Step 2: Control the expansion of the inner elastic bladder to push the outer blocking bladder to adhere to the inner wall of the bearing, and start the vacuum generator to extract the air in the outer blocking bladder to generate a particle blocking phase change.

[0016] Step 3: During the vacuuming process, monitor the rate of change of air pressure in the outer blockage bladder over time, and adjust the evacuation strategy based on the comparison between the air pressure drop rate and the preset threshold.

[0017] Step 4: Use the differential pressure balancing valve to convert the negative pressure signal of the vacuum line into a positive pressure signal and introduce it into the inner elastic bladder;

[0018] Step 5: Continuously monitor the gas mass flow rate in the vacuum pipeline during the movement, and adjust the motion acceleration of the multi-axis conveying robotic arm based on the flow rate fluctuations.

[0019] Preferably, step three includes:

[0020] If the rate of decrease in air pressure is higher than the preset density threshold, it is determined that there is a local bridging void, and the inner elastic bladder is controlled to perform pulse inflation and deflation.

[0021] If the rate of pressure drop is lower than the preset leakage threshold, it is determined that there is a micro-gap leak, and the pumping power of the vacuum generator is increased.

[0022] If the rate of decrease in air pressure is between the preset tightness threshold and the preset leakage threshold, maintain the current pumping power.

[0023] Preferably, step five includes:

[0024] The gas mass flow rate during the thin-walled bearing conveying stage, when no slippage occurs, is defined as the background leakage rate.

[0025] If the gas mass flow rate is detected to exceed the background leakage rate by 10%, it is determined to be a precursor to slip instability. The jerk parameter in the trajectory planning of the multi-axis conveying robot arm is reduced, and the compensation pressure of the inner elastic bladder is increased.

[0026] If the gas mass flow rate is not detected to exceed 10% of the background leakage rate, maintain the current motion acceleration.

[0027] Preferably, step two includes:

[0028] During the expansion phase of the inner elastic bladder, the contact area is established by utilizing the loose state of the outer blocking bladder to conform to the morphology of the bearing inner wall raceway and oil groove.

[0029] During the vacuuming stage of the outer blocking capsule, the interlocking effect of irregular ceramic particles under negative pressure provides tangential shear resistance.

[0030] Preferably, the pulse inflation / deflation is specifically performed by controlling the inner elastic bladder to perform pulse inflation / deflation at a frequency of 20 Hz and an amplitude of 0.05 MPa.

[0031] Compared with the prior art, the present invention has the following improvements and advantages:

[0032] 1. This invention mechanically couples the vacuum negative pressure circuit with the positive pressure air supply circuit by setting a differential pressure balancing valve in the pneumatic control cabinet. When the outer layer of the blocking bladder is evacuated and the particle blocking phase change occurs, the differential pressure balancing valve uses the pressure difference to drive the valve core displacement and linearly adjusts the positive pressure flow to the inner layer of the elastic bladder. This makes the outward supporting force of the inner layer of the bladder and the centripetal tension of the outer layer of the bladder due to the volume contraction caused by vacuum compaction reach a dynamic balance in numerical value. This dynamic balance mechanism ensures that the net radial force acting on the inner wall of the bearing is maintained at an extremely low level that only meets the contact requirements. It not only uses the high shear modulus after the particle phase change to prevent slippage and fall-off during high-speed conveying, but also effectively avoids the elliptical deformation of the thin-walled bearing caused by excessive tension, thus ensuring the processing accuracy.

[0033] 2. This invention fills the outer blocking bladder with irregular ceramic particles of low sphericity. In the initial stage of grasping, utilizing the near-liquid flowability of the particle group in a non-vacuum state, the bladder can perfectly conform to the complex microstructure of the bearing's inner wall raceway and oil groove, maximizing the contact area. In a vacuum state, a strong mechanical interlocking effect is generated between the irregular ceramic particles, transforming the grasping interface from simple frictional contact to a near-solid rigid engagement. Compared with traditional rubber airbags, this structure can provide several times higher shear resistance in the tangential direction, effectively resisting the gravity of thin-walled bearings and the inertial force generated by high-speed movement. At the same time, the isolation layer design between the inner and outer bladders prevents adhesion, ensuring that the outer bladder can independently generate adaptive sliding, extending its service life.

[0034] 3. This invention establishes a closed-loop control process that utilizes the physical properties of the volume expansion and shear dilatation effect of particulate media during shear deformation to transform the invisible contact state into quantifiable pneumatic data. By monitoring the gas mass flow rate in the vacuum pipeline in real time, the system can sensitively capture flow fluctuation peaks caused by minute relative slippage. Once slippage precursors are detected, the system automatically reduces the jerk parameter of the robotic arm to suppress inertial forces and simultaneously increases the vacuum level and inner layer compensation pressure. This proactive intervention mechanism completes the stabilization and reinforcement before the thin-walled bearing actually falls off, greatly improving the safety and reliability of the automated conveying process.

[0035] 4. This invention uses the pressure drop curve and gas flow rate recorded under no-load conditions as a system benchmark fingerprint, eliminating the interference of inherent pipeline resistance and micro-leakage on the interpretation. During the capture process, the system intelligently distinguishes between two different fault modes: local bridging voids and micro-gap leaks, based on the comparison between the gas pressure drop rate and the benchmark threshold. For voids, pulsed inflation and deflation are used for oscillation compaction; for leaks, the pumping power is automatically increased for flow compensation. This hierarchical processing logic ensures that even with slight wear of the capsule or uneven particle accumulation, effective phase change stiffness can still be established, reducing equipment maintenance frequency and scrap rate. Attached Figure Description

[0036] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0037] Figure 1 This is a schematic diagram of the overall external structure of the device;

[0038] Figure 2 This is a schematic diagram of the gripping execution mechanism of the device;

[0039] Figure 3 This is a schematic diagram of the internal structure of the outer occlusion cyst of the device;

[0040] Figure 4 This is a schematic diagram of the internal structure of the pneumatic control cabinet of the device;

[0041] Figure 5 This is a schematic diagram of the internal structure of the differential pressure balancing valve in the device;

[0042] Figure 6 This is a flowchart of the method of the present invention.

[0043] In the diagram: 100. Conveying device for processing automotive wheel hub bearings; 1. Multi-axis conveying robotic arm; 101. End flange; 102. High-strength bolt; 2. Gripping actuator; 201. Rigid frame; 202. Inner elastic bladder; 203. Outer blocking bladder; 204. Irregular ceramic particles; 205. Mixed medium; 206. Wear-resistant elastic membrane; 3. Pneumatic control cabinet; 301. Positive pressure air source; 302. Vacuum generator; 303. Differential pressure balancing valve; 303a. Sensing diaphragm; 303b. Valve core assembly; 303c. Balance spring assembly; 4. Thin-walled bearing; 401. Bearing inner wall; 402. Raceway and oil groove. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0045] Example 1:

[0046] Please see Figures 1-5 A conveying device for processing automotive wheel hub bearings, comprising:

[0047] A multi-axis conveying robotic arm 1; a gripping actuator 2 connected to the end of the multi-axis conveying robotic arm 1; and a pneumatic control cabinet 3 connected to the gripping actuator 2 via pneumatic pipes. The gripping actuator 2 includes: a rigid frame 201, which is a cylindrical rigid material structure; an inner elastic bladder 202 coaxially fitted onto the outer cylindrical surface of the rigid frame 201; and an outer blocking bladder 203 fitted onto the inner... The outer elastic bladder 202 is surrounded by a mixed medium 205, which includes irregular ceramic particles 204 and filling gas. The pneumatic control cabinet 3 includes: a positive pressure air source 301, which is connected to the inner elastic bladder 202; a vacuum generator 302, which is connected to the outer blocking bladder 203; and a differential pressure balancing valve 303, which is connected between the positive pressure air source 301 pipeline and the vacuum generator 302 pipeline.

[0048] This embodiment constructs a flexible gripping system based on the principle of particle blockage phase change, aiming to solve the contradiction that the outer ring of the thin-walled bearing 4 is prone to deformation under rigid clamping and prone to slippage during high-speed conveying; the multi-axis conveying robotic arm 1 serves as the motion carrier, and the gripping execution mechanism 2 mounted at its end adopts a multi-layer composite structure design;

[0049] Among them, the rigid skeleton 201 serves as the core of force transmission, and the flange connection ensures the positional accuracy; the inner elastic bladder 202 acts as a radial drive unit, responsible for providing the initial contact pressure and subsequent deformation compensation; the outer blocking bladder 203 serves as a variable stiffness interaction interface, and utilizes the irregular ceramic particles 204 filled inside and the mixed medium 205 composed of the filling gas to achieve a phase change from a liquid-like state to a solid-like state under the negative pressure environment created by the vacuum generator 302.

[0050] The differential pressure balance valve 303 in the pneumatic control cabinet 3 plays a key role in pneumatic logic coupling. This valve is connected between the positive pressure and negative pressure circuits. It can mechanically and linearly adjust the positive pressure flow to the inner elastic bladder 202 according to the change in vacuum degree in the outer blocking bladder 203, thereby realizing the dynamic balance between clamping force and supporting force at the physical level of the air circuit.

[0051] The rigid frame 201 is fixed to the end flange 101 of the multi-axis conveying robot arm 1 by high-strength bolts; the inner elastic bladder 202 is fixed to the rigid frame 201 by vulcanization bonding; the outer blocking bladder 203 is formed into an annular closed chamber by a wear-resistant elastic film 206; the irregular ceramic particles 204 have a sphericity of less than 0.8, a diameter of 0.2 mm to 0.5 mm, and a filling rate of 60%.

[0052] This embodiment specifies the material and micro-parameters of the gripping actuator 2 to optimize the mechanical transmission efficiency and durability; the rigid frame 201 is made of 7075 aerospace aluminum alloy and is rigidly connected to the end flange 101 of the robotic arm by high-strength bolts 102 to reduce the end inertia and ensure structural stability under high acceleration.

[0053] The inner elastic bladder 202 is directly bonded to the outer cylindrical surface of the rigid frame 201 using a high-temperature vulcanization process. This integrated molding method eliminates the risk of minor leakage that may occur with traditional mechanical compression sealing and ensures that the bladder does not peel off during repeated expansion and contraction. The outer blocking bladder 203 is made of oil-resistant polyurethane elastic film to adapt to the cutting fluid environment and provide sufficient flexible deformation capability. The upper and lower ends of the outer blocking bladder 203 are sealed and fixed to the flanges at both ends of the rigid frame 201 by stainless steel clamps. A talc powder layer is filled between the outer blocking bladder 203 and the inner elastic bladder 202 to prevent the two bladders from sticking together during frequent expansion and contraction, ensuring that the outer blocking bladder 203 can generate independent adaptive sliding relative to the surface of the inner elastic bladder 202.

[0054] The irregular ceramic particles 204 filling the interior are strictly selected to have a Wadell sphericity of less than 0.8 and a multi-faceted shape, with a diameter controlled between 0.2 mm and 0.5 mm. Combined with a 60% volume fill rate, which is the ratio of the total volume of the particles to the maximum volume of the outer blocking bladder 203 under natural stacking conditions, this combination of parameters gives the bladder excellent fluidity in non-vacuum conditions, enabling it to fill the microscopic irregularities of the bearing inner wall 401. In vacuum conditions, the irregular edges between the particles can generate a strong mechanical interlocking effect, providing several times higher tangential shear resistance compared to spherical particles, thereby effectively resisting the gravity and inertial forces of the thin-walled bearing.

[0055] The differential pressure balance valve 303 is configured to adjust the inflation pressure of the inner elastic bladder 202 according to the vacuum degree of the outer blocking bladder 203, so that the outward supporting force of the inner elastic bladder 202 and the centripetal tension of the volume contraction of the outer blocking bladder 203 can reach a dynamic balance in terms of numerical value.

[0056] This embodiment illustrates the core role of the differential pressure balancing valve 303 in achieving zero-stress gripping. When the vacuum generator 302 is activated to evacuate the outer blocking bladder 203, as the internal absolute pressure decreases, the particle group is compacted by atmospheric pressure, causing the outer blocking bladder 203 to tend to shrink in volume. Physically, this shrinkage tendency manifests as the bladder attempting to detach from the bearing inner wall 401, creating a gap. Without intervention, this can lead to gripping failure. However, simply increasing the inner pressure to counteract the shrinkage can easily cause the thin-walled component to expand and deform outward due to excessive pressure.

[0057] The differential pressure balancing valve has a sensing diaphragm 303a and a valve core assembly 303b inside. The valve core assembly 303b is perpendicularly connected to the center of the sensing diaphragm 303a through a rigid connecting rod. The valve core assembly 303b also has a pressure feedback surface that connects to the inner elastic bladder 202. One side of the sensing diaphragm 303a is connected to the vacuum pipeline and the negative pressure chamber, and the other side is connected to the atmosphere or the reference chamber of the balance spring assembly 303c. As the vacuum is established, a pressure difference is generated on both sides of the diaphragm, which overcomes the resistance of the balance spring assembly 303c and drives the rigid connecting rod to move axially to open the air intake channel.

[0058] When the air pressure inside the inner elastic bladder 202 increases and acts on the pressure feedback surface, it generates a reverse thrust that pushes the valve core assembly 303b to close the air intake passage. This mechanism automatically adjusts the valve core opening based on the vacuum level through force balance. Linear adjustment of output pressure within the inner elastic bladder 202 By pre-calibrating the sensing area ratio of the valve core and the stiffness of the spring 303c, the system ensures that the outward expansion thrust generated by the pressure of the gas filling the inner elastic bladder 202 can accurately follow and counteract the contraction / detachment tendency of the outer blocking bladder 203 caused by vacuum compaction.

[0059] Specifically, to achieve the above-mentioned numerical cancellation, this embodiment discloses a specific parameter matching logic: The specific parameter matching logic is as follows: the effective force-bearing area of ​​the vacuum sensing diaphragm 303a is set to... The effective force-bearing area of ​​the positive pressure regulating valve core is The effective contact area of ​​the outer blocking bladder 203 with the thin-walled bearing is The effective contact area of ​​the inner elastic capsule 202 is The structural parameters of the differential pressure balancing valve 303 must satisfy the force balance equation, taking into account the gas path loss coefficient. and the compensating force of spring assembly 303c The equilibrium relationship is as follows: ;

[0060] To achieve outward support from the inner layer Centripetal tension due to outer layer volume contraction For dynamic numerical compensation, the area ratio design of the differential pressure balancing valve must satisfy the following linear relationship: ;

[0061] in, Defined as the pressure transmission efficiency coefficient of pneumatic signals in pipeline transmission, with a value range of 0.95-0.98, this coefficient is obtained by connecting pressure sensors to both ends of a standard PU air pipe of 5m length and conducting pressure drop test experiments within the commonly used working pressure range of 0.4MPa to 0.6MPa. Defined as the inherent bias pressure of the system, it is formed by the preload of the return spring assembly. The decision is: ;

[0062] This bias pressure Used to provide basic support or compensate for system friction under low vacuum conditions; among which, Defined as the vacuum level relative to atmospheric pressure within the outer blocking capsule 203, in kPa. Defined as the inflation pressure inside the inner elastic bladder 202, in kPa; this mechanical counterbalancing mechanism ensures that the net radial force acting on the inner wall of the thin-walled bearing by the gripping actuator 2 during this dynamic equilibrium process is maintained at an extremely low level that only meets the contact requirements, which prevents the bladder from retracting and falling off, and avoids damage to the roundness accuracy caused by outward tightening.

[0063] Example 2:

[0064] Please see Figures 1-6 A conveying method for processing automotive wheel hub bearings, comprising:

[0065] Step 1: Without gripping the thin-walled bearing, control the vacuum generator 302 to evacuate the outer layer blocking bladder 203 and record the slope characteristics of the pressure drop curve as the no-load reference. Control the positive pressure gas source 301 to inflate the inner layer elastic bladder 202 and record the gas flow rate when the predetermined pressure is reached as the leakage reference.

[0066] Step 2: Control the expansion of the inner elastic bladder 202 to push the outer blocking bladder 203 to adhere to the inner wall 401 of the bearing, and start the vacuum generator 302 to extract the air in the outer blocking bladder 203 to generate a particle blocking phase change.

[0067] Step 3: During the vacuuming process, monitor the rate of change of air pressure in the outer blocking bladder 203 over time, and adjust the evacuation strategy based on the comparison between the air pressure drop rate and the preset threshold.

[0068] Step 4: Use the differential pressure balancing valve 303 to convert the negative pressure signal of the vacuum pipeline into a positive pressure signal and introduce it into the inner elastic bladder 202;

[0069] Step 5: Continuously monitor the gas mass flow rate in the vacuum pipeline during the movement, and adjust the motion acceleration of the multi-axis conveying robotic arm based on the flow rate fluctuations;

[0070] This embodiment establishes a closed-loop control process based on aerodynamic impedance spectrum analysis, which transforms the invisible contact state into quantifiable aerodynamic data. In step one, the system establishes a baseline fingerprint of the system through no-load operation, eliminating the interference of inherent pipeline resistance and micro-leakage on subsequent interpretation.

[0071] Steps two through four constitute the core of adaptive grasping. The expansion of the inner elastic bladder 202 provides the initial adhesion force for the outer blocking bladder 203, while the vacuum extraction and differential pressure balancing of the outer blocking bladder completes the simultaneous stiffness building and stress elimination. In particular, in step five, the system uses the gas mass flow rate as a sensitive indicator for slip monitoring.

[0072] Although the outer blocking bladder 203 is a physically sealed chamber, this method utilizes the shear dilatation effect of the particulate medium for slip monitoring. When the thin-walled bearing and the bladder experience minute relative sliding, the tangential shear force causes the internal particle accumulation structure to expand in volume, which in turn causes fluctuations in the pumping flow rate required to maintain the vacuum. Therefore, by monitoring flow rate fluctuations rather than simply the pressure value, the micron-level relative displacement occurring at the interface between the thin-walled bearing and the bladder can be captured more sensitively. Once the flow characteristics indicate a decrease in the stability of the contact interface, the system immediately adjusts the kinematic parameters of the robotic arm to suppress inertial forces and ensure the safety of the conveying process.

[0073] Step three includes: if the rate of pressure drop is higher than a preset tightness threshold, it is determined that there is a local bridging void, and the inner elastic bladder 202 is controlled to perform pulsed inflation and deflation; if the rate of pressure drop is lower than a preset leakage threshold, it is determined that there is a microscopic gap leak, and the pumping power of the vacuum generator 302 is increased; if the rate of pressure drop is between the preset tightness threshold and the preset leakage threshold, the current pumping power is maintained; wherein, performing pulsed inflation and deflation specifically means: controlling the inner elastic bladder 202 to perform pulsed inflation and deflation with a frequency of 20Hz and an amplitude of 0.05MPa;

[0074] This embodiment addresses the non-ideal states that may occur during the phase transition of particulate media. To ensure the scientific validity and accuracy of the control logic and to eliminate inconsistencies in physical properties between the ungrabbed and grasped states caused by the difference in volume magnitude, this embodiment introduces a volume correction factor into the threshold calculation model. This factor Defined as the ratio of the total internal volume of the outer blocking capsule 203 in its unforced, naturally unfolded state to the interparticle volume after filling with particles; to improve environmental robustness, the system executes a volume correction factor during the interval of each grasping cycle. The adaptive calibration is achieved by comparing the pressure response time constant under different vacuum levels. This value is updated in real time, and the update formula is as follows: ,in, Given the current inflation response rate, This is the standard speed at the time of manufacture;

[0075] The determination method is as follows: a liquid displacement method is used, with deionized water containing surfactants added to reduce surface tension; water is first injected into the empty capsule and ultrasonic vibration is performed to degas the contents, and the total volume is then measured. After filling in the granules, water is added and the mixture is subjected to ultrasonic assistance until the liquid level stops dropping. The interstitial volume is then measured. The calculated ratio is 2.5 in this embodiment. The calibration logic for this factor is as follows: by calculating the volume ratio under no-load and load conditions, a function is established: ;

[0076] This ensures that the pressure drop slope completes a linear mapping from no-load to loaded on an order of magnitude; its value is physically inversely related to the initial porosity of particle packing, and is used to compensate for the pressure response difference caused by the change in effective pumping dead volume before and after the phase change.

[0077] Meanwhile, to ensure the reproducibility of the benchmark value, step one involves measuring... The initial conditions are limited to: the ambient temperature is controlled at... to Between these points, the robotic arm's end is vertically downward, and the capsule is in a state of natural collapse with air circulation; the corrected threshold calibration logic is as follows: preset density threshold. Using the no-load reference slope recorded in step one Unit: kPa / s; Calculation formula: ;

[0078] in, The dynamic determination logic is as follows: Extract the relative standard deviation of the gas flow rate monitoring signal from step one. Specifically, collect steady-state flow data within 2 seconds after the inner elastic bladder 202 reaches the predetermined pressure, with a sampling frequency of 100Hz. Calculate the relative standard deviation of the flow data within this time window as... ,set up Based on the statistical principle of normal distribution, it covers 99.7% of the background noise range to ensure the robustness of threshold determination; among which, Defined as a dynamic fluctuation coefficient, it is calculated to be 0.4 under the specific operating conditions of this embodiment. This coefficient is used to cover the signal fluctuation range caused by pipeline airflow pulsation noise and sensor sampling error.

[0079] The system uses environmental parameters obtained from real-time temperature and humidity sensors. and Dynamic compensation is performed on the no-load reference, and the corrected reference is: ;

[0080] If the monitored rate of pressure drop exceeds this threshold; preset leakage threshold. The formula is set as follows: ;

[0081] in, The leakage tolerance coefficient is set to 0.7 in this embodiment. This coefficient is calibrated based on the critical suction efficiency curve of the vacuum generator 302 obtained from experiments. That is, when the leakage causes the effective suction speed to drop to 70% of the rated value, it is determined that the minimum pressure difference required to maintain the phase change cannot be maintained. This threshold is used to monitor the integrity of the closed system.

[0082] If the rate of pressure drop is lower than the threshold, given that the outer blocking bladder 203 is a physically isolated closed chamber, this low rate characteristic is determined to be due to the bladder surface being punctured by the thin-walled bearing burr or microscopic gap leakage at the pipe joint, causing external air to continuously seep into the bladder and offset the pumping speed, making it impossible to establish an effective phase change vacuum. At this time, the system dynamically compensates for the leakage by increasing the pumping power of the vacuum generator 302, maintaining the negative pressure inside the bladder to ensure basic particle blockage stiffness and prevent the thin-walled bearing from falling off.

[0083] Step five includes: defining the gas mass flow rate during the thin-walled bearing conveying stage when no slippage occurs as the background leakage rate; if the gas mass flow rate is detected to exceed the background leakage rate by 10%, it is determined to be a precursor to slippage instability, the jerk parameter in the trajectory planning of the multi-axis conveying robot arm 1 is reduced, and the compensation pressure of the inner elastic bladder 202 is increased; if the gas mass flow rate is detected not to exceed the background leakage rate by 10%, the current motion acceleration is maintained.

[0084] This embodiment details the active vibration suppression and anti-slip mechanism during dynamic conveying. To accurately obtain the judgment benchmark and avoid logical loops, this embodiment clarifies the specific capture window for the background leakage rate: During the 0.5s hovering and pressure holding period after the positive pressure signal is introduced in step four and before the multi-axis conveying robot arm 1 executes the movement command, the system continuously collects the gas mass flow rate in the vacuum pipeline. The selection of this time window should avoid the dynamic response time of gas filling and discharging to ensure the steady-state characteristics of the collected data. The unit is standard L / min. The average value is calculated and locked as the background leakage rate. When the thin-walled bearing moves at high speed, the system continuously collects real-time flow data and compares it with the locked background leakage rate.

[0085] When the monitored flow rate suddenly exceeds 10% of the background leakage rate, it is identified as a slight relative slippage between the thin-walled bearing and the outer blocking bladder 203. The physical mechanism is as follows: according to the Reynolds shear dilatation principle, when a densely packed group of particles undergoes shear deformation, the particles must roll over adjacent particles to generate displacement, resulting in an instantaneous expansion of the macroscopic volume. Since the outer blocking bladder 203 is in a constant negative pressure control mode, the sudden increase in the effective volume inside the bladder forces the vacuum generator 302 to draw in more air in order to maintain the set vacuum level, thereby generating an instantaneous flow rate spike in the pipeline.

[0086] Based on this, the system determines that this is a precursor to slip instability; upon determining that this is a precursor to slip instability, the system immediately intervenes to control: on the one hand, it reduces the acceleration parameter in the trajectory planning of the multi-axis conveying robot arm 1 to make the motion curve smoother; on the other hand, it controls the vacuum generator 302 to increase the pumping power to increase the vacuum level inside the outer blocking bladder 203.

[0087] Based on the aforementioned mechanical coupling characteristics of the differential pressure balancing valve 303, the vacuum level of the outer blocking bladder 203... The increase will directly drive the valve core displacement, automatically guiding the positive pressure air source 301 to increase the positive pressure compensation pressure leading to the inner elastic bladder 202. This allows for adaptive following and enhancement of the inner layer support force to the vacuum contraction force without additional electronic control commands. At this point, although the radial clamping force and contraction force remain relatively balanced according to the differential pressure balance formula to protect the shape of the thin-walled bearing, the absolute value of the vacuum level significantly enhances the blocking phase transition intensity of the particulate medium, making the outer bladder more rigid and increasing the shear modulus.

[0088] The synchronous increase in inner pressure ensures that the harder particle shell can adhere tightly to the inner wall of the thin-walled bearing without retraction; therefore, the system suppresses slippage by enhancing the tangential shear resistance provided by the particle interlocking effect, thereby achieving a more stable grip without compromising the zero-stress deformation protection logic.

[0089] Step two includes: during the expansion stage of the inner elastic bladder 202, the outer blocking bladder 203 is loosely arranged to conform to the morphology of the bearing inner wall 401 raceway and oil groove 402 to establish a contact area; during the vacuum stage of the outer blocking bladder 203, the irregular ceramic particles 204 are used to provide tangential shear resistance under negative pressure through interlocking effect.

[0090] This embodiment reveals the mechanism by which the gripping actuator 2 achieves high-rigidity locking at the physical level. In the initial stage of expansion of the inner elastic bladder 202, the outer blocking bladder 203 is under normal pressure, and the particle group is in a loose, liquid-like state with excellent fluidity. It can conform to the complex geometric features of the bearing inner wall 401 to cover the particle group, maximizing the contact area. When entering the vacuum stage, the negative pressure causes the membrane of the outer blocking bladder 203 to tightly press the particle group. The irregular ceramic particles 204 interlock with each other under the squeezing action, and the degree of freedom between the particles is restricted. The overall structure instantly changes from a liquid-like state to a solid-like state.

[0091] This rigid entity, formed by the interlocking effect of particles, can provide huge shear resistance in the tangential direction. This resistance is much greater than the static friction provided by traditional rubber materials relying solely on the coefficient of friction, thus effectively preventing the thin-walled bearing from slipping in the axial or circumferential directions.

[0092] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A conveying device for processing automotive wheel hub bearings, characterized in that, include: A multi-axis conveying robotic arm (1); a gripping actuator (2), the gripping actuator (2) being connected to the end of the multi-axis conveying robotic arm (1); a pneumatic control cabinet (3), the pneumatic control cabinet (3) being connected to the gripping actuator (2) via an air pipeline; wherein, the gripping actuator (2) includes: a rigid frame (201), the rigid frame (201) being a cylindrical rigid material structure; an inner elastic bladder (202), the inner elastic bladder (202) being coaxially fitted onto the outer cylindrical surface of the rigid frame (201); and an outer blocking bladder (203), the outer blocking bladder (203) being fitted onto the inner... The outer layer of the elastic bladder (202) is filled with a mixed medium (205) inside the outer layer of the blocking bladder (203). The mixed medium (205) includes irregular ceramic particles (204) and filling gas. The pneumatic control cabinet (3) includes: a positive pressure air source (301) connected to the inner layer of the elastic bladder (202); a vacuum generator (302) connected to the outer layer of the blocking bladder (203); and a differential pressure balancing valve (303) connected between the positive pressure air source (301) pipeline and the vacuum generator (302) pipeline. The differential pressure balancing valve (303) is configured to adjust the inflation pressure of the inner elastic bladder (202) according to the vacuum degree of the outer blocking bladder (203), so that the outward supporting force of the inner elastic bladder (202) and the centripetal tension of the volume contraction of the outer blocking bladder (203) are dynamically balanced in numerical terms. The differential pressure balancing valve (303) has a sensing diaphragm (303a) and a valve core assembly (303b) inside. The valve core assembly (303b) is perpendicularly connected to the center of the sensing diaphragm (303a) through a rigid connecting rod. The valve core assembly (303b) also has a pressure feedback surface that connects to the inner elastic bladder (202). One side of the sensing diaphragm (303a) is connected to the vacuum pipeline to form a negative pressure chamber, and the other side is connected to the atmosphere or to the reference chamber of the balance spring assembly (303c) to form a reference chamber. As the vacuum is established, a pressure difference is generated on both sides of the diaphragm, which overcomes the resistance of the balance spring assembly (303c) and drives the rigid connecting rod to move axially to open the air intake channel.

2. The conveying device for processing automotive wheel hub bearings according to claim 1, characterized in that, in, The rigid frame (201) is fixed to the end flange (101) of the multi-axis conveying robot arm (1) by high-strength bolts (102); the inner elastic bladder (202) is fixed to the rigid frame (201) by vulcanization bonding; the outer blocking bladder (203) is surrounded by a wear-resistant elastic film (206) to form an annular closed chamber; the irregular ceramic particles (204) have a sphericity of less than 0.8, a diameter of 0.2 mm to 0.5 mm, and a filling rate of 60%.

3. A conveying control method for a conveying device for processing automotive wheel hub bearings according to claim 1, characterized in that, include: Step 1: Without grabbing the thin-walled bearing (4), control the vacuum generator (302) to evacuate the outer layer blocking bladder (203) and record the slope characteristics of the pressure drop curve as the no-load reference. Control the positive pressure gas source (301) to inflate the inner layer elastic bladder (202) and record the gas flow rate when the predetermined pressure is reached as the leakage reference. Step 2: Control the expansion of the inner elastic bladder (202) to push the outer blocking bladder (203) to fit against the inner wall (401) of the bearing, and start the vacuum generator (302) to extract the air in the outer blocking bladder (203) to generate a particle blocking phase change; Step 3: During the vacuuming process, monitor the rate of change of air pressure in the outer blocking bladder (203) over time, and adjust the evacuation strategy based on the comparison between the air pressure drop rate and the preset threshold. Step 4: Use the differential pressure balancing valve (303) to convert the negative pressure signal of the vacuum pipeline into a positive pressure signal and introduce it into the inner elastic bladder (202). Step 5: During the movement, continuously monitor the gas mass flow rate in the vacuum pipeline and adjust the motion acceleration of the multi-axis conveying robot arm (1) based on the flow rate fluctuation.

4. The conveying control method of the conveying device for processing automotive wheel hub bearings according to claim 3, characterized in that, in, Step 3 includes: if the rate of decrease in air pressure is higher than the preset tightness threshold, it is determined that there is a local bridging void, and the inner elastic bladder (202) is controlled to perform pulse inflation and deflation; if the rate of decrease in air pressure is lower than the preset leakage threshold, it is determined that there is a micro-gap leak, and the pumping power of the vacuum generator (302) is increased; if the rate of decrease in air pressure is between the preset tightness threshold and the preset leakage threshold, the current pumping power is maintained.

5. The conveying control method of the conveying device for processing automotive wheel hub bearings according to claim 3, characterized in that, in, Step 5 includes: defining the gas mass flow rate during the conveying stage of the thin-walled bearing (4) without slippage as the background leakage rate; if the gas mass flow rate is detected to exceed the background leakage rate by 10%, it is determined to be a precursor to slippage instability, the jerk parameter in the trajectory planning of the multi-axis conveying robot (1) is reduced, and the compensation pressure of the inner elastic bladder (202) is increased; if the gas mass flow rate is detected not to exceed the background leakage rate by 10%, the current motion acceleration is maintained.

6. The conveying control method of the conveying device for processing automotive wheel hub bearings according to claim 3, characterized in that, in, Step two includes: during the expansion stage of the inner elastic bladder (202), the contact area is established by utilizing the loose state of the outer blocking bladder (203) to conform to the morphology of the bearing inner wall (401) raceway and oil groove (402); during the vacuum stage of the outer blocking bladder (203), the tangential shear resistance is provided by the interlocking effect of irregular ceramic particles (204) under negative pressure.

7. The conveying control method of the conveying device for processing automotive wheel hub bearings according to claim 4, characterized in that, in, The pulse inflation / deflation process specifically involves controlling the inner elastic bladder (202) to perform pulse inflation / deflation at a frequency of 20 Hz and an amplitude of 0.05 MPa.

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