Transfer control method and transfer device of hub transfer machine

Abstract

The invention discloses a transfer control method of a hub transfer machine and a transfer device of the hub transfer machine, and relates to the technical field of hub transfer. The method comprises the steps that hub size, positioning and device operation data are collected, and effective data are obtained through abnormal value removal, missing value supplementation and filtering processing; the size classification of the hubs is completed according to the size threshold value, and the longitudinal and transverse conveying lines are controlled to cooperate with the transfer machine to achieve directional transfer; the rotating speed of the motor is adjusted differentially based on operation data, the safety state is monitored in real time, and alarming and shutdown are performed when abnormity occurs. The device comprises a transportation system, a detection system, a controller and an alarm system, the transportation system comprises a longitudinal and transverse conveying line, a transfer machine and other components, the detection system integrates a grating, a positioning sensor and a safety sensor, and the device operates the control method. The problems of data distortion, poor production line collaboration, fixed speed regulation and insufficient safety protection in the prior art are solved, the accuracy, stability and safety of hub transfer are improved, and the flexible production requirements of hubs of multiple specifications are met.

Description

Technical Field

[0001] This invention relates to the field of transfer machines, and more specifically, to a transfer control method and transfer device for a wheel hub transfer machine. Background Technology

[0002] Transfer machines are core connecting equipment in automated production and logistics systems. They primarily achieve precise material transfer between different workstations, production lines, or equipment through the coordination of mechanical actuators and drive control systems, and are widely used in automated production lines of various manufacturing industries. In the wheel manufacturing industry, transfer machines undertake the task of wheel transfer throughout the entire process from casting and machining to painting and assembly. They need to be adapted to the heavy-duty characteristics of wheels weighing 15-50kg and the multi-size requirements of 14-24 inches, making them key equipment to ensure the continuity of wheel production.

[0003] However, existing wheel hub transfer technology still has significant shortcomings: On the one hand, the high temperature, vibration, and sensor interference in wheel hub transfer scenarios make it easy for the collected dimensional data, positioning data, and device operating status data to have abnormal values, missing values, and fluctuating noise. Existing technologies mostly use single data acquisition or simple filtering methods, making it difficult to guarantee data accuracy. This leads to control decision errors, resulting in wheel hub selection errors and excessive positioning deviations. On the other hand, existing wheel hub transfers mostly rely on single production line linear conveying with manual steering assistance, or fixed track transfer designs. The coordination between the transverse and longitudinal conveyor lines and the transfer machine is poor, and the power distribution lacks precise control. This not only results in long turning and line changing times and low efficiency, but also often leads to positioning deviations exceeding ±10mm during docking. This can easily cause wheel hub displacement, collisions, and even risks such as wheel jamming or wheel drop, seriously affecting production line stability and wheel hub production quality. Summary of the Invention

[0004] The purpose of this invention is to propose a transfer control method and transfer device for a wheel hub transfer machine, which aims to solve the problems of inaccurate data acquisition and poor positioning of multiple production lines and transfer machines in the prior art, and to ensure the stability of wheel hub transfer and production quality.

[0005] The technical solution of the present invention is as follows: A transfer control method for a wheel hub transfer machine includes the following steps: Real-time acquisition of hub size data, positioning status data, and device operation status data during the transfer process; The collected raw data are sequentially processed by outlier removal, missing value imputation, and filtering to obtain effective data for control decisions. Based on the wheel hub size data in the valid data, the wheel hub size and specification are compared with the preset specification threshold to complete the classification of wheel hub size and specification. Based on the screening results and the preset transfer path, the transverse conveyor line, longitudinal conveyor line and transfer machine are controlled to work together to achieve the directional transfer of wheel hubs; Based on the operational status data in the effective data, the speed of the power motor is adjusted by differential control to achieve adaptive optimization of the transfer speed; The system monitors the safety status during the transfer process in real time, and when an abnormality is detected, it activates an alarm and controls the shutdown.

[0006] In one possible implementation, the outlier removal employs the z-score algorithm, specifically including: Calculate the population mean μ and population standard deviation σ of the original data using the formula Calculate the z-score value for each original data point X; Set anomaly detection thresholds x and y, remove outlier data with z-score < x or z-score > y, and retain valid data with z-score in the range [x, y].

[0007] In one possible implementation, the missing value supplementation employs regression interpolation, specifically including: Define the independent variable Xi, where Xi is the sampling point number of the data acquisition, corresponding to the time or location node in the transportation process; Based on the valid data after removing outliers, a regression model of Xi and the target variables is constructed, wherein the target variables include wheel hub size data and device operating status parameters; Identify the missing locations in the original data and their corresponding independent variables Xk. Substitute Xk into the regression model to obtain imputed values ​​for the missing values, and use these imputed values ​​to fill in the missing locations.

[0008] In one possible implementation, the filtering process employs median filtering, specifically including: Set a fixed-size sliding window with 3 to 5 sampling points. The window size is dynamically adjusted according to the transfer speed. The sliding window is moved point by point along the dataset after the missing values ​​are filled, and all data in each sliding window are sorted. The median after sorting is selected as the filtering result of the current sliding window center data point, or the mean is calculated after removing the maximum and minimum values ​​in the sliding window as the filtering result to remove random fluctuation noise.

[0009] In one possible implementation, the wheel hub size classification specifically includes: At least one set of wheel hub size thresholds is preset, including wheel hub diameter thresholds and wheel hub width thresholds, and the threshold values ​​are adjusted according to the target transport specifications requirements; Wheel hub size data is collected by a grating sensor and compared with a preset threshold. When the actual size is greater than the preset threshold, it is determined to be a large-size wheel hub; when the actual size is less than or equal to the preset threshold, it is determined to be a small-size wheel hub, and a corresponding classification label and transfer path instruction are generated.

[0010] In one possible implementation, the directional transfer specifically includes: After receiving specification classification labels and transfer path instructions, the corresponding electromagnetic clutch is controlled to open and close, thereby realizing the power distribution of the transverse conveyor line, longitudinal conveyor line and transfer machine. If straight-line transfer is required, control the start of the transverse or longitudinal conveyor line to drive the hub to transfer along the preset straight path. If a change of direction is required, first control the lifting motor to drive the transfer machine to a preset height, then drive the power sprocket to rotate via the power motor, which in turn drives the driven sprocket via the transfer chain. At the same time, the direction of the transfer machine is changed through the transmission cooperation between the clutch mover and the clutch stator. After the direction change is completed, control the transfer machine to descend and precisely dock the wheel hub to the target production line.

[0011] In one possible implementation, the adaptive optimization of the transfer speed specifically includes: Differential control is based on a mathematical model established by considering the stator resistance, shaft-stator inductance, number of pole pairs, permanent magnet flux linkage, moment of inertia, and damping coefficient of the motor. By combining the load torque and real-time speed data from the effective data, the mechanical angular velocity of the motor is precisely controlled by adjusting the shaft stator voltage and shaft stator voltage. Based on the correlation between the mechanical angular velocity of the motor and the actual transfer speed of the device, the transfer speeds of the transverse conveyor line, the longitudinal conveyor line, and the transfer machine are adaptively adjusted so that the transfer speed of the large-size wheel hub is lower than that of the small-size wheel hub, and the transfer speed is automatically reduced when the load increases to ensure smooth transfer.

[0012] In one possible implementation, the alarm and shutdown control specifically includes: The system uses safety sensors to monitor in real time whether the wheel hub is stuck or misaligned, uses positioning sensors to monitor whether the wheel hub has accurately reached the preset work position, and uses grating sensors to perform secondary verification of the wheel hub size data to ensure that it does not exceed the safety range. When any abnormality is detected, such as jamming, positioning failure, abnormal size, or motor overload, the alarm braking system will immediately issue an audible and visual alarm signal. At the same time, the controller sends a stop command to the power motor and controls the transfer machine's clutch control system to lock all electromagnetic clutches to prevent wheel hub displacement and achieve an emergency stop.

[0013] A transfer device for a wheel hub transfer machine includes a transport system, a detection system, a controller, and an alarm system; The transportation system includes a transverse conveyor line, a longitudinal conveyor line, a light-blocking panel, a transfer machine, and an electromagnetic clutch; the transfer machine includes a lifting motor, a power motor, a transfer chain, a driven sprocket, and a power sprocket; the electromagnetic clutch includes a clutch mover and a clutch stator; The detection system includes a grating sensor, a positioning sensor, and a safety sensor; The controller is used to control the transportation system, detection system, and alarm system, realizing data processing and coordinated control of various systems; the transverse and longitudinal conveyor lines are used to realize the linear transfer of wheel hubs; the light-blocking mask is located outside the grating sensor and positioning sensor to block light and improve the accuracy of size measurement and positioning; the lifting motor is used to drive the lifting of the transfer chain; the power motor, power sprocket, transfer chain, and driven sprocket form a transmission mechanism to realize the transfer of wheel hubs; the clutch mover is fixedly connected to the driven sprocket, the clutch stator is coaxially connected to the power shaft, and the electromagnetic clutch controls the power on and off of the transfer machine; the grating sensor is installed at the entrance end of the transverse production line to collect wheel hub size data; the positioning sensors are respectively set at the docking stations of the transverse production line, longitudinal production line, and transfer machine to monitor the wheel hub positioning status; the safety sensor is located around the transfer machine to monitor the safety status during the transfer process; The transfer device operates as described above using the transfer control method.

[0014] Compared with the prior art, the embodiments of this application have the following main advantages: This invention discloses a transfer control method for a wheel hub transfer machine. This method collects wheel hub size data, positioning status data, and device operating status data in real time, and sequentially performs outlier removal, missing value supplementation, and filtering on the raw data to achieve precise data purification. This solves the problem of control decision errors caused by inaccurate data collection in existing technologies. By controlling the coordinated action of the transverse conveyor line, longitudinal conveyor line, and transfer machine according to the wheel hub specification screening results and preset transfer path, this method achieves precise directional transfer of wheel hubs, solving the problems of poor coordination between multiple production lines and the transfer machine and large positioning deviations in existing technologies. Attached Figure Description

[0015] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a flowchart of the method in Example 1; Figure 2 This is an overall diagram of the transfer device in Example 2; Figure 3 This is a diagram showing the internal structure of the transfer device in Example 2; Figure 4 This is a structural diagram of the transfer machine in Example 2; Figure 5 This is a structural diagram of the electromagnetic clutch in Example 2.

[0017] The following are the reference numerals: 1. Horizontal conveyor line; 2. Vertical conveyor line; 3. Light-blocking cover; 4. Transfer machine; 5. Electromagnetic clutch; 41. Lifting motor; 42. Power motor; 43. Transfer chain; 44. Driven sprocket; 45. Power sprocket; 51. Clutch mover; 52. Clutch stator.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Example 1 like Figures 1-2 As shown in Example 1, a transfer control method for a hub transfer machine is proposed, including the following steps: S100: Real-time acquisition of hub size data, positioning status data, and device operation status data during the transfer process.

[0021] Step S100 achieves comprehensive coverage and dynamic capture of information throughout the entire transfer process by collecting three key data points in real time: wheel hub size, positioning status, and device operating status. This provides a complete raw data foundation for subsequent outlier removal, missing value supplementation, and filtering. It also provides precise data support for subsequent control decisions such as wheel hub size and specification classification, collaborative transfer between multiple production lines and transfer machines, adaptive speed adjustment, and safety monitoring. This effectively avoids control errors caused by missing or delayed data, and lays a solid data foundation for the accuracy, stability, and safety of the entire transfer process.

[0022] S200. The collected raw data is processed sequentially by removing outliers, filling in missing values, and filtering to obtain effective data for control decisions.

[0023] Step S200 employs a three-stage progressive data purification logic—outlier removal, missing value supplementation, and filtering—to specifically address the issues of data distortion, fragmentation, and noise caused by high temperatures, vibrations, and sensor interference in wheel hub transportation scenarios. This results in accurate, continuous, and stable output of effective data. This step not only overcomes the limitations of single data processing methods but also achieves end-to-end data optimization from error removal to data completion to data stabilization. It provides highly reliable data support for subsequent wheel hub specification classification, multi-production line collaborative transportation, adaptive speed regulation, and safety monitoring. From the source, it avoids control risks such as screening errors, positioning deviations, and speed regulation inaccuracies caused by data problems, ensuring the accuracy, stability, and continuity of wheel hub transportation.

[0024] The outlier removal employs the z-score algorithm, specifically including: Calculate the population mean μ and population standard deviation σ of the original data using the formula Calculate the z-score value for each original data point X; Set anomaly detection thresholds x and y, remove outlier data where z-score < x or z-score > y, and retain valid data where z-score falls within the range [x, y]. The value range of x is -3 to -2, and the value range of y is 2 to 3. Prioritize x = -3 and y = 3 (i.e., the 3σ principle). When there is severe high temperature / vibration interference in the transportation scenario, x can be adjusted to -2.5 and y = 2.5 to balance the accuracy of outlier removal with the data retention rate.

[0025] Outlier removal calculates the z-score based on the overall mean μ and standard deviation σ of the original data, rather than using a fixed threshold. This adapts to the data dispersion characteristics of different wheel hub sizes (14-24 inches) and different loads (15-50 kg), avoiding misjudgment or omission of outliers caused by changes in size / load. At the same time, by removing extreme outlier data that exceed the [x,y] range (such as size jumps caused by high temperature interference or extreme speed values ​​caused by vibration), it directly eliminates erroneous data that seriously deviates from actual working conditions, preventing erroneous data from entering the control decision-making process and reducing problems such as screening and classification errors and speed regulation logic disorder. The missing value supplementation employs regression interpolation, specifically including: Define the independent variable Xi, where Xi is the sampling point number of the data acquisition, corresponding to the time or location node in the transportation process; Based on the valid data after removing outliers, a regression model is constructed between Xi and the target variables, which include hub size data and device operating status parameters. The regression model is selected according to the changing trend of the target variables. When the transfer process is uniform linear transfer, a linear regression model is used; when the transfer process is acceleration, deceleration or turning, a nonlinear regression model (such as a multinomial regression model) is used. Identify the missing locations in the original data and their corresponding independent variables Xk. Substitute Xk into the regression model to obtain imputed values ​​for the missing values, and use these imputed values ​​to fill in the missing locations.

[0026] Missing value imputation uses the sampling point sequence number (corresponding to the transfer time / position node) as the independent variable, which fits the continuous dynamic characteristics of wheel hub transfer. This ensures that the imputed data is strongly correlated with the time / position of the transfer process, avoiding imputed values ​​that are out of touch with the actual working conditions. By constructing a regression model to estimate missing values, rather than simple linear filling, it can accurately fit the changing trend of the target variable (size, operating status) (such as the increasing trend of speed during the transfer acceleration phase and the positioning offset trend during the steering phase), ensuring the continuity and trend consistency of the dataset. It effectively solves the problem of data gaps caused by instantaneous sensor disconnection, avoids control command interruption or false triggering due to data breakage, and ensures smooth connection of subsequent processes such as multi-production line collaboration and adaptive speed adjustment.

[0027] The filtering process employs median filtering, specifically including: A fixed-size sliding window is set, with 3 to 5 sampling points. The sliding window size is dynamically adjusted according to the transfer speed. The dynamic adjustment rules are as follows: when the transfer speed is ≥0.5m / s, the sliding window size is 3 sampling points; when the transfer speed is <0.5m / s, the sliding window size is 5 sampling points; when the transfer speed is in the range of 0.3~0.5m / s, the sliding window size is 4 sampling points.

[0028] The sliding window is moved point by point along the dataset after the missing values ​​are filled, and all data in each sliding window are sorted. The median after sorting is selected as the filtering result of the current sliding window center data point, or the mean is calculated after removing the maximum and minimum values ​​in the sliding window as the filtering result to remove random fluctuation noise.

[0029] The sliding window size for filtering is set to 3-5 sampling points and can be dynamically adjusted according to the transfer speed. This adapts to different transfer rhythms (small sliding window is needed for high-speed transfer to avoid lag, while large sliding window is needed for low-speed transfer to enhance the noise reduction effect) and balances the noise reduction effect with the data response speed. The filtering logic using the median or the mean after removing extreme values ​​can effectively suppress the random fluctuation noise caused by vibration and shock (such as mechanical vibration interference during heavy wheel hub transfer) while retaining the real abrupt changes in the data (such as speed changes during emergency stops and docking stations), avoiding the problems of data smoothing and distortion of the real signal caused by mean filtering. S300: Based on the wheel hub size data in the valid data, compare it with the preset specification threshold to complete the classification of wheel hub size specifications.

[0030] The specific classification of wheel hub sizes includes: At least one set of wheel hub size thresholds is preset, including wheel hub diameter threshold and wheel hub width threshold. The threshold size is adjusted according to the target transfer specification requirements. The multiple sets of thresholds can be pre-stored in the controller's storage module, supporting one-click switching through the human-machine interface or automatic retrieval of the corresponding threshold set according to the production order. Each set of thresholds is independently associated with a unique classification identifier and transfer path instruction.

[0031] Wheel hub size data is collected by a grating sensor and compared with a preset threshold. The comparison logic is as follows: if the actual diameter and actual width of the wheel hub are both greater than the corresponding preset threshold, it is determined to be a large-size wheel hub; if any dimension is less than or equal to the corresponding preset threshold, it is determined to be a small-size wheel hub; or a comparison rule with diameter priority or width priority can be preset according to production needs, and the priority can be set by the controller.

[0032] When the actual size is greater than a preset threshold, it is determined to be a large-size wheel hub; when the actual size is less than or equal to the preset threshold, it is determined to be a small-size wheel hub, and a corresponding classification identifier and transfer path instruction are generated. The classification identifier uses binary encoding (e.g., 01 represents a small-size wheel hub, 10 represents a large-size wheel hub), and the encoding length can be extended according to the number of threshold groups. The transfer path instruction corresponds one-to-one with the classification identifier, and the path information (such as the target production line number and the position of the turning node) is pre-stored in the controller. After classification is completed, the matching path parameters are automatically called.

[0033] S400: Based on the screening results and the preset transfer path, control the coordinated operation of the transverse conveyor line, longitudinal conveyor line and transfer machine to achieve directional transfer of wheel hubs.

[0034] Step S400, based on specification screening results and preset transfer paths, achieves precise coordinated control of the transverse conveyor line, longitudinal conveyor line, and transfer machine. This core solution addresses the pain points of existing technologies, such as poor coordination among multiple production lines, low efficiency in line changing, and large docking positioning deviations. By precisely distributing power through an electromagnetic clutch and clearly defining the differentiated control logic for straight-line and steering transfers, it avoids the inefficiency and labor intensity problems caused by manual steering. Furthermore, the standardized steering process of lifting-steering-lowering-docking ensures seamless connection of wheel hubs between different production lines, with positioning deviations controlled to the millimeter level. This step requires no manual intervention, adapts to 24-hour continuous production needs, significantly shortens line changing time, and avoids risks such as wheel hub displacement, collisions, and wheel jamming. It improves the continuity, stability, and intelligence of the transfer process, providing crucial support for the flexible production of multi-specification wheel hubs.

[0035] The targeted transshipment specifically includes: After receiving specification classification labels and transfer path instructions, the corresponding electromagnetic clutch is controlled to open and close, thereby realizing the power distribution of the transverse conveyor line, longitudinal conveyor line and transfer machine. If straight-line transfer is required, control the start of the transverse or longitudinal conveyor line to drive the hub to transfer along the preset straight path. If a change of direction is required, first control the lifting motor to drive the transfer machine to a preset height, then drive the power sprocket to rotate via the power motor, which in turn drives the driven sprocket via the transfer chain. At the same time, the direction of the transfer machine is changed through the transmission cooperation between the clutch mover and the clutch stator. After the direction change is completed, control the transfer machine to descend and precisely dock the wheel hub to the target production line.

[0036] Directional transfer achieves precise power distribution among the horizontal and vertical conveyor lines and the transfer machine through the opening and closing state control of the electromagnetic clutch, avoiding equipment jamming or transfer loss of control caused by power conflicts and ensuring the coordination of the actions of each actuator. In linear transfer, the corresponding production line is directly driven to start, the process is simple and efficient, and it is suitable for large-volume continuous transfer needs without additional intermediate links. In turning transfer, a step-by-step control of lifting-turning-lowering is adopted. The transfer machine is raised to a preset height to avoid interference with the production line or wheel hub during the turning process. The power motor drives the turning through the sprocket-chain mechanism. With the transmission cooperation of the clutch mover and stator, the smoothness and accuracy of the direction switching are ensured. After descending, it accurately docks with the target production line, effectively solving the problems of large positioning deviation and easy collision of traditional fixed track transfer. The whole process realizes wheel hub transfer without manual intervention, with precise path and smooth connection, which not only improves transfer efficiency, but also ensures the surface quality of the wheel hub and the stability of the production line operation.

[0037] The S500, based on the operating status data in the valid data, adjusts the speed of the power motor through differential control to achieve adaptive optimization of the transfer speed.

[0038] Step S500, based on the purified device operating status data, establishes a mathematical model of the power motor through differential control and adjusts its speed, achieving adaptive optimization of the transfer speed. This fundamentally solves the pain point of existing technologies where the transfer speed is fixed and cannot adapt to different wheel hub sizes and load variations. This step abandons the traditional coarse-grained control logic of "fixed speed," constructing a precise control model based on the motor's core parameters. It adjusts the motor voltage by combining dynamic data such as load torque and real-time speed, thereby matching the optimal transfer speed for different wheel hub sizes and loads. This avoids the risks of shaking and collisions during high-speed transfer of large / heavy-load wheel hubs, and solves the inefficiency problem of low-speed transfer of small / light-load wheel hubs. Simultaneously, it effectively prevents motor overload, improves equipment lifespan, and achieves a dual balance between efficiency and stability, and between equipment protection and transfer quality.

[0039] The adaptive optimization of the transfer speed specifically includes: Differential control is based on a mathematical model established by considering the stator resistance, shaft-stator inductance, number of pole pairs, permanent magnet flux linkage, moment of inertia, and damping coefficient of the motor. By combining the load torque and real-time speed data from the effective data, the mechanical angular velocity of the motor is precisely controlled by adjusting the shaft stator voltage and shaft stator voltage. Based on the correlation between the mechanical angular velocity of the motor and the actual transfer speed of the device, the transfer speeds of the transverse conveyor line, the longitudinal conveyor line, and the transfer machine are adaptively adjusted so that the transfer speed of the large-size wheel hub is lower than that of the small-size wheel hub, and the transfer speed is automatically reduced when the load increases to ensure smooth transfer.

[0040] The adaptive optimization of transfer speed is based on a mathematical model established using core parameters of the power motor, such as stator resistance, shaft-stator inductance, and number of pole pairs. This provides a quantitative basis for precise speed adjustment and avoids the blindness of speed regulation without a model. By combining load torque and real-time speed data from the effective data, the motor shaft-stator voltage is adjusted to precisely control the motor's mechanical angular velocity, achieving fine-grained speed control. By establishing a correlation between the motor angular velocity and the actual transfer speed of the device, the transfer speed of large-size wheel hubs is lower than that of small-size wheel hubs, and the speed is automatically reduced when the load increases. This adapts to the transfer characteristics of different wheel hub sizes, preventing displacement and collisions caused by excessive inertia of heavy-duty wheel hubs. It also dynamically adjusts the speed according to load changes to avoid long-term overload operation of the motor, while ensuring the transfer efficiency of small-size wheel hubs. Overall, it achieves intelligent adaptation of transfer speed, improving the stability, safety, and economy of the transfer process.

[0041] The S600 monitors the safety status during the transfer process in real time. When an abnormality is detected, it will activate an alarm and control the shutdown.

[0042] The alarm and shutdown control specifically includes: The system uses safety sensors to monitor in real time whether the wheel hub is stuck or misaligned, uses positioning sensors to monitor whether the wheel hub has accurately reached the preset work position, and uses grating sensors to perform secondary verification of the wheel hub size data to ensure that it does not exceed the safety range. When any abnormality is detected, such as jamming, positioning failure, abnormal size, or motor overload, the alarm braking system will immediately issue an audible and visual alarm signal. At the same time, the controller sends a stop command to the power motor and controls the transfer machine's clutch control system to lock all electromagnetic clutches to prevent wheel hub displacement and achieve an emergency stop.

[0043] Step S600 utilizes multi-sensor collaboration to achieve real-time monitoring of the safety status throughout the entire transfer process. Combined with an integrated anomaly handling mechanism integrating audible and visual alarms, emergency shutdown, and clutch locking, it fundamentally addresses the pain points of existing technologies, such as incomplete safety monitoring, delayed anomaly response, and the potential for accident escalation. This step covers key risk scenarios such as jamming, misalignment, positioning failure, dimensional abnormalities, and motor overload. It abandons the traditional model of relying on manual anomaly detection and handling, achieving fully automated closed-loop control of the entire process from monitoring to identification, alarm, shutdown, and protection. It can quickly respond to anomalies, preventing escalation of accidents such as wheel hub deformation and equipment burnout, and prevent wheel hub displacement by locking the clutch, reducing the risk of secondary damage. Simultaneously, it provides clear fault warnings to personnel, improving fault handling efficiency and comprehensively ensuring equipment safety, wheel hub quality, and personnel safety during the transfer process, thus enhancing the reliability and safety of the entire transfer system.

[0044] Example 2 like Figure 2 As shown, Embodiment 2 proposes a transfer device for a hub transfer machine 4, including a transportation system, a detection system, a controller, and an alarm system; The transportation system includes a transverse conveyor line 1, a longitudinal conveyor line 2, a light-blocking cover 3, a transfer machine 4, and an electromagnetic clutch 5; the transfer machine 4 includes a lifting motor 41, a power motor 42, a transfer chain 43, a driven sprocket 44, and a power sprocket 45; the electromagnetic clutch 5 includes a clutch mover 51 and a clutch stator 52. The detection system includes a grating sensor, a positioning sensor, and a safety sensor; The controller is used to control the transportation system, detection system, and alarm system, and to realize data processing and coordinated control of each system. The transverse conveyor line 1 and longitudinal conveyor line 2 are used to realize the linear transfer of the wheel hub. The light-blocking mask 3 is located outside the grating sensor and the positioning sensor to block light and improve the accuracy of size measurement and positioning. The lifting motor 41 is used to drive the lifting of the transfer chain 43. The power motor 42, the power sprocket 45, the transfer chain 43, and the driven sprocket 44 form a transmission mechanism to realize the transfer of the wheel hub. The clutch mover 51 is fixedly connected to the driven sprocket 44, the clutch stator 52 is coaxially connected to the power shaft, and the electromagnetic clutch 5 controls the power on and off of the transfer machine 4. The grating sensor is installed at the entrance end of the transverse production line to collect wheel hub size data. The positioning sensors are respectively set at the docking stations of the transverse production line, the longitudinal production line, and the transfer machine 4 to monitor the wheel hub positioning status. The safety sensor is located around the transfer machine 4 to monitor the safety status during the transfer process. The transfer device operates as described above using the transfer control method.

[0045] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transfer control method for a wheel hub transfer machine, characterized in that, Includes the following steps: Real-time acquisition of hub size data, positioning status data, and device operation status data during the transfer process; The collected raw data are sequentially processed by outlier removal, missing value imputation, and filtering to obtain effective data for control decisions. Based on the wheel hub size data in the valid data, the wheel hub size and specification are compared with the preset specification threshold to complete the classification of wheel hub size and specification. Based on the screening results and the preset transfer path, the transverse conveyor line, longitudinal conveyor line and transfer machine are controlled to work together to achieve the directional transfer of wheel hubs; Based on the operational status data in the effective data, the speed of the power motor is adjusted by differential control to achieve adaptive optimization of the transfer speed; The system monitors the safety status during the transfer process in real time, and when an abnormality is detected, it activates an alarm and controls the shutdown.

2. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The outlier removal employs the z-score algorithm, specifically including: Calculate the population mean μ and population standard deviation σ of the original data using the formula Calculate the z-score value for each original data point X; Set anomaly detection thresholds x and y, remove outlier data with z-score < x or z-score > y, and retain valid data with z-score in the range [x, y].

3. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The missing value supplementation employs regression interpolation, specifically including: Define the independent variable X i X i This refers to the sampling point number for data collection, corresponding to the time or location node during the transportation process; Based on the valid data after removing outliers, construct X i The regression model with the target variables, including wheel hub size data and device operating status parameters; Identify the missing locations in the original data and their corresponding independent variables X. k X k Substitute the values ​​into the regression model to obtain imputation estimates of the missing values, and use these estimates to fill in the missing positions.

4. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The filtering process employs median filtering, specifically including: Set a fixed-size sliding window with 3 to 5 sampling points. The window size is dynamically adjusted according to the transfer speed. The sliding window is moved point by point along the dataset after the missing values ​​are filled, and all data in each sliding window are sorted. The median after sorting is selected as the filtering result of the current sliding window center data point, or the mean is calculated after removing the maximum and minimum values ​​in the sliding window as the filtering result to remove random fluctuation noise.

5. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The specific classification of wheel hub sizes includes: At least one set of wheel hub size thresholds is preset, including wheel hub diameter thresholds and wheel hub width thresholds, and the threshold values ​​are adjusted according to the target transport specifications requirements; Wheel hub size data is collected by a grating sensor and compared with a preset threshold. When the actual size is greater than the preset threshold, it is determined to be a large-size wheel hub; when the actual size is less than or equal to the preset threshold, it is determined to be a small-size wheel hub, and a corresponding classification label and transfer path instruction are generated.

6. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The targeted transshipment specifically includes: After receiving specification classification labels and transfer path instructions, the corresponding electromagnetic clutch is controlled to open and close, thereby realizing the power distribution of the transverse conveyor line, longitudinal conveyor line and transfer machine. If straight-line transfer is required, control the start of the transverse or longitudinal conveyor line to drive the hub to transfer along the preset straight path. If a change of direction is required, first control the lifting motor to drive the transfer machine to a preset height, then drive the power sprocket to rotate via the power motor, which in turn drives the driven sprocket via the transfer chain. At the same time, the direction of the transfer machine is changed through the transmission cooperation between the clutch mover and the clutch stator. After the direction change is completed, control the transfer machine to descend and precisely dock the wheel hub to the target production line.

7. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The adaptive optimization of the transfer speed specifically includes: Differential control is based on a mathematical model established by considering the stator resistance, shaft-stator inductance, number of pole pairs, permanent magnet flux linkage, moment of inertia, and damping coefficient of the motor. By combining the load torque and real-time speed data from the effective data, the mechanical angular velocity of the motor is precisely controlled by adjusting the shaft stator voltage and shaft stator voltage. Based on the correlation between the mechanical angular velocity of the motor and the actual transfer speed of the device, the transfer speeds of the transverse conveyor line, the longitudinal conveyor line, and the transfer machine are adaptively adjusted so that the transfer speed of the large-size wheel hub is lower than that of the small-size wheel hub, and the transfer speed is automatically reduced when the load increases to ensure smooth transfer.

8. The transfer control method for a wheel hub transfer machine according to claim 1, characterized in that, The alarm and shutdown control specifically includes: The system uses safety sensors to monitor in real time whether the wheel hub is stuck or misaligned, uses positioning sensors to monitor whether the wheel hub has accurately reached the preset work position, and uses grating sensors to perform secondary verification of the wheel hub size data to ensure that it does not exceed the safety range. When any abnormality is detected, such as jamming, positioning failure, abnormal size, or motor overload, the alarm braking system will immediately issue an audible and visual alarm signal. At the same time, the controller sends a stop command to the power motor and controls the transfer machine's clutch control system to lock all electromagnetic clutches to prevent wheel hub displacement and achieve an emergency stop.

9. A transfer device for a wheel hub transfer machine, characterized in that, This includes transportation systems, detection systems, controllers, and alarm systems; The transportation system includes a transverse conveyor line, a longitudinal conveyor line, a light-blocking panel, a transfer machine, and an electromagnetic clutch; the transfer machine includes a lifting motor, a power motor, a transfer chain, a driven sprocket, and a power sprocket; the electromagnetic clutch includes a clutch mover and a clutch stator; The detection system includes a grating sensor, a positioning sensor, and a safety sensor; The controller is used to control the transportation system, detection system, and alarm system, realizing data processing and coordinated control of various systems; the transverse and longitudinal conveyor lines are used to realize the linear transfer of wheel hubs; the light-blocking mask is located outside the grating sensor and positioning sensor to block light and improve the accuracy of size measurement and positioning; the lifting motor is used to drive the lifting of the transfer chain; the power motor, power sprocket, transfer chain, and driven sprocket form a transmission mechanism to realize the transfer of wheel hubs; the clutch mover is fixedly connected to the driven sprocket, the clutch stator is coaxially connected to the power shaft, and the electromagnetic clutch controls the power on and off of the transfer machine; the grating sensor is installed at the entrance end of the transverse production line to collect wheel hub size data; the positioning sensors are respectively set at the docking stations of the transverse production line, longitudinal production line, and transfer machine to monitor the wheel hub positioning status; the safety sensor is located around the transfer machine to monitor the safety status during the transfer process; The transfer device operates the transfer control method as described in any one of claims 1-8.

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