Full-automatic robot vision positioning device for flexible press fitting of wheel M mark

Abstract

The embodiment of the application relates to the technical field of automobile part automatic assembly, and particularly relates to a full-automatic robot visual positioning device for wheel M mark flexible press fitting, which comprises a rack, a logistics conveying line, a rotary positioning mechanism, a visual module, a robot module and a control module; the logistics conveying line is arranged on the rack and is used for conveying a wheel with an attached M mark; the rotary positioning mechanism is arranged on the logistics conveying line and is used for rotating and circumferentially positioning the wheel; the visual module is used for collecting images and analyzing product models and M mark press fitting positions; the robot module is provided with a press fitting execution mechanism at the tail end, can automatically adjust a posture according to visual data to complete press fitting; and the control module is electrically connected with each component to coordinately control. The full-automatic flexible production of wheel M mark press fitting is realized by combining visual guidance with robot automatic press fitting, and the press fitting precision and production efficiency are effectively improved.

Description

Technical Field

[0001] This application relates to the field of automated assembly technology for automotive parts, and in particular to a fully automated robotic vision positioning device for flexible pressing of wheel M-marks. Background Technology

[0002] During the manufacturing process of automobile wheels, an "M" mark is typically pressed onto the wheel surface to distinguish different car models and specifications. Traditionally, this pressing method relies on manual assistance or semi-automatic equipment. Operators manually place the wheel at the pressing station, using their eyes or simple tooling for positioning, before starting the pressing equipment to complete the pressing operation. This method has several drawbacks: low manual positioning accuracy makes it difficult to ensure consistency in the pressing angle and position of the M mark, easily leading to quality problems such as skewing or misalignment; low production efficiency and high labor costs, failing to meet the demands of large-scale automated production; and the different pressing positions of the M mark for different wheel models make it difficult for traditional equipment to achieve rapid changeovers and flexible production, requiring complex mechanical adjustments and manual calibrations each time the product model is changed. Furthermore, while some existing automated pressing equipment uses robots, they lack precise visual positioning guidance. The robots cannot automatically identify the wheel model and real-time position during the grasping and pressing process, resulting in pressing accuracy still limited by the initial positioning error of the wheel on the conveyor line, making it difficult to achieve high-precision M mark pressing.

[0003] However, existing technologies still have the following problems:

[0004] Robotic pressing systems lacking visual guidance cannot automatically identify wheel models and real-time positions, making it difficult to compensate for conveyor line positioning errors. This results in insufficient positional and angular accuracy for M-mark pressing, and manual intervention is still required for calibration during production changes, making fully automated and flexible production impossible. Summary of the Invention

[0005] To address this, the present invention provides a fully automated robot vision positioning device for flexible pressing of wheel M markings, which overcomes the problems in the prior art where the lack of visual guidance in robot pressing systems makes it impossible to automatically identify wheel models and real-time poses, makes it difficult to compensate for positioning errors on the conveyor line, resulting in insufficient positional and angular accuracy of M marking pressing, and still requires manual intervention for calibration during production changeover, thus failing to achieve fully automated flexible production.

[0006] To achieve the above objectives, this invention provides a fully automated robotic vision positioning device for flexible pressing of the M mark on wheels. It includes:

[0007] frame;

[0008] A logistics conveyor line, located on the frame, is used to continuously convey wheels to be pressed and labeled M.

[0009] A rotary positioning mechanism is provided on the logistics conveyor line, including a drive shaft mechanism, a driven shaft mechanism, a synchronous double cylinder mechanism, and a detection photoelectric device, which completes wheel clamping and circumferential locking positioning with the wheel valve hole as a reference.

[0010] The vision module, mounted on the frame, triggers the first image acquisition after the rotary positioning mechanism completes wheel positioning. This image acquisition is used to identify the wheel model and calculate the M mark pressing coordinates. After the pressing is completed, the second image acquisition is triggered to detect the M mark pressing position and angle.

[0011] A robot module is mounted on the frame. The end of the robot module is equipped with a pressing actuator. The pressing actuator is equipped with a pressure sensor and a displacement sensor. The robot module receives the pressing coordinates calculated by the vision module, adjusts its posture according to the pressing coordinates to complete the pressing of the M mark, and adjusts the pressing stroke according to the feedback values ​​of the pressure sensor and the displacement sensor.

[0012] The control module is electrically connected to the logistics conveyor line, rotary positioning mechanism, vision module, and robot module to control the whole machine to complete the linkage operation.

[0013] Furthermore, the rotary positioning mechanism includes:

[0014] Mounting substrate;

[0015] The drive shaft mechanism is mounted on the mounting base plate and is connected to a servo motor;

[0016] A driven shaft mechanism is disposed on the mounting base plate and arranged opposite to the driving shaft mechanism;

[0017] A synchronous dual-cylinder mechanism, connected to the driven shaft mechanism, is used to drive the driven shaft mechanism to move toward or away from the driving shaft mechanism to clamp or release the wheel;

[0018] A photoelectric sensor, mounted on the mounting base plate, is used to detect the position of the valve hole on the wheel.

[0019] The rotary positioning mechanism controls the servo motor to drive the drive shaft mechanism to rotate the wheel to a preset reference position and lock it, based on the valve hole position detected by the photoelectric sensor and the wheel model identified by the vision module, thereby completing the circumferential positioning of the wheel.

[0020] Furthermore, after the synchronous dual-cylinder mechanism drives the driven shaft mechanism to move the wheel toward the driving shaft mechanism and clamp the wheel, the servo motor drives the driving shaft mechanism to rotate, and the driving shaft mechanism drives the wheel to rotate until the valve hole reaches the preset reference position.

[0021] Furthermore, the logistics conveyor line is a roller conveyor line, comprising:

[0022] Logistics line support and protection;

[0023] Several rollers are rotatably mounted on the logistics line support and protection;

[0024] A drive chain connects each of the rollers to enable the linkage of the rollers.

[0025] Drive chain;

[0026] The motor reducer is connected to at least one of the roller shafts via the drive chain;

[0027] When the motor reducer rotates, it drives a single roller to rotate through the drive chain. The driven roller drives all the rollers to rotate synchronously through the transmission chain. The control module controls the start and stop of the motor reducer according to the arrival signal to realize the conveying and positioning of the wheel between each workstation.

[0028] Furthermore, the vision module includes:

[0029] An industrial control computer with built-in image analysis software is connected to the PLC in the control module via a network cable. The industrial control computer transmits the identified wheel model, the calculated pressing coordinates, and the re-inspection results to the PLC.

[0030] The monitor is connected to the industrial control computer via a video cable and is used for human-computer interaction;

[0031] A camera and a light source are connected to the industrial control computer via a signal cable. The camera is used to capture images of the wheel, and the light source is used to provide illumination for taking pictures.

[0032] Wireless keyboard and mouse, used to operate the software.

[0033] Furthermore, after the wheel completes its rotation and positioning, the camera and light source take the first picture. The industrial control computer analyzes the product model and the M mark pressing position based on the captured image and guides the robot module to perform the pressing operation. After the pressing is completed, the camera and light source take the second picture. The industrial control computer analyzes the captured image to determine if the M mark is correct and if there is any offset.

[0034] Furthermore, the control module includes:

[0035] The control cabinet is mounted on the rack;

[0036] Electrical components are housed within the control cabinet;

[0037] The robot controller is located inside the control cabinet and is electrically connected to the robot module.

[0038] The PLC is installed in the control cabinet and connected to the industrial computer of the vision module via a network cable for signal interaction;

[0039] The three-color indicator light is installed on the control cabinet or the rack. The three-color indicator light is linked to the PLC alarm signal. Green indicates normal operation, yellow indicates standby, and red indicates equipment failure or poor pressing.

[0040] Furthermore, the frame is welded from profiles and steel plates and is equipped with an outer sheet metal cover and an inspection door. The frame is used to support the logistics conveyor line, the rotary positioning mechanism, the vision module, the robot module, and the control module.

[0041] Furthermore, it also includes a human-machine interface, which is set on the frame and electrically connected to the control module. It is used to display the equipment's operating cycle time, wheel model, pressing force / displacement data, and defective product statistics in real time, and supports manual debugging, product model switching, and modification of pressing process parameters.

[0042] Furthermore, the pressing actuator includes a connecting flange, a pressing head, a pressure sensor, and a displacement sensor. The connecting flange is detachably connected to the end of the robot module. The pressing head is used to press the M mark onto the predetermined position of the wheel. The pressure sensor is used to detect the pressing force in real time, and the displacement sensor is used to detect the pressing stroke.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows: In this embodiment, the rotating positioning mechanism 7 uses the valve hole as a reference to perform circumferential positioning of the wheel, ensuring that each wheel is in a uniform reference posture before pressing, eliminating the influence of conveyor line positioning error and wheel's own circumferential deviation on pressing accuracy; at the same time, the vision module 6 is used to identify the model of the positioned wheel and calculate the pressing position, enabling the robot module 3 to automatically adjust the pressing posture according to the actual product model, realizing rapid adaptive pressing of different wheel models without manual intervention for production change; in addition, through the cooperation of the synchronous dual cylinder mechanism with the active shaft mechanism 73 and the driven shaft mechanism 71, the automatic clamping and release of the wheel is realized. Combined with the continuous conveying of the logistics conveyor line 8, a complete automated closed-loop operation process from conveying, positioning, identification, pressing to unloading is formed, effectively improving the angular accuracy and positional consistency of M-mark pressing, greatly improving production efficiency, and realizing fully automated flexible production of M-mark wheel pressing.

[0044] Furthermore, this embodiment uses a roller conveyor as the material transport carrier. The motor reducer 85 drives the active roller shaft 81 to rotate via the drive chain 84, and the transmission chain 83 achieves synchronous linkage of all roller shafts 81, so that each roller shaft 81 operates at the same linear speed. This ensures that the wheels move smoothly and maintain a stable posture during the transport process, avoiding wheel deviation or collisions caused by uneven roller speeds. At the same time, the roller conveyor has a simple structure and strong load-bearing capacity, making it suitable for continuous transport of heavy wheels. With the linkage control of the positioning sensor and control module, it can achieve precise positioning and start / stop of the wheels between each workstation, providing a reliable transport cycle guarantee for the collaborative operation of the rotary positioning mechanism 7, vision module 6, and robot module 3, effectively improving the automation level and operational stability of the entire pressing production line.

[0045] Furthermore, this embodiment uses a camera and light source to capture high-quality images after the wheel completes circumferential positioning. The industrial control computer 1 then runs visual analysis software to identify the product model and calculate the pressing position, achieving automatic adaptation to different wheel models without requiring manual parameter input or tooling changes, effectively improving the equipment's flexible production capabilities. Simultaneously, by performing two image analyses before and after pressing, it can not only accurately guide the robot module 3 to complete high-precision pressing, but also automatically detect the accuracy of the M mark's position and the correctness of its angle after pressing, promptly identifying and reporting defective products. This avoids the cumbersome process of manual visual inspection after pressing in traditional methods, significantly improving the product qualification rate and the automation and intelligence level of the production process.

[0046] Furthermore, this embodiment integrates the control module into the control cabinet 4 and adopts a distributed control architecture with a PLC as the main control unit, a robot controller as the robot execution control unit, and an industrial computer 1 as the vision data processing unit. This achieves collaborative operation and efficient data interaction between the modules. The PLC collects the status of each sensor in real time through I / O signals and controls the action of the execution element. At the same time, it interacts with the industrial computer 1 through the network cable to receive visual recognition results and detection feedback, ensuring that every pressing action is based on real-time visual guidance data, effectively improving pressing accuracy and product consistency. The three-color light setting allows operators to remotely and intuitively obtain the device's operating status, facilitating timely response to abnormal situations. The entire control process, from conveying, positioning, taking pictures, pressing to detection and unloading, operates automatically and orderly without manual intervention, realizing intelligent, flexible, and efficient production of wheel M-mark pressing.

[0047] Furthermore, this embodiment designs the frame 5 as a robust structure welded from profiles and steel plates, equipped with an outer sheet metal cover and inspection doors. This ensures both the overall rigidity and operational stability of the machine, while also providing safe protection and convenient maintenance for internal moving parts. Simultaneously, the human-machine interface 2 allows operators to intuitively obtain equipment operating information and conveniently input control commands, enabling rapid product model switching, flexible adjustment of process parameters, and real-time monitoring of equipment status. This further enhances the intelligent operation level and production changeover efficiency of the device. In addition, the pressing actuator integrates pressure and displacement sensors, enabling real-time monitoring and closed-loop control of pressing force and stroke. Combined with the comparison and judgment of preset thresholds, it can promptly detect and terminate abnormal pressing processes, effectively avoiding quality problems such as loosening or deformation of the M mark due to insufficient or excessive pressing force, further ensuring the consistency and reliability of pressing. The structural design of the frame 5, the human-machine interface configuration, and the sensing and detection of the pressing actuator work together to improve the overall safety, ease of operation, and pressing quality of the device. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of a fully automated robotic vision positioning device used for flexible pressing of wheel M-marks according to an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the rotary positioning mechanism in the fully automated robot vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the logistics conveyor line in the fully automated robot vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the frame in the fully automated robotic vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the vision module in the fully automated robot vision positioning device for flexible pressing of wheel M mark according to an embodiment of this application;

[0053] Figure 6 This is a schematic diagram of the control module in the fully automated robot vision positioning device for flexible pressing of wheel M mark according to an embodiment of this application;

[0054] In the diagram, 1-Industrial control computer; 2-Human machine interface; 3-Robot module; 4-Control cabinet; 5-Frame; 6-Vision module; 61-Display; 62-Video cable; 63-Signal cable; 64-Camera and light source; 65-Wireless keyboard and mouse; 7-Rotary positioning mechanism; 71-Driven shaft mechanism; 72-Mounting base plate; 73-Drive shaft mechanism; 74-Detection photoelectric device; 75-Servo motor; 8-Logistics conveyor line; 81-Roller; 82-Protection; 83-Transmission chain; 84-Drive chain; 85-Motor reducer. Detailed Implementation

[0055] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0056] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0057] like Figures 1-6 As shown, Figure 1 This is a schematic diagram of a fully automated robotic vision positioning device used for flexible pressing of wheel M-marks according to an embodiment of this application; Figure 2 This is a schematic diagram of the rotary positioning mechanism in the fully automated robot vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application; Figure 3 This is a schematic diagram of the logistics conveyor line in the fully automated robot vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application; Figure 4 This is a schematic diagram of the frame in the fully automated robotic vision positioning device for flexible pressing of wheel M marks according to an embodiment of this application; Figure 5 This is a schematic diagram of the vision module in the fully automated robot vision positioning device for flexible pressing of wheel M mark according to an embodiment of this application; Figure 6 This is a schematic diagram of the control module in the fully automated robotic vision positioning device for flexible pressing of wheel M-marks according to an embodiment of this application.

[0058] The technical solutions provided in the embodiments of this application include:

[0059] Rack 5;

[0060] The logistics conveyor line 8 is set on the frame 5 and is used to continuously convey the wheels to be pressed and labeled M.

[0061] The rotary positioning mechanism 7 is installed on the logistics conveyor line 8 and includes a drive shaft mechanism 73, a driven shaft mechanism 71, a synchronous double cylinder mechanism (not shown in the figure), and a detection photoelectric sensor 74. It uses the wheel valve hole as a reference to complete wheel clamping and circumferential locking positioning.

[0062] The vision module 6, mounted on the frame 5, triggers the first image acquisition after the rotary positioning mechanism completes wheel positioning. This is used to identify the wheel model and calculate the M mark pressing coordinates. After the pressing is completed, it triggers the second image acquisition to detect the M mark pressing position and angle.

[0063] Robot module 3 is mounted on the frame 5. The end of robot module 3 is equipped with a pressing actuator. The pressing actuator (not shown in the figure) is equipped with a pressure sensor and a displacement sensor. The robot module receives the pressing coordinates calculated by the vision module 6, adjusts its posture according to the pressing coordinates to complete the pressing of the M mark, and adjusts the pressing stroke according to the feedback values ​​of the pressure sensor and the displacement sensor.

[0064] The control module is electrically connected to the logistics conveyor line 8, the rotary positioning mechanism 7, the vision module 6 and the robot module 3 respectively, and controls the whole machine to complete the linkage operation.

[0065] Specifically, the rotary positioning mechanism 7 includes:

[0066] Mounting substrate 72;

[0067] A drive shaft mechanism 73 is mounted on the mounting base plate 72 and is connected to a servo motor 75;

[0068] The driven shaft mechanism 71 is disposed on the mounting base plate 72 and is arranged opposite to the driving shaft mechanism 73;

[0069] A synchronous dual-cylinder mechanism is connected to the driven shaft mechanism 71 and is used to drive the driven shaft mechanism 71 to move toward or away from the driving shaft mechanism 73 to clamp or release the wheel;

[0070] The photoelectric sensor 74 is mounted on the mounting base plate 72 and is used to detect the position of the valve hole on the wheel.

[0071] The rotary positioning mechanism 7 controls the servo motor 75 to drive the drive shaft mechanism 73 to rotate the wheel to a preset reference position and lock it, based on the valve hole position detected by the detection photoelectric 74 and the wheel model identified by the vision module 6, thereby completing the circumferential positioning of the wheel.

[0072] In this embodiment, the specific working process of the rotary positioning mechanism 7 is as follows: When the logistics conveyor line 8 transports the wheel with the M mark attached to the rotary positioning station, the control module issues a clamping command, the synchronous double cylinder mechanism is activated, and the driven shaft mechanism 71 is driven to move along the mounting base plate 72 toward the driving shaft mechanism 73. The front end of the driven shaft mechanism 71 abuts against one side end face of the wheel, pushing the wheel toward the driving shaft mechanism 73 until the other side end face of the wheel abuts against the front end of the driving shaft mechanism 73, thereby clamping and fixing the wheel between the driving shaft mechanism 73 and the driven shaft mechanism 71. At this time, the axis of the wheel coincides with the rotation axis of the driving shaft mechanism 73 and the driven shaft mechanism 71.

[0073] Subsequently, the control module sends a rotation command to the servo motor 75, which drives the drive shaft mechanism 73 to rotate around its own axis. The drive shaft mechanism 73 drives the wheel to rotate synchronously through friction, and the driven shaft mechanism 71 rotates passively with the wheel. During the wheel's rotation, the detection photoelectric sensor 74 continuously detects the position of the valve hole on the wheel. When the detection photoelectric sensor 74 detects that the valve hole has rotated to a preset reference position, it sends a positioning signal to the control module. Based on this positioning signal, the control module sends a stop command to the servo motor 75, causing the servo motor 75 to stop rotating. The drive shaft mechanism 73 and the driven shaft mechanism 71 also stop rotating, and the wheel is locked at the preset reference position, thus completing circumferential positioning based on the valve hole.

[0074] At this time, the vision module 6 is activated, the camera takes a picture of the positioned wheel, and the industrial control computer 1 analyzes and processes the acquired image to identify the current wheel's product model and calculate the theoretical pressing position of the M mark corresponding to that model. Based on the calculation results from the vision module 6, the control module sends a pressing command to the robot module 3. The robot module 3 adjusts its end effector posture according to the received position data, driving the pressing actuator to move to the predetermined pressing position above the wheel, precisely pressing the M mark onto the wheel surface. After pressing is completed, the robot module 3 resets, and the synchronous dual-cylinder mechanism drives the driven shaft mechanism 71 to move away from the driving shaft mechanism 73, releasing the wheel. The logistics conveyor line 8 transports the pressed wheel to the unloading station and simultaneously transports the next wheel to be pressed to the rotary positioning station, entering the next work cycle.

[0075] In this embodiment, the rotary positioning mechanism 7 uses the valve hole as a reference to perform circumferential positioning of the wheel, ensuring that each wheel is in a uniform reference posture before pressing, eliminating the influence of conveyor line positioning errors and wheel circumferential deviations on pressing accuracy. At the same time, the vision module 6 uses the positioned wheel to identify the model and calculate the pressing position, enabling the robot module 3 to automatically adjust the pressing posture according to the actual product model, realizing rapid adaptive pressing of different wheel models without manual intervention for production changeover. In addition, through the cooperation of the synchronous dual-cylinder mechanism with the drive shaft mechanism 73 and the driven shaft mechanism 71, the automatic clamping and release of the wheel is realized. Combined with the continuous conveying of the logistics conveyor line 8, a complete automated closed-loop operation process from conveying, positioning, identification, pressing to unloading is formed, effectively improving the angular accuracy and positional consistency of M-mark pressing, greatly improving production efficiency, and realizing fully automated flexible production of M-mark wheel pressing.

[0076] Specifically, after the synchronous dual-cylinder mechanism drives the driven shaft mechanism 71 to move the wheel toward the driving shaft mechanism 73 and clamp the wheel, the servo motor 75 drives the driving shaft mechanism 73 to rotate, and the driving shaft mechanism 73 drives the wheel to rotate until the detection photoelectric sensor 74 detects that the valve hole has reached the preset reference position.

[0077] In this embodiment, the synchronous dual-cylinder mechanism adopts a parallel or series dual-cylinder structure to provide a balanced and stable clamping force, ensuring that the driven shaft mechanism 71 is subjected to uniform force during movement and preventing the wheel from deviating during clamping. After the synchronous dual-cylinder mechanism drives the driven shaft mechanism 71 to move the wheel toward the driving shaft mechanism 73 and clamp the wheel, the control module sends a start signal to the servo motor 75. The servo motor 75 starts running according to a preset speed and acceleration curve, driving the driving shaft mechanism 73 to rotate uniformly around its own axis. The front end of the driving shaft mechanism 73 is provided with a friction contact surface, which is in close contact with one side end face of the wheel. The friction force drives the wheel to rotate synchronously, and at the same time, the front end of the driven shaft mechanism 71 rotates passively with the wheel to reduce frictional resistance during rotation.

[0078] During the wheel's rotation, the detection photoelectric sensor 74 monitors the valve hole features at the wheel's edge or end face in real time. When the light beam from the detection photoelectric sensor 74 illuminates the valve hole, the light passes through the valve hole, generating a transmission or reflection signal change. The detection photoelectric sensor 74 sends the detected signal change to the control module. The control module determines whether the valve hole has reached the preset reference position based on the signal change. When it is determined that the valve hole has reached the preset reference position, the control module immediately sends a braking stop signal to the servo motor 75. The servo motor 75 quickly stops operating, and the drive shaft mechanism 73 and the driven shaft mechanism 71 stop rotating synchronously. The wheel is fixed in a circumferential positioning posture with the valve hole as the reference, providing a unified positioning reference for the subsequent image recognition by the vision module 6 and the precise pressing by the robot module 3.

[0079] Specifically, the logistics conveyor line 8 is a roller conveyor line, including:

[0080] Logistics line brackets and protection 82;

[0081] Several rollers 81 are rotatably mounted on the logistics line support and protection 82;

[0082] A drive chain 83 connects each of the rollers 81 and is used to realize the linkage of each roller 81;

[0083] Drive chain 84;

[0084] The motor reducer 85 is connected to at least one of the roller shafts 81 via the drive chain 84.

[0085] When the motor reducer 85 rotates, it drives a single roller shaft 81 to rotate through the drive chain 84. The driven roller shaft 81 drives all the roller shafts to rotate synchronously through the transmission chain 84. The control module controls the start and stop of the motor reducer according to the arrival signal to realize the conveying and positioning of the wheel between each workstation.

[0086] In this embodiment, the logistics conveyor line 8 adopts a roller conveyor structure and is installed on the frame 5. It is used to transport the wheels with the M mark attached from the loading station to the rotary positioning station and the pressing station in sequence, and after pressing, the wheels are transported to the unloading station.

[0087] The logistics line support and guard 82 are welded or assembled from profiles, forming the overall support frame of the logistics conveyor line 8. A protective plate is provided on its outer side to prevent foreign objects from entering the conveying area and to provide safety protection. Several rollers 81 are rotatably mounted on the logistics line support and guard 82, parallel and spaced apart along the conveying direction. Both ends of each roller 81 are rotatably connected to the logistics line support via bearing seats to reduce rotational resistance. Adjacent rollers 81 are connected by a transmission chain 83. Specifically, one end of each roller 81 is equipped with a sprocket, and the transmission chain 83 sequentially passes over the sprockets of adjacent rollers 81, creating a linkage between the rollers 81. The motor reducer 85 is fixedly mounted on the frame 5 or the logistics line support. A drive sprocket is provided on its output shaft, and a drive chain 84 connects the drive sprocket to the sprocket of one of the rollers 81.

[0088] When the control module sends a start command to the motor reducer 85, the motor reducer 85 is energized and operates. Its output shaft drives the drive sprocket to rotate. The drive sprocket transmits power to the drive roller 81 connected to the drive chain 84 through the drive chain 84, causing the drive roller 81 to rotate around its own axis. When the drive roller 81 rotates, the sprocket at its end drives the transmission chain 83 to move. The transmission chain 83 sequentially drives the sprockets at the ends of the remaining rollers 81 to rotate synchronously, so that all the rollers 81 rotate synchronously at the same linear speed. The wheel placed on the roller 81 moves forward along the conveying direction under the friction of the roller 81, passing through each station in sequence. When the wheel reaches the rotary positioning station, the control module controls the motor reducer 85 to stop operating according to the position sensor signal set at the station. At the same time, it controls the rotary positioning mechanism 7 to clamp and circumferentially position the wheel. During the rotary positioning process, the wheel is supported by the roller 81 but does not continue to move with the roller 81. After the positioning and pressing operations are completed, the control module restarts the motor reducer 85, and the wheels continue to be conveyed forward to the unloading station under the drive of the roller shaft 81, completing one work cycle.

[0089] This embodiment uses a roller conveyor as the material transport carrier. The motor reducer 85 drives the active roller shaft 81 to rotate via the drive chain 84, and the transmission chain 83 achieves synchronous linkage of all roller shafts 81, so that each roller shaft 81 operates at the same linear speed. This ensures that the wheels move smoothly and maintain a stable posture during the transport process, avoiding wheel deviation or collision caused by uneven roller speed. At the same time, the roller conveyor has a simple structure and strong load-bearing capacity, making it suitable for continuous transport of heavy wheels. With the linkage control of the positioning sensor and control module, it can achieve precise positioning and start / stop of the wheels between each workstation, providing a reliable transport cycle guarantee for the collaborative operation of the rotary positioning mechanism 7, vision module 6 and robot module 3, effectively improving the automation level and operational stability of the entire pressing production line.

[0090] Specifically, the vision module 6 includes:

[0091] An industrial control computer with built-in image analysis software is connected to the PLC in the control module via a network cable. The industrial control computer transmits the identified wheel model, the calculated pressing coordinates, and the re-inspection results to the PLC.

[0092] The display 61 is connected to the industrial computer 1 via a video cable 62 and is used for human-computer interaction;

[0093] The camera and light source 64 are connected to the industrial control computer 1 via signal line 63. The camera is used to capture images of the wheel, and the light source is used to provide illumination for taking pictures.

[0094] Wireless keyboard and mouse 65, used for operating software.

[0095] In this embodiment, the vision module 6 is mounted on the frame 5 and located above or to the side of the rotary positioning station. It is used to acquire images and perform data analysis on the wheel after circumferential positioning is completed.

[0096] The industrial control computer 1 is an industrial-grade computer, built into the control cabinet 4 or independently mounted on the rack 5. It contains vision analysis software for receiving and processing image data captured by the camera. The industrial control computer 1 is connected to the display 61 via a video cable 62. The display 61 is located on the operating side of the rack 5 and displays the images captured by the camera, analysis results, and system operating status in real time for operators to view and monitor. The camera is an industrial digital camera, fixedly mounted directly above or to the side of the rotary positioning station. Its optical axis is perpendicular to or at a predetermined angle to the surface of the wheel to be pressed, used to photograph the positioned wheel and acquire high-resolution digital images. The light source is located around or to one side of the camera lens, providing uniform and stable illumination during camera photography to ensure sufficient brightness and contrast in the captured image, clearly presenting key features such as valve hole characteristics, spoke shape, and existing M-mark positions (if any) on the wheel surface. The camera and light source 64 are connected to the industrial control computer 1 via signal cables 63 for transmitting image data and receiving light source control signals. The wireless keyboard and mouse 65 are mounted on the operating table of the rack 5 or suspended on the side of the rack 5, allowing operators to remotely operate and set parameters for the industrial control computer 1 and the vision analysis software.

[0097] In the specific operation, after the rotary positioning mechanism 7 completes the circumferential positioning of the wheel, the control module sends a trigger signal to the industrial computer 1. The industrial computer 1 controls the light source to light up via signal line 63, and simultaneously triggers the camera to take a picture. The camera transmits the acquired image to the industrial computer 1 via signal line 63. The industrial computer 1 runs visual analysis software to perform preprocessing, feature extraction, and template matching algorithms on the image, identifies the current wheel's product model, extracts feature information such as the number and distribution of valve holes and spokes on the wheel, and calculates the theoretical pressing position coordinates and pressing angle of the current wheel's M mark based on a pre-stored database of M mark pressing positions for different wheel models. After the calculation is completed, the industrial computer 1 sends the identified product model and pressing position data to the control module via a network cable. The control module sends a pressing command to the robot module 3 based on the received data, guiding the robot module 3 to move the pressing actuator to the precise pressing position to complete the M mark pressing operation.

[0098] After the robot module 3 completes the pressing of the M mark, the control module triggers the vision module 6 to take a second picture. The camera captures the image of the wheel after pressing and transmits it to the industrial control computer 1. The industrial control computer 1 uses vision analysis software to detect the position of the M mark after pressing, and determines whether the M mark is pressed in place, whether the angle is correct, and whether there is any skew or offset. The detection results are fed back to the control module and the display 61 for the operator to confirm or perform subsequent processing, thus forming a closed-loop vision control system from positioning guidance before pressing to quality inspection after pressing.

[0099] This embodiment uses a camera and light source to capture high-quality images after the wheel completes circumferential positioning. The industrial control computer 1 then runs visual analysis software to identify the product model and calculate the pressing position, achieving automatic adaptation for different wheel models without requiring manual parameter input or tooling changes, effectively improving the equipment's flexible production capabilities. Furthermore, by performing two image analyses before and after pressing, it not only accurately guides the robot module 3 to complete high-precision pressing but also automatically detects the accuracy of the M mark's position and angle after pressing, promptly identifying and reporting defective products. This avoids the cumbersome process of manual visual inspection after pressing, significantly improving product qualification rates and the automation and intelligence level of the production process.

[0100] Specifically, the camera and light source 64 take a first picture after the wheel completes rotation and positioning. The industrial control computer 1 analyzes the product model and M mark pressing position based on the captured image and guides the robot module 3 to perform the pressing operation. After the pressing is completed, the camera and light source 64 take a second picture. The industrial control computer 1 analyzes whether the M mark is correct and whether there is any offset based on the captured image.

[0101] In this embodiment, the camera and light source 64 take the first picture after the wheel completes its rotational positioning. Specifically, after the rotational positioning mechanism 7 completes the circumferential positioning of the wheel with the valve hole as a reference, the control module sends a first trigger signal to the vision module 6. The industrial control computer 1 responds to the first trigger signal by controlling the light source to illuminate and providing lighting with preset brightness and color temperature via signal line 63. Simultaneously, it triggers the camera to perform the first image acquisition of the positioned wheel. The preset brightness and color temperature of the light source are optimized parameters determined during the equipment debugging phase, based on multiple experiments to acquire images and evaluate image quality for different wheel models with varying surface materials and colors. These parameters are pre-stored in the industrial control computer 1 to ensure clear, high-contrast images are obtained under various working conditions. The camera transmits the acquired first image to the industrial control computer 1, which then runs visual analysis software to perform preprocessing, feature extraction, and template matching algorithms on the first image. In the first image, the industrial control computer 1 extracts feature information such as the wheel spoke shape, number of spokes, hub diameter, and valve hole position, and compares it with a pre-stored product model database to identify the specific product model of the current wheel. Simultaneously, based on the identified product model, the industrial control computer 1 calls the pre-stored theoretical pressing position parameters of the M mark corresponding to that model, and combines this with the actual position information of the valve hole in the first image to calculate the precise pressing position coordinates and pressing angle of the M mark on the wheel surface. After the calculation is completed, the industrial control computer 1 sends the identified product model and pressing position data to the control module. The control module generates robot motion commands based on the received position data and sends them to the controller of the robot module 3, guiding the robot module 3 to move the pressing actuator to the predetermined pressing position above the wheel, completing the precise pressing of the M mark.

[0102] After the robot module 3 completes the pressing of the M mark, the control module sends a second trigger signal to the vision module 6. The industrial control computer 1 responds to the second trigger signal by controlling the light source to illuminate again and triggering the camera to perform a second image acquisition of the pressed wheel. The camera transmits the acquired second image to the industrial control computer 1, which runs vision analysis software to analyze and process the second image. Specifically, this includes: extracting feature information such as the outline, center position, and angle direction of the pressed M mark in the second image; comparing the extracted actual pressing position of the M mark with the theoretical pressing position calculated in the first image; and determining whether the deviation between the actual pressing position and the theoretical position of the M mark is within a preset allowable error range. Simultaneously, it detects whether the pressing angle of the M mark is consistent with the theoretical angle, and determines whether the M mark has defects such as skewness, tilting, or flipping. The preset allowable error range is determined based on industry standards for M-mark pressing of wheels and customer quality requirements. During equipment debugging, it is calculated using multiple pressing test data of different wheel models, combined with Measurement System Analysis (MSA) methods to determine process control thresholds, including positional deviation thresholds and angular deviation thresholds, which are pre-stored in the industrial control computer 1. If the analysis result indicates that the M-mark pressing position is accurate and the angle is correct, the industrial control computer 1 sends a pass signal to the control module. The control module then controls the robot module 3 to reset and starts the logistics conveyor line 8 to transport the passable wheel to the unloading station. If the analysis result indicates that the M-mark pressing position deviation exceeds the allowable error range, the angle is skewed, or other defects exist, the industrial control computer 1 sends a fail signal and specific deviation data to the control module. Based on the fail signal, the control module controls the device to stop or activate an alarm, and displays the defective product information on the display 61 for timely handling by the operator. This closed-loop quality control, achieved through pre-pressing position guidance and post-pressing quality inspection and photo analysis, effectively ensures the M-mark pressing accuracy and consistency of each wheel.

[0103] Specifically, the control module includes:

[0104] Control cabinet 4 is mounted on the frame 5;

[0105] Electrical components are housed within the control cabinet 4;

[0106] The robot controller is located inside the control cabinet 4 and is electrically connected to the robot module 3.

[0107] The PLC is installed in the control cabinet 4 and is connected to the industrial computer 1 of the vision module 6 via a network cable for signal interaction;

[0108] The three-color lights are installed on the control cabinet 4 or the rack 5 to indicate the operating status of the device.

[0109] In this embodiment, the control module serves as the control core of the entire device. It is integrated into the control cabinet 4 and installed on the frame 5. It is used to achieve coordinated control and data interaction of the logistics conveyor line 8, the rotary positioning mechanism 7, the vision module 6, and the robot module 3.

[0110] The control cabinet 4 is an industrial standard control cabinet, fixedly installed on one side or bottom of the frame 5. It has an internal mounting backplate and cable trays for fixing and accommodating various electrical components. These electrical components include circuit breakers, contactors, relays, transformers, switching power supplies, and terminal blocks. These components are electrically connected via cables to actuators and detection elements such as the motor reducer 85 of the logistics conveyor line 8, the servo motor 75 of the rotary positioning mechanism 7, the solenoid valve of the synchronous dual-cylinder mechanism, the industrial computer 1 and camera light source of the vision module 6, and the controller of the robot module 3, for power distribution, signal conversion, and logic control. The robot controller is located inside the control cabinet 4 and is electrically connected via communication cables to the servo driver of the robot module 3 and the joint motors on the robot body. It receives motion control commands from the PLC and drives the robot body to complete predetermined trajectory movements.

[0111] The PLC (Programmable Logic Controller) is installed inside the control cabinet 4 and connected to the industrial computer 1 of the vision module 6 via a network cable (such as an Ethernet cable). It interacts with the industrial computer 1 to receive product model information and pressing position data, as well as send photo trigger signals and receive detection result feedback. Simultaneously, the PLC is electrically connected via I / O signal line 63 to components such as the position sensor of the logistics conveyor line 8, the detection photoelectric sensor 74 and solenoid valve of the rotary positioning mechanism 7, and the robot controller. It collects detection signals from each sensor and outputs control commands according to preset control logic, achieving timing control and logical judgment of the entire device's workflow. The three-color indicator lights (red, yellow, and green) are located on the top of the control cabinet 4 or the top of the frame 5 and are electrically connected to the PLC. They indicate the device's operating status: a solid green light indicates normal operation, a flashing yellow light indicates standby or pause, and a solid or flashing red light indicates a malfunction or alarm. This allows operators to intuitively understand the device's current operating status from a distance.

[0112] In the specific operation process, after the device is started, the PLC first executes a self-test program to check whether each sensor and actuator is in normal condition, and displays green via the three-color indicator to indicate readiness. Subsequently, the PLC controls the motor reducer 85 of the logistics conveyor line 8 to start, conveying the wheel to the rotary positioning station. When the positioning sensor detects that the wheel has reached the predetermined position, the PLC sends a stop command to the motor reducer 85 and simultaneously sends a clamping control signal to the solenoid valve of the synchronous double cylinder mechanism, driving the driven shaft mechanism 71 to clamp the wheel. After clamping is completed, the PLC sends a rotation command to the servo motor 75 and receives the valve hole detection signal from the detection photoelectric sensor 74 in real time. When the valve hole is detected to have reached the preset reference position, a stop command is sent to the servo motor 75 to complete the circumferential positioning. After positioning is completed, the PLC sends a first photo trigger signal to the industrial computer 1 via a network cable and waits to receive the product model and pressing position data returned by the industrial computer 1. After receiving the data, the PLC parses the data according to the preset communication protocol and converts the pressing position coordinates and angle data into a motion command format that the robot controller can recognize. The PLC then sends the command to the robot controller via a network cable or fieldbus, driving the robot module 3 to drive the pressing actuator to complete the pressing operation.

[0113] After pressing is completed, the PLC sends a second photo-taking trigger signal to the industrial control computer 1 again and receives the quality inspection result returned by the industrial control computer 1. Based on the inspection result, it controls the three-color indicator lights to display the corresponding status (green light for continued operation if qualified, red light for alarm if unqualified), and controls the synchronous dual-cylinder mechanism to release the wheels and start the logistics conveyor line 8 to transport the wheels to the unloading station, entering the next work cycle. In this way, the PLC realizes the orderly coordination and automated operation of all modules of the entire device through centralized control and signal interaction.

[0114] This embodiment integrates the control module into the control cabinet 4 and adopts a distributed control architecture with a PLC as the main control unit, a robot controller as the robot execution control unit, and an industrial computer 1 as the vision data processing unit. This achieves collaborative operation and efficient data interaction between the modules. The PLC collects the status of each sensor in real time through I / O signals and controls the action of the execution element. At the same time, it interacts with the industrial computer 1 through the network cable to receive visual recognition results and detection feedback, ensuring that every pressing action is based on real-time visual guidance data, which effectively improves pressing accuracy and product consistency. The three-color light setting allows operators to remotely and intuitively obtain the operating status of the device, facilitating timely response to abnormal situations. The entire control process, from conveying, positioning, taking pictures, pressing to detection and unloading, runs automatically and orderly without manual intervention, realizing intelligent, flexible, and efficient production of wheel M-mark pressing.

[0115] Specifically, the frame 5 is welded from profiles and steel plates and is equipped with an outer sheet metal cover and an inspection door. The frame 5 is used to support the logistics conveyor line 8, the rotary positioning mechanism 7, the vision module 6, the robot module 3 and the control module.

[0116] Specifically, it also includes a human-machine interface 2, which is set on the frame 5 and electrically connected to the control module. It is used to display the equipment operating cycle, wheel model, pressing force / displacement data, and defective product statistics in real time, and supports manual debugging, product model switching, and pressing process parameter modification.

[0117] In this embodiment, the frame 5 serves as the load-bearing foundation of the entire device. It is welded from profiles and steel plates, possessing sufficient structural strength and rigidity to stably support the logistics conveyor line 8, the rotary positioning mechanism 7, the vision module 6, the robot module 3, and the control module, among other functional components. The frame 5 is surrounded by an outer sheet metal cover, which covers the top and sides of the frame 5 to enclose and protect the internal mechanisms, preventing dust and debris from entering the working area. It also serves as a safety barrier, preventing operators from contacting moving parts. The frame 5 is also equipped with an inspection door, located on the side or back of the outer sheet metal cover. The door uses a hinged connection or a sliding opening mechanism, facilitating routine maintenance, debugging, and troubleshooting of the internal mechanisms by the operator.

[0118] The human-machine interface 2 is located on the operating side of the frame 5, fixedly mounted on the outer sheet metal cover or suspended on the side of the frame 5 via a bracket. It is electrically connected to the PLC of the control module and is used to display the device's operating information and allow operators to input operating commands. The human-machine interface 2 is a touch screen industrial display 61, which displays key information such as the current wheel's product model, pressing position coordinates, pressing force value, production cycle, daily output, and equipment operating status in real time. Simultaneously, the human-machine interface 2 is equipped with virtual buttons or operation menus for operators to perform parameter settings, manual adjustments, alarm resets, and mode switching. For example, operators can select automatic operation mode or manual adjustment mode through the human-machine interface 2. In manual adjustment mode, they can control the start and stop of the logistics conveyor line 8, the clamping and rotation of the rotary positioning mechanism 7, the single-step movement of the robot module 3, and the photo detection of the vision module 6, respectively, to facilitate equipment debugging and maintenance. In addition, when the control module detects an abnormal situation, the PLC sends the fault code and alarm information to the human-machine interface 2 for display, prompting the operator with the cause of the fault and handling suggestions, so as to facilitate quick troubleshooting.

[0119] During operation, after the device is started, the human-machine interface 2 displays the main operation screen. The operator selects the product model to be produced or scans the product barcode via the touchscreen. The human-machine interface 2 sends the selected model information to the PLC. The PLC then retrieves the corresponding process parameters (such as pressing position, allowable deviation range, etc.) and synchronizes the product model information to the industrial control computer 1 via network cable for loading the corresponding visual template and pressing position database. Subsequently, the device enters automatic operation mode. The PLC controls the sequential operation of each module according to the preset process flow, while simultaneously sending real-time operating data (such as current workstation status, test results, production count, etc.) to the human-machine interface 2 for dynamic display. The operator can view the production progress and equipment status at any time through the human-machine interface 2, and pause operation or adjust parameters as needed.

[0120] Specifically, the pressing actuator includes a connecting flange, a pressing head, a pressure sensor, and a displacement sensor. The connecting flange is detachably connected to the end of the robot module 3. The pressing head is used to press the M mark onto the predetermined position of the wheel. The pressure sensor is used to detect the pressing force in real time, and the displacement sensor is used to detect the pressing stroke.

[0121] In this embodiment, the pressing actuator serves as the end effector of the robot module 3, used to precisely press the M mark onto the predetermined position of the wheel under the drive of the robot module 3. The connecting flange is located at the top of the pressing actuator, and its flange surface has a positioning stop and several mounting holes for detachable fixing to the sixth axis flange at the end of the robot module 3 via bolts, achieving a rigid connection between the pressing actuator and the robot module 3, while also facilitating quick replacement of different pressing actuators according to different pressing requirements. The pressing head is located at the bottom of the pressing actuator, and its front end has a contoured positioning cavity matching the outline of the M mark, used to adsorb or accommodate the M mark before pressing, and to press the M mark into the predetermined mounting hole or mounting groove on the wheel surface under the drive of the robot module 3. The front end of the pressing head is made of non-metallic materials such as polyurethane or nylon to avoid scratching the wheel surface or the M mark surface during the pressing process. The pressure sensor is disposed between the connecting flange and the pressing head, and is electrically connected to the PLC of the control module. It is used to detect the pressing force applied to the M mark by the pressing actuator in real time during the pressing process, and convert the detected pressure signal into an electrical signal and send it to the PLC. The displacement sensor is disposed inside or on the side of the housing of the pressing actuator, and is electrically connected to the PLC of the control module. It is used to detect the displacement of the pressing head in the pressing direction, i.e., the pressing stroke, in real time, and send the detected displacement signal to the PLC.

[0122] During the actual operation, when the robot module 3 moves the pressing actuator to the feeding position, the contour positioning cavity at the front end of the pressing head takes the M-mark to be pressed from the M-mark feeding mechanism and temporarily fixes the M-mark to the front end of the pressing head by vacuum adsorption or magnetic adsorption. Subsequently, according to the pressing position data provided by the vision module 6, the robot module 3 moves the pressing actuator to the predetermined pressing position above the wheel and adjusts its posture so that the front end of the pressing head is aligned with the pressing position on the wheel surface. The robot module 3 moves downward along the pressing direction so that the M-mark at the front end of the pressing head contacts the wheel surface and applies a downward pressing force to press the M-mark into the predetermined installation position. During the pressing process, the pressure sensor collects pressing force data in real time at a millisecond sampling frequency and sends it to the PLC, and the displacement sensor collects the displacement of the pressing head in real time and sends it to the PLC. The PLC compares the received real-time pressing force with a preset pressing force threshold and compares the real-time displacement with a preset displacement threshold. The preset pressing force and displacement thresholds are optimized parameters determined through process experiments during the equipment debugging phase for different wheel models and M-marks. These parameters ensure that the M-mark is pressed in place without damaging the wheel surface and are pre-stored in the PLC. If the pressing force detected during the pressing process exceeds the preset threshold range, or the displacement exceeds the preset stroke range, the PLC determines that the pressing is abnormal, immediately sends a stop command to the robot module 3, and controls the three-color light to display a red alarm to avoid damaging the workpiece or equipment. If both the pressing force curve and the displacement curve are within the preset threshold range, the PLC determines that the pressing is normal. After the pressing is completed, the robot module 3 drives the pressing actuator to reset, completing one pressing operation.

[0123] This embodiment designs the frame 5 as a robust structure welded from profiles and steel plates, equipped with an outer sheet metal cover and inspection doors. This ensures both the overall rigidity and operational stability of the machine, while also providing safe protection and convenient maintenance for internal moving parts. Simultaneously, the human-machine interface 2 allows operators to intuitively obtain equipment operating information and easily input control commands, enabling rapid product model switching, flexible adjustment of process parameters, and real-time monitoring of equipment status. This further enhances the intelligent operation level and production changeover efficiency of the device. Furthermore, the pressing actuator integrates pressure and displacement sensors, enabling real-time monitoring and closed-loop control of pressing force and stroke. Combined with preset threshold comparisons, it can promptly detect and terminate abnormal pressing processes, effectively preventing quality problems such as loosening or deformation of the M-mark caused by insufficient or excessive pressing force, further ensuring the consistency and reliability of pressing. The structural design of the frame 5, the human-machine interface configuration, and the sensing and detection of the pressing actuator work together to improve the overall safety, ease of operation, and pressing quality of the device.

[0124] The above embodiments are merely illustrative examples and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this application.

Claims

1. A fully automated robotic vision positioning device for flexible pressing of M-marks on wheels, characterized in that, include: frame; A logistics conveyor line, located on the frame, is used to continuously convey wheels to be pressed and labeled M. A rotary positioning mechanism is provided on the logistics conveyor line, including a drive shaft mechanism, a driven shaft mechanism, a synchronous double cylinder mechanism, and a detection photoelectric device, which completes wheel clamping and circumferential locking positioning with the wheel valve hole as a reference. The vision module, mounted on the frame, triggers the first image acquisition after the rotary positioning mechanism completes wheel positioning. This image acquisition is used to identify the wheel model and calculate the M mark pressing coordinates. After the pressing is completed, the second image acquisition is triggered to detect the M mark pressing position and angle. A robot module is mounted on the frame. The end of the robot module is equipped with a pressing actuator. The pressing actuator is equipped with a pressure sensor and a displacement sensor. The robot module receives the pressing coordinates calculated by the vision module, adjusts its posture according to the pressing coordinates to complete the pressing of the M mark, and adjusts the pressing stroke according to the feedback values ​​of the pressure sensor and the displacement sensor. The control module is electrically connected to the logistics conveyor line, rotary positioning mechanism, vision module, and robot module to control the whole machine to complete the linkage operation.

2. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The rotary positioning mechanism includes: Mounting substrate; The drive shaft mechanism is mounted on the mounting base plate and is connected to a servo motor; A driven shaft mechanism is disposed on the mounting base plate and arranged opposite to the driving shaft mechanism; A synchronous dual-cylinder mechanism, connected to the driven shaft mechanism, is used to drive the driven shaft mechanism to move toward or away from the driving shaft mechanism to clamp or release the wheel; A photoelectric sensor, mounted on the mounting base plate, is used to detect the position of the valve hole on the wheel. The rotary positioning mechanism controls the servo motor to drive the drive shaft mechanism to rotate the wheel to a preset reference position and lock it, based on the valve hole position detected by the photoelectric sensor and the wheel model identified by the vision module, thereby completing the circumferential positioning of the wheel.

3. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 2, characterized in that, After the synchronous dual-cylinder mechanism drives the driven shaft mechanism to move the wheel toward the driving shaft mechanism and clamp the wheel, the servo motor drives the driving shaft mechanism to rotate, and the driving shaft mechanism drives the wheel to rotate until the valve hole reaches the preset reference position.

4. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The logistics conveyor line is a roller conveyor line, including: Logistics line support and protection; Several rollers are rotatably mounted on the logistics line support and protection; A drive chain connects each of the rollers to enable the linkage of the rollers. Drive chain; The motor reducer is connected to at least one of the roller shafts via the drive chain; When the motor reducer rotates, it drives a single roller to rotate through the drive chain. The driven roller drives all the rollers to rotate synchronously through the transmission chain. The control module controls the start and stop of the motor reducer according to the arrival signal to realize the conveying and positioning of the wheel between each workstation.

5. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The vision module includes: An industrial control computer with built-in image analysis software is connected to the PLC in the control module via a network cable. The industrial control computer transmits the identified wheel model, the calculated pressing coordinates, and the re-inspection results to the PLC. The monitor is connected to the industrial control computer via a video cable and is used for human-computer interaction; A camera and a light source are connected to the industrial control computer via a signal cable. The camera is used to capture images of the wheel, and the light source is used to provide illumination for taking pictures. Wireless keyboard and mouse, used to operate the software.

6. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 5, characterized in that, The camera and light source take the first picture after the wheel completes its rotation and positioning. The industrial control computer analyzes the product model and the M mark pressing position based on the captured image and guides the robot module to perform the pressing operation. The camera and light source take the second picture after the pressing is completed. The industrial control computer analyzes the captured image to determine whether the M mark is correct and whether there is any offset.

7. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The control module includes: The control cabinet is mounted on the rack; Electrical components are housed within the control cabinet; The robot controller is located inside the control cabinet and is electrically connected to the robot module. The PLC is installed in the control cabinet and connected to the industrial computer of the vision module via a network cable for signal interaction; The three-color indicator light is installed on the control cabinet or the rack. The three-color indicator light is linked to the PLC alarm signal. Green indicates normal operation, yellow indicates standby, and red indicates equipment failure or poor pressing.

8. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The frame is welded from profiles and steel plates and is equipped with an outer sheet metal cover and inspection door. The frame is used to support the logistics conveyor line, the rotary positioning mechanism, the vision module, the robot module and the control module.

9. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, It also includes a human-machine interface, which is set on the frame and electrically connected to the control module. It is used to display the equipment operating cycle, wheel model, pressing force / displacement data, and defective product statistics in real time, and supports manual debugging, product model switching, and pressing process parameter modification.

10. The fully automated robot vision positioning device for flexible pressing of wheel M-marks according to claim 1, characterized in that, The press-fitting actuator includes a connecting flange, a press-fitting head, a pressure sensor, and a displacement sensor. The connecting flange is detachably connected to the end of the robot module. The press-fitting head is used to press the M mark onto the predetermined position of the wheel. The pressure sensor is used to detect the press-fitting force in real time, and the displacement sensor is used to detect the press-fitting stroke.

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