Aluminum alloy wheel hub automatic assembly equipment with dual industrial robot cooperation

Abstract

The application discloses a kind of automatic assembly equipment of aluminium alloy wheel hub of double industrial robot cooperation, it is related to aluminium alloy wheel hub automatic assembly technical field, including feeding and discharging robot, assembly robot and two sets of assembly table, two sets of the assembly table are side by side, and the feeding and discharging robot and assembly robot are respectively located at the two sides of assembly table;The feeding and discharging robot includes robot one, rotating clamping component one and laser emission device, rotating clamping component one is arranged at the end of robot one, rotating clamping component one includes drive part one and clamping part one;The assembly robot includes robot two and assembly component, and the assembly component is arranged at the end of robot two, and the assembly component includes drive part two and assembly part;The assembly table includes support frame two, rotating clamping component two and several rotation detection components, the present application can be in the process of variable diameter ring installation real-time perception wheel hub body stress state, improve wheel hub assembly quality and reliability.

Description

Technical Field

[0001] This invention relates to the field of automatic assembly technology for aluminum alloy wheels, specifically to an automatic assembly equipment for aluminum alloy wheels that uses two industrial robots in collaboration. Background Technology

[0002] In the assembly of aluminum alloy wheels, the installation of the reducer ring is one of the key steps. The reducer ring needs to be fixed to the center hole of the wheel hub with multiple bolts to ensure a precise fit between the wheel hub and the axle.

[0003] Existing automated assembly equipment typically uses industrial robots in conjunction with tightening guns to tighten bolts sequentially according to preset torque. However, due to the relatively low strength of aluminum alloy wheel hub materials and individual variations in castings, localized stress concentration often occurs during the installation of reducer rings due to thread misalignment, reducer ring misalignment, or foreign objects on the mating surface. Traditional tightening methods only monitor the torque value of individual bolts and cannot detect the overall torque changes experienced by the wheel hub during installation. When an abnormality occurs in the tightening of a bolt, the wheel hub may have already undergone localized deformation or thread stripping, while the torque feedback from the tightening gun is still within the acceptable range, leading to defective wheel hubs entering subsequent processes. Furthermore, such damage is difficult to detect through visual inspection during the assembly stage and often causes vibration, abnormal noise, or even wheel hub fatigue fracture during vehicle operation, posing safety hazards.

[0004] Therefore, it is necessary to provide an automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration. This equipment can sense the stress state of the wheel hub body in real time during the installation of variable diameter rings, thereby improving the assembly quality and reliability of the wheel hubs and solving the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automatic assembly equipment for aluminum alloy wheel hubs with dual industrial robots working together, including a loading and unloading robot, an assembly robot and two sets of assembly tables, wherein the two sets of assembly tables are arranged side by side, and the loading and unloading robot and the assembly robot are respectively located on both sides of the assembly tables. The loading and unloading robot includes a robot, a rotary clamping assembly, and a laser emitting device. The rotary clamping assembly is located at the end of the robot and includes a drive unit and a clamping unit. The assembly robot includes a second robot and an assembly component. The assembly component is disposed at the end of the second robot and includes a second drive unit and an assembly unit. The assembly table includes a second support frame, a second rotary clamping assembly, and several rotation detection assemblies. The second rotary clamping assembly is located at the top center of the second support frame. The second rotary clamping assembly has the same basic driving structure as the first rotary clamping assembly, but the rotation detection assemblies are integrated on the clamping arm of the second rotary clamping assembly. The rotation detection assembly includes a connecting shell, a pressure sensor, and two sets of rotation detection units. Each rotation detection unit includes a base plate, several springs, sliding blocks, rollers, and an angle sensor, with the angle sensor located inside the sliding block.

[0007] According to the above technical solution, the drive unit includes a frame, a motor and a rotating disk. The frame is fixed to the end of the robot. The motor is located inside the frame and fixedly connected to the frame. The output end of the motor passes through the frame and is fixedly connected to the rotating disk. The rotating disk is rotatably connected to the frame.

[0008] According to the above technical solution, the clamping part includes a base, a cylinder, a plurality of clamping arms and a lifting seat. The base and the cylinder are fixed on the side of the rotating disk away from the machine frame. The cylinder is located at the center of the base. The plurality of clamping arms and the cylinder are located between the base and the lifting seat. The plurality of clamping arms are located around the cylinder. The output end of the cylinder is fixedly connected to the lifting seat. The lifting seat has a recessed groove at the center of the side away from the cylinder, and the laser emitting device is installed in the recessed groove and fixedly connected to the lifting seat.

[0009] According to the above technical solution, the clamping arm includes a connecting rod and a gripper. Both the connecting rod and the gripper are bent. One end of the connecting rod is hinged to the base, and the other end of the connecting rod is hinged to the bent part in the middle of the gripper. The end of the gripper near the lifting seat is hinged to the lifting seat. The gripper is provided with a clamping block and a flange on both sides of the end away from the lifting seat. The flange is located at the end of the gripper and protrudes from the clamping block.

[0010] According to the above technical solution, a rotation detection mechanism is provided on one side of the loading and unloading robot. The rotation detection mechanism includes a support frame, a laser receiving device, a support platform, and a contour detection component. The support frame is arranged in a two-step shape. The support platform and the contour detection component are respectively fixed on the two steps of the support frame. The support platform is located above the contour detection component. A back plate is fixedly connected to the top of the support frame. The laser receiving device is set on the back plate.

[0011] According to the above technical solution, the contour detection assembly includes a second cylinder, a protective shell, a second motor, a detection arm, and a contact roller. The second cylinder is fixed on a first support frame and is located below the support platform. The protective shell is fixed to the output end of the second cylinder and has a limit port. The second motor is located inside the protective shell and is fixedly connected to it. The detection arm is fixed to the output end of the second motor, and the end of the detection arm away from the second motor is cylindrical. The contact roller is sleeved on the cylindrical end of the detection arm. A pressure sensor is provided between the detection arm and the contact roller and is fixed to the cylindrical surface of the detection arm.

[0012] According to the above technical solution, the second driving unit has the same structure and connection method as the first driving unit; The assembly part includes a limiting plate and a camera. The limiting plate is fixed on the side of the rotating disk of the drive part two away from the motor. The limiting plate is provided with several clamping ports. The camera is fixed at the center of the limiting plate on the side away from the robot. The camera is electrically connected to an analysis module, which is used to analyze abnormal situations that occur during the assembly process.

[0013] According to the above technical solution, the number of the plurality of rotation detection components is the same as the number of the clamping blocks on both sides of the gripper, and their positions correspond to each other. The connecting shell is shaped and is mounted on the gripper. A sliding groove is provided on the side of the connecting shell away from the gripper. The second pressure sensor and two sets of rotation detection parts are disposed in the sliding groove. The second pressure sensor is located between the rotation detection parts and the connecting shell. The two sides of the second pressure sensor are fixedly connected to the rotation detection parts and the connecting shell, respectively. The base plate is fixedly connected to the pressure sensor 2. Several springs are arranged between the base plate and the sliding block. The two ends of the springs are fixedly connected to the base plate and the sliding block respectively. The sliding block is slidably connected to the connecting shell. The roller is arranged inside the sliding block on the side away from the spring. The roller is rotatably connected to the sliding block.

[0014] According to the above technical solution, the conveying mechanism includes a roller conveyor one, a roller conveyor two, and a belt conveyor. The roller conveyor one is located on the side of the loading / unloading robot away from the assembly robot, and the roller conveyor two and the belt conveyor are located on both sides of the loading / unloading robot, the assembly robot, and the assembly table.

[0015] According to the above technical solution, the visual inspection mechanism includes a support frame three, a camera two, a lifting device and a clamping device. The support frame three is mounted on a roller conveyor one, and the camera two is fixed on the top of the support frame three. The camera two is connected to the analysis module. The analysis module is also used to acquire the wheel hub image and preliminarily identify whether the wheel hub is deformed. The lifting device is fixed on the support frame three, and the lifting device is located below the roller conveyor one. The clamping device is fixed on the top of the lifting device.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting a rotation detection component, uses a roller to keep in contact with the hub, and uses an angle sensor to monitor the minute rotation of the hub in real time during the tightening process. It can directly sense abnormal force from the hub body, stop the assembly in time, avoid forced assembly and thread damage caused by hole position deviation, improve the assembly success rate, effectively prevent deformed hubs or stripped hubs from flowing into subsequent processes, and significantly improve assembly quality and reliability. By setting up two sets of parallel assembly tables and loading / unloading robots and assembly robots on both sides of them, when one set of assembly tables is performing variable diameter ring fastening assembly, the loading / unloading robots can simultaneously perform finished product unloading, new wheel hub loading, and variable diameter ring pre-placement operations on the other set of assembly tables, realizing the time overlap between loading / unloading and assembly processes, greatly shortening the assembly cycle of a single piece, and improving the overall efficiency of the equipment. By setting up a visual inspection mechanism and a rotation inspection mechanism, the visual inspection mechanism can first perform preliminary appearance and deformation identification of the wheel hub, and quickly remove obviously unqualified parts; then the loading and unloading robot drives the wheel hub to the rotation inspection mechanism, where the contact roller and pressure sensor perform precise contour roundness detection to further identify minor deformations. The two-stage inspection complement each other, which not only ensures inspection efficiency but also improves inspection accuracy, prevents deformed wheel hubs from entering the assembly process, and reduces the defect rate. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a rear view schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the loading and unloading robot part of the present invention; Figure 4 This is a schematic diagram of the rotation detection mechanism of the present invention; Figure 5 This is an exploded view of part of the rotation detection mechanism of the present invention; Figure 6 This is a schematic diagram of the assembly robot part of the present invention; Figure 7 This is a schematic diagram of the assembly table structure of the present invention; Figure 8 This is the invention Figure 7Enlarged structural diagram of region A in the middle; Figure 9 This is a cross-sectional schematic diagram of the rotation detection component of the present invention; Figure 10 This is a schematic diagram of the visual inspection mechanism structure of the present invention; In the diagram: 1. Loading / unloading robot; 11. Robot 1; 12. Rotary clamping assembly 1; 121. Frame; 122. Motor 1; 123. Rotary disk; 124. Base; 125. Cylinder 1; 126. Link 1; 127. Gripper; 1271. Clamping block; 1272. Flange; 128. Lifting seat; 129. Sinking tank; 13. Laser emitting device; 2. Rotation detection mechanism; 21. Support frame one; 22. Laser receiving device; 23. Support platform; 24. Contour detection assembly; 241. Cylinder two; 242. Protective shell; 243. Limiting port; 244. Motor two; 245. Detection arm; 246. Contact roller; 3. Assembly robot; 31. Robot II; 32. Assembly components; 321. Limiting plate; 322. Clamping port; 323. Camera I; 4. Assembly table; 41. Support frame II; 42. Rotary clamping assembly II; 43. Rotation detection assembly; 431. Connecting shell; 432. Sliding groove; 433. Pressure sensor II; 434. Base plate; 435. Spring; 436. Sliding block; 437. Roller; 438. Angle sensor; 5. Conveying mechanisms; 51. Roller conveyor one; 52. Roller conveyor two; 53. Belt conveyor; 6. Visual inspection mechanism; 61. Support frame three; 62. Camera two; 63. Lifting device; 64. Clamping device. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-10The present invention provides a technical solution: an automatic assembly equipment for aluminum alloy wheel hubs with dual industrial robots working together, including a loading and unloading robot 1, an assembly robot 3, and two sets of assembly tables 4. The two sets of assembly tables 4 are arranged side by side, with the loading and unloading robot 1 and the assembly robot 3 located on opposite sides of the assembly tables 4. The loading and unloading robot 1 and the rotation detection mechanism 2 are arranged collinearly and perpendicular to the setting direction of the two sets of assembly tables 4. The loading and unloading robot 1 is used to pick up and place wheel hubs and variable diameter rings, and to perform auxiliary detection on the wheel hubs. The assembly robot 3 is used to assemble the variable diameter rings onto the wheel hubs. The assembly tables 4 are used to position the wheel hubs to be assembled with variable diameter rings and to detect the rotation of the wheel hubs during the assembly process.

[0020] Specifically, such as Figures 1-3 As shown, the loading and unloading robot 1 includes a robot 11, a rotary clamping assembly 12, and a laser emitting device 13. The rotary clamping assembly 12 is located at the end of the robot 11, and the laser emitting device 13 is located on the rotary clamping assembly 12. The rotary clamping assembly 12 is used to clamp the wheel hub and drive the wheel hub to rotate. The laser emitting device 13 is used to emit a positioning laser to ensure that the position of the wheel hub is fixed and accurate when it is inspected.

[0021] Furthermore, such as Figure 3 As shown, the rotating clamping assembly 12 includes a drive unit and a clamping unit. The drive unit includes a frame 121, a motor 122, and a rotating disk 123. The frame 121 is fixed to the end of the robot 11. The motor 122 is located inside the frame 121 and is fixedly connected to the frame 121. The output end of the motor 122 passes through the frame 121 and is fixedly connected to the rotating disk 123. The rotating disk 123 is rotatably connected to the frame 121. When the motor 122 starts to rotate forward, it can drive the rotating disk 123 to rotate forward synchronously. Conversely, when the motor 122 starts to rotate in reverse, it can drive the rotating disk 123 to rotate in reverse synchronously.

[0022] Furthermore, such as Figure 3 As shown, the clamping part includes a base 124, a cylinder 125, several clamping arms and a lifting seat 128. The base 124 and the cylinder 125 are fixed on the side of the rotating disk 123 away from the frame 121. The cylinder 125 is located at the center of the base 124. The base 124, the cylinder 125 and the lifting seat 128 are arranged coaxially. Several clamping arms and the cylinder 125 are located between the base 124 and the lifting seat 128. The several clamping arms are arranged around the cylinder 125 and are equidistant from each other around the circumference of the cylinder 125. The output end of the cylinder 125 is fixedly connected to the lifting seat 128. The clamping arm includes a connecting rod 126 and a gripper 127. Both the connecting rod 126 and the gripper 127 are bent. One end of the connecting rod 126 is hinged to the base 124, and the other end of the connecting rod 126 is hinged to the bent part in the middle of the gripper 127. The end of the gripper 127 near the lifting seat 128 is hinged to the lifting seat 128. A groove 129 is provided at the center of the side of the lifting seat 128 away from the cylinder 125. The laser emitting device 13 is installed in the groove 129 and fixedly connected to the lifting seat 128. The laser emitting device 13 is arranged coaxially with the lifting seat 128.

[0023] Furthermore, clamping blocks 1271 and flanges 1272 are provided on both sides of the end of the gripper 127 away from the lifting seat 128. The flanges 1272 are located at the end of the gripper 127 and protrude from the clamping blocks 1271. The flanges 1272 are arranged through the axis of the lifting seat 128. The flanges 1272 are used to limit the inner or outer side of the wheel hub to prevent accidental slippage and improve the adaptability of wheel hub clamping.

[0024] In actual operation, cylinder 125 extends, pushing the lifting seat 128 to move away from the base 124. This causes the end of connecting rod 126 away from the base 124 to move closer to cylinder 125 located at the center of the base 124. This causes connecting rod 126 to rotate around the hinge with the base 124 towards cylinder 125. At the same time, connecting rod 126 drives the bent part in the middle of the gripper 127 to move closer to cylinder 125 located at the center of the base 124. This causes gripper 127 to rotate around the hinge with the lifting seat 128 towards cylinder 125, reducing the clamping diameter corresponding to flange 1272 to clamp the wheel hub. Conversely, cylinder 125 retracts, expanding the clamping diameter corresponding to flange 1272 to prepare for clamping the wheel hub. This allows the clamping part to adapt to clamping wheel hubs of different diameters.

[0025] It should be noted that both Robot 11 and Robot 231 are six-axis robots.

[0026] Specifically, such as Figures 1-2 , Figures 4-5 As shown, a rotation detection mechanism 2 is provided on one side of the loading and unloading robot 1. The rotation detection mechanism 2 includes a support frame 21, a laser receiver 22, a support platform 23, and a contour detection component 24. The support frame 21 is arranged in a two-step shape. The support platform 23 and the contour detection component 24 are respectively fixed on the two steps of the support frame 21. The support platform 23 is located above the contour detection component 24. A back plate is fixedly connected to the top of the support frame 21. The laser receiver 22 is set on the back plate. The laser receiver 22 is used to receive the laser emitted by the laser emitter 13. The support platform 23 is used to temporarily store the wheel hub, which facilitates the adjustment of the clamping part of the wheel hub.

[0027] Furthermore, such as Figures 4-5 As shown, the contour detection assembly 24 includes a second cylinder 241, a protective shell 242, a second motor 244, a detection arm 245, and a contact roller 246. The second cylinder 241 is fixed on the first support frame 21 and is located below the support platform 23. The protective shell 242 is fixed to the output end of the second cylinder 241 and has a limit port 243. The second motor 244 is located inside the protective shell 242 and is fixedly connected to the protective shell 242. The detection arm 245 is fixed to the output end of the second motor 244 and the end of the detection arm 245 away from the second motor 244 is cylindrical. The contact roller 246 is sleeved on the cylindrical end of the detection arm 245. A pressure sensor is provided between the detection arm 245 and the contact roller 246. The pressure sensor is a plate type and is fixed to the cylindrical surface of the detection arm 245.

[0028] In actual operation, after the loading and unloading robot 1 clamps the wheel hub, cylinder 241 is activated, causing cylinder 241 to extend and retract. This allows the height difference between the top of the contact roller 246 and the laser receiver 22 to match the inner diameter of the wheel hub, or the height difference between the bottom of the contact roller 246 and the laser receiver 22 to match the outer diameter of the wheel hub, or the inner and outer diameters at the location where the variable diameter ring is fitted. The specific height difference is selected according to actual needs. Then, the laser emitting device 13 is activated, and the position of the end of robot 11 is adjusted to be horizontal until the laser receiver 22 receives the laser emitted by the laser emitting device 13. Then, cylinder 241 is finely extended and retracted to make the contact roller 246 contact the wheel hub. Then, motor 122 is started, driving the rotating disk 123 to rotate, which in turn drives the clamping part holding the wheel hub to rotate. If the wheel hub roundness is normal, during the rotation of the wheel hub, the pressure value detected by the pressure sensor is relatively stable, similar to the case of contact roller 246, and remains within a certain set range. The specific set range is set by the operator. If the pressure value detected by the pressure sensor exceeds or falls below the set range, or even reaches zero, it indicates that the wheel hub is deformed and needs to be rejected to avoid increasing the defect rate of wheel hub assembly due to the use of deformed wheel hubs.

[0029] It should be noted that when inspecting the outer side of the wheel hub, one clamping part clamps the inner wall of the wheel hub, and conversely, when inspecting the inner side of the wheel hub, one clamping part clamps the outer wall of the wheel hub. The clamping part can switch between clamping the inner or outer wall of the wheel hub by placing the wheel hub on the support platform 23.

[0030] Specifically, such as Figure 2 and Figure 6As shown, the assembly robot 3 includes a second robot 31 and an assembly component 32. The assembly component 32 is located at the end of the second robot 31. The assembly component 32 includes a second drive unit and an assembly unit. The second drive unit has the same structure and connection method as the first drive unit.

[0031] Furthermore, such as Figure 6 As shown, the assembly part includes a limiting plate 321 and a camera 323. The limiting plate 321 is fixed on the side of the rotating plate 123 of the drive part 2 away from the motor 122. The limiting plate 321 is provided with a number of clamping ports 322. The clamping ports 322 are used to place fastener clamping devices, tightening guns and other devices for assembling wheel hubs. The robot 2 31 is used to adjust the position of the assembly part so that the fastener clamping device on the assembly component 32 clamps the fastener and places it in the position to be installed on the variable diameter ring. Then the robot 2 31 adjusts the position of the assembly part so that the tightening gun corresponds to the fastener and tightens the fastener into the wheel hub to complete the assembly of the wheel hub. Camera 1 323 is fixed at the center of the limiting plate 321 on the side away from robot 2 31. Camera 1 323 is electrically connected to an analysis module. Camera 1 323 is used to capture and record the scene during wheel hub assembly. The analysis module is used to analyze abnormal situations that occur during the assembly process.

[0032] It should be noted that a fastener conveying device is provided on one side of the assembly robot 3, which is not shown in the figure. The fasteners can be bolts, nuts, or other fastening components.

[0033] Specifically, such as Figure 2 , Figures 7-9 As shown, the assembly table 4 includes a second support frame 41, a second rotary clamping assembly 42, and several rotation detection assemblies 43. The second rotary clamping assembly 42 is located at the top center of the second support frame 41. The second rotary clamping assembly 42 has the same basic drive structure as the first rotary clamping assembly 12, but the rotation detection assemblies 43 are integrated on the clamping arms of the second rotary clamping assembly 42. The number of several rotation detection assemblies 43 is the same as the number and position of the clamping blocks 1271 on both sides of the jaw 127. The second rotary clamping assembly 42 is used to clamp the wheel hub to be assembled and to detect the rotation of the wheel hub during the assembly process.

[0034] Furthermore, such as Figures 7-9 As shown, the rotation detection assembly 43 includes a connecting shell 431, a second pressure sensor 433, and two sets of rotation detection parts. The connecting shell 431 is C-shaped and is mounted on the gripper 127. A sliding groove 432 is provided on the side of the connecting shell 431 away from the gripper 127. The second pressure sensor 433 and the two sets of rotation detection parts are disposed in the sliding groove 432. The second pressure sensor 433 is located between the rotation detection parts and the connecting shell 431. Both sides of the second pressure sensor 433 are fixedly connected to the rotation detection parts and the connecting shell 431, respectively.

[0035] Furthermore, such as Figure 9 As shown, the rotation detection unit includes a base plate 434, several springs 435, a sliding block 436, a roller 437, and an angle sensor 438. The base plate 434 is fixedly connected to the pressure sensor 433. The several springs 435 are arranged in a dot matrix between the base plate 434 and the sliding block 436. The two ends of the springs 435 are fixedly connected to the base plate 434 and the sliding block 436, respectively. The sliding block 436 is slidably connected to the connecting shell 431. The roller 437 is located inside the sliding block 436 on the side away from the springs 435. The roller 437 is rotatably connected to the sliding block 436. The angle sensor 438 is located inside the sliding block 436.

[0036] In actual operation, when the rotating clamping assembly 2 42 needs to clamp the wheel hub to be assembled, it is different from the method of the clamping jaws 127 of the rotating clamping assembly 12 directly clamping the wheel hub. Instead, the rotating detection assembly 43 on the rotating clamping assembly 2 42 clamps the wheel hub. At this time, the roller 437 on the rotating detection assembly 43 contacts the wheel hub and clamps the wheel hub until the pressure sensor 2 433 detects that the pressure value is within the set range. The specific set range is set by the operator. Since there are several sets of clamping arms, that is, multiple sets of pressure values, when several sets of pressure values ​​are within the set range, the wheel hub clamping is normal. In other cases, the clamping is abnormal. After the rotating clamping assembly 12 re-clamps and adjusts the wheel hub angle, the rotating clamping assembly 2 42 clamps and detects the wheel hub again. If there is still one or more sets of pressure values ​​that are not within the set range, an alarm needs to be triggered and the wheel hub needs to be rejected. The subsequent manual inspection by the operator is required. After the wheel hub is clamped and positioned by the rotary clamping assembly 42, robot 11 drives the rotary clamping assembly 12 to adjust its position and clamp the variable diameter ring above the wheel hub held by the rotary clamping assembly 42, placing the variable diameter ring in the assembly position. Before assembly, camera 1 323 acquires the placement position of the variable diameter ring and transmits it to the analysis module electrically connected to camera 1 323. The analysis module analyzes whether the positioning hole of the variable diameter ring corresponds to the positioning hole of the wheel hub. If they correspond, the subsequent assembly proceeds. If the positioning holes do not correspond, the rotary clamping assembly 12 re-clamps and adjusts the angle of the variable diameter ring before placing it on the wheel hub. Then, camera 1 323 acquires the image and transmits it to the analysis module for analysis. If the result remains unchanged, an alarm is triggered, and the ring is rejected. Subsequent manual inspection by staff is required.

[0037] During the assembly process, a tightening gun or other device is used to screw the fasteners into the wheel hub in sequence according to the preset torque, thus connecting the variable diameter ring to the wheel hub as one unit. However, due to the relatively low strength of aluminum alloy wheel hub materials and the individual differences in castings, local stress concentration often occurs during the installation of reducer rings due to thread misalignment, reducer ring misalignment, or foreign objects on the mating surface. This can lead to local deformation of the wheel hub or stripping of the threads. When a tightening gun or other device screws the fastener into the wheel hub, if the torque is too small (i.e., stripping may occur), there is no change in the force on the fastener, and the position of the wheel hub remains fixed, meaning it will not rotate slightly relative to the roller 437. If the torque is too large (i.e., local deformation of the wheel hub may occur), there will be a change in the force on the fastener, and the position of the wheel hub will change relatively, resulting in a slight rotation relative to the roller 437. Since the roller 437 is in contact with the wheel hub, it will also rotate relatively. Consequently, the angle sensor 438 inside the roller 437 can detect the angle change and provide feedback, thus enabling real-time acquisition of the stress situation during wheel hub assembly. This prevents defective wheel hubs from flowing into subsequent processes, improving assembly quality and reliability.

[0038] Specifically, such as Figure 2 As shown, the conveying mechanism 5 includes a roller conveyor 51, a roller conveyor 52, and a belt conveyor 53. The roller conveyor 51 is located on the side of the loading / unloading robot 1 away from the assembly robot 3. The roller conveyor 52 and the belt conveyor 53 are respectively located on both sides of the loading / unloading robot 1, the assembly robot 3, and the assembly table 4. The setting direction of the roller conveyor 52 and the belt conveyor 53 is perpendicular to the setting direction of the roller conveyor 51. The belt conveyor 53 is located close to the material inlet direction of the roller conveyor 51. The roller conveyor 51 is used for loading wheel hubs, the roller conveyor 52 is used for unloading wheel hubs, and the belt conveyor 53 is used for loading variable diameter rings.

[0039] Specifically, such as Figure 1 , Figure 2 and Figure 10 As shown, the visual inspection mechanism 6 includes a support frame 3 61, a camera 2 62, a lifting device 63, and a clamping device 64. The support frame 3 61 is mounted on the roller conveyor 1 51 and is positioned close to the material feeding direction of the roller conveyor 1 51. The camera 2 62 is fixed on the top of the support frame 3 61 and faces the roller conveyor 1 51. The camera 2 62 is connected to the analysis module. The analysis module is also used to acquire images of the wheel hub and preliminarily identify whether the wheel hub is deformed. Deformed wheel hubs need to be rejected.

[0040] The lifting device 63 is fixed on the support frame 61. The lifting device 63 is located below the roller conveyor 51. The clamping device 64 is fixed on the top of the lifting device 63. The lifting device 63 is used to adjust the height of the clamping device 64 so that when the roller conveyor 51 conveys the wheel hub to the top of the lifting device 63, the clamping device 64 can clamp and fix the wheel hub and disengage from the roller conveyor 51 to continue conveying it. This makes it easier for the camera 62 to capture the image of the wheel hub and for the analysis module to identify the deformation.

[0041] It should be noted that the lifting device 63 and the clamping device 64 can be selected according to actual needs, and both the lifting device 63 and the clamping device 64 are existing devices, so they will not be described in detail. The analysis module identifies the deformation of the wheel hub based on the image obtained by the second camera 62. This can be done by setting a standard wheel hub outline in the analysis module and comparing it with the actual wheel hub outline shape, which will not be described in detail here.

[0042] Working method of automated aluminum alloy wheel hub assembly equipment with dual industrial robots working in tandem: Step 1: Wheel hub loading and initial visual inspection: Roller conveyor 51 transports the wheel hub to the area below the visual inspection mechanism 6. Lifting device 63 lifts clamping device 64 to fix the wheel hub and remove it from roller conveyor 51. Camera 62 captures the wheel hub image, and the analysis module compares it with the standard contour to initially identify deformation. Deformed wheel hubs are rejected, and qualified wheel hubs are returned to roller conveyor 51 to continue moving forward.

[0043] Step Two: Material Handling and Inspection Positioning by the Loading / Unloading Robot: Robot 11 drives the rotating clamping assembly 12 to move above the roller conveyor 51, and selects to clamp the inner or outer wall of the wheel hub according to the hub specifications. Then, the wheel hub is moved to the rotation detection mechanism 2, the laser emitting device 13 is turned on, and Robot 11 adjusts its posture to make its end horizontal until the laser receiving device 22 receives the laser, completing the position calibration.

[0044] Step 3: Precision Inspection of Wheel Hub Contour: Activate cylinder 241 and adjust the height of contact roller 246 so that its height difference with the laser receiver 22 contacts the wheel hub. Rotary clamping assembly 12 drives the wheel hub to rotate at a constant speed, with contact roller 246 tightly against the wheel hub surface. Pressure sensor 1 monitors the pressure value in real time. If the pressure value exceeds the set range or returns to zero, the wheel hub is determined to be deformed and rejected; qualified wheel hubs proceed to the next step.

[0045] Step 4: Positioning and clamping of the wheel hub on the assembly table: The loading / unloading robot 1 places the qualified wheel hub on one of the assembly tables 4. The rotating clamping component 2 42 of the assembly table 4 clamps the wheel hub through the rotation detection component 43 on its gripper. The roller 437 of the rotation detection component 43 contacts the wheel hub. The pressure sensor 2 433 monitors the pressure value at each clamping point to ensure that all pressure values ​​are within the set range. If the pressure is uneven, the rotating clamping component 1 12 readjusts the wheel hub angle and clamps it again. If it is still abnormal, an alarm is triggered.

[0046] Step 5: Loading and Pre-placement of the Variable Diameter Ring: Robot 11 drives the rotating clamping assembly 12 to move above the belt conveyor 53, clamps the variable diameter ring, and then moves it above the assembly table 4, placing the variable diameter ring in the assembly position of the wheel hub's center hole. Camera 323 at the end of assembly robot 3 captures images of the alignment between the variable diameter ring and the wheel hub's positioning hole, and the analysis module determines if the hole positions correspond. If they do not correspond, loading / unloading robot 1 readjusts the angle of the variable diameter ring and places it again. If the misalignment persists after repeated checks, an alarm is triggered, and the ring is rejected.

[0047] Step Six: Variable Diameter Ring Fastening Assembly: Assembly robot 3, based on the positioning information from camera 323, drives the fastener clamping device on its assembly component 32 to grasp the fasteners and place them into the corresponding holes. It then switches to the tightening gun and tightens each fastener sequentially according to the preset torque. During tightening, the roller 437 on the assembly table 4 remains in contact with the hub, and the angle sensor 438 detects in real time whether the hub rotates unexpectedly. If the hub rotates abnormally with excessive torque causing local deformation or does not rotate at all with insufficient torque causing stripping, the system immediately stops and triggers an alarm.

[0048] Step 7: Finished Product Unloading: After all fasteners are tightened, the rotating clamping assembly 2 42 releases its grip on the wheel hub, and the rotating clamping assembly 1 12 clamps the assembled wheel hub assembly, which is then transported to the roller conveyor 2 52 and sent out of the equipment, completing one work cycle.

[0049] It should be noted that, since there are two sets of parallel assembly tables 4, and the loading / unloading robot 1 and the assembly robot 3 are respectively placed on both sides of them, when one set of assembly tables 4 is assembling variable diameter rings, the loading / unloading robot 1 can simultaneously perform unloading, loading, and variable diameter ring pre-placement operations on the other set of assembly tables 4, realizing dual-station alternating parallel operation and improving overall assembly efficiency.

[0050] By using the above methods, the stress state of the wheel hub body can be sensed in real time during the installation of the variable diameter ring, thereby improving the assembly quality and reliability of the wheel hub.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots, comprising a loading / unloading robot (1), an assembly robot (3), and two sets of assembly tables (4), characterized in that, The two sets of assembly tables (4) are arranged side by side, and the loading / unloading robot (1) and the assembly robot (3) are located on both sides of the assembly table (4); The loading and unloading robot (1) includes a robot (11), a rotary clamping assembly (12) and a laser emitting device (13). The rotary clamping assembly (12) is located at the end of the robot (11) and includes a drive unit and a clamping unit. The assembly robot (3) includes a second robot (31) and an assembly component (32). The assembly component (32) is disposed at the end of the second robot (31). The assembly component (32) includes a second drive unit and an assembly unit. The assembly table (4) includes a second support frame (41), a second rotary clamping assembly (42), and several rotation detection assemblies (43). The second rotary clamping assembly (42) is located at the top center of the second support frame (41). The second rotary clamping assembly (42) has the same basic drive structure as the first rotary clamping assembly (12), but the rotation detection assemblies (43) are integrated on the clamping arm of the second rotary clamping assembly (42). The rotation detection assembly (43) includes a connecting shell (431), a pressure sensor (433), and two sets of rotation detection units. The rotation detection unit includes a base plate (434), several springs (435), a sliding block (436), a roller (437), and an angle sensor (438). The angle sensor (438) is located inside the sliding block (436).

2. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration as described in claim 1, characterized in that, The drive unit includes a frame (121), a motor (122), and a rotating disk (123). The frame (121) is fixed to the end of the robot (11). The motor (122) is located inside the frame (121) and is fixedly connected to the frame (121). The output end of the motor (122) passes through the frame (121) and is fixedly connected to the rotating disk (123). The rotating disk (123) is rotatably connected to the frame (121).

3. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 2, characterized in that, The clamping part includes a base (124), a cylinder (125), a plurality of clamping arms and a lifting seat (128). The base (124) and the cylinder (125) are fixed on the side of the rotating disk (123) away from the frame (121). The cylinder (125) is located at the center of the base (124). The plurality of clamping arms and the cylinder (125) are located between the base (124) and the lifting seat (128). The plurality of clamping arms are located around the cylinder (125). The output end of the cylinder (125) is fixedly connected to the lifting seat (128). The lifting seat (128) has a sink groove (129) at the center of the side away from the cylinder (125), and the laser emitting device (13) is set in the sink groove (129) and fixedly connected to the lifting seat (128).

4. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration as described in claim 3, characterized in that, The clamping arm includes a connecting rod (126) and a gripper (127). Both the connecting rod (126) and the gripper (127) are bent. One end of the connecting rod (126) is hinged to the base (124), and the other end of the connecting rod (126) is hinged to the bend in the middle of the gripper (127). The end of the gripper (127) near the lifting seat (128) is hinged to the lifting seat (128). The gripper (127) is provided with a clamping block (1271) and a flange (1272) on both sides of the end away from the lifting seat (128). The flange (1272) is located at the end of the gripper (127) and protrudes from the clamping block (1271).

5. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 4, characterized in that, The loading and unloading robot (1) is provided with a rotation detection mechanism (2) on one side. The rotation detection mechanism (2) includes a support frame (21), a laser receiver (22), a support platform (23), and a contour detection component (24). The support frame (21) is arranged in a two-step shape. The support platform (23) and the contour detection component (24) are respectively fixed on the two steps of the support frame (21). The support platform (23) is located above the contour detection component (24). A back plate is fixedly connected to the top of the support frame (21). The laser receiver (22) is set on the back plate.

6. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 5, characterized in that, The contour detection assembly (24) includes a second cylinder (241), a protective shell (242), a second motor (244), a detection arm (245), and a contact roller (246). The second cylinder (241) is fixed on a support frame (21) and is located below the support platform (23). The protective shell (242) is fixed to the output end of the second cylinder (241) and has a limit port (243). The second motor (244) is equipped with a limit port (243). Inside the protective shell (242) and fixedly connected to the protective shell (242), the detection arm (245) is fixed to the output end of the second motor (244). The end of the detection arm (245) away from the second motor (244) is set as cylindrical. The contact roller (246) is sleeved on the cylindrical end of the detection arm (245). A pressure sensor is provided between the detection arm (245) and the contact roller (246). The pressure sensor is fixed on the cylindrical surface of the detection arm (245).

7. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 6, characterized in that, The second drive unit has the same structure and connection method as the first drive unit; The assembly part includes a limiting plate (321) and a camera (323). The limiting plate (321) is fixed on the side of the rotating plate (123) of the drive part (2) away from the motor (122). The limiting plate (321) is provided with a plurality of clamping ports (322). The camera one (323) is fixed at the center of the limiting plate (321) on the side away from the robot two (31). The camera one (323) is electrically connected to an analysis module, which is used to analyze abnormal situations that occur during the assembly process.

8. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 7, characterized in that, The number of the rotation detection components (43) and the clamping blocks (1271) on both sides of the gripper (127) are the same and their positions correspond; The connecting shell (431) is C-shaped and is mounted on the gripper (127). A sliding groove (432) is provided on the side of the connecting shell (431) away from the gripper (127). The second pressure sensor (433) and two sets of rotation detection parts are mounted in the sliding groove (432). The second pressure sensor (433) is located between the rotation detection parts and the connecting shell (431). The two sides of the second pressure sensor (433) are fixedly connected to the rotation detection parts and the connecting shell (431) respectively. The base plate (434) is fixedly connected to the pressure sensor (433). A plurality of springs (435) are disposed between the base plate (434) and the sliding block (436). The two ends of the springs (435) are fixedly connected to the base plate (434) and the sliding block (436) respectively. The sliding block (436) is slidably connected to the connecting shell (431). The roller (437) is disposed inside the side of the sliding block (436) away from the springs (435). The roller (437) is rotatably connected to the sliding block (436).

9. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 8, characterized in that, The conveying mechanism (5) includes a roller conveyor (51), a roller conveyor (52), and a belt conveyor (53). The roller conveyor (51) is located on the side of the loading / unloading robot (1) away from the assembly robot (3). The roller conveyor (52) and the belt conveyor (53) are respectively located on both sides of the loading / unloading robot (1), the assembly robot (3), and the assembly table (4).

10. The automated assembly equipment for aluminum alloy wheel hubs using dual industrial robots in collaboration according to claim 9, characterized in that, The visual inspection mechanism (6) includes a support frame three (61), a camera two (62), a lifting device (63) and a clamping device (64). The support frame three (61) is mounted on a roller conveyor one (51). The camera two (62) is fixed on the top of the support frame three (61). The camera two (62) is connected to the analysis module. The analysis module is also used to acquire the wheel hub image and preliminarily identify whether the wheel hub is deformed. The lifting device (63) is located below the roller conveyor (51) and fixed on the support frame (61), and the clamping device (64) is fixed on the top of the lifting device (63).

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