Automatic hub sleeving device
The automated assembly system using robots and press components has solved the problem of low efficiency in manual installation of wheel hub oil seal spacers, achieving efficient automated assembly of wheel hubs, avoiding incorrect or missing installations, and improving assembly quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING TAIXINXIN DIGITAL TECH CO LTD
- Filing Date
- 2025-05-09
- Publication Date
- 2026-05-29
Smart Images
Figure CN224295207U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automotive assembly technology, and in particular to an automatic wheel hub assembly device. Background Technology
[0002] Currently in the domestic market, the oil seal spacers in wheel hubs of axle products require manual installation, which cannot meet the requirements of automated production. Furthermore, manual installation is labor-intensive, inefficient, and prone to errors such as incorrect or missing installations. Therefore, there is an urgent need for a fully automated wheel hub assembly equipment to improve product assembly quality and efficiency, and to avoid incorrect or missing oil seal spacers. Utility Model Content
[0003] The automatic wheel hub assembly device provided in this application uses a robot to transport the workpiece and, in conjunction with components such as a press and slide table, automatically completes the automatic assembly of the wheel hub and its mounting onto the axle, thereby improving assembly efficiency and quality.
[0004] An embodiment of this application provides an automated wheel hub assembly device comprising a gantry assembly, a slide assembly, a press assembly, and a robot assembly. The gantry assembly carries the wheel hub assembly and spacer ring; the robot assembly is fixedly mounted on one side of the gantry assembly and is used to transport the wheel hub assembly between the gantry assembly, the press assembly, and the slide assembly; alternatively, the robot assembly is used to transport the spacer ring between the gantry assembly and the press assembly; the press assembly is disposed between the gantry assembly and the robot assembly along a first direction and is used to install the spacer ring onto the wheel hub assembly; the slide assembly is located below the gantry assembly and is used to install the assembled wheel hub assembly and spacer ring onto the axle.
[0005] In the above embodiment, the robot component transfers the wheel hub assembly and spacer ring from the gantry assembly to the press assembly. The press assembly automatically presses the spacer ring into the wheel hub assembly. Then, the robot component places the assembled wheel hub assembly and spacer ring onto the slide assembly, which installs them onto the axle. The entire wheel hub assembly process is fully automated, improving assembly efficiency and preventing the spacer ring from being missed or incorrectly installed.
[0006] In one embodiment, the gantry assembly includes a turntable, a rotating shaft mechanism, and a frame. The turntable is rotatably mounted on the top of the frame and rotates around the rotating shaft mechanism. The turntable is provided with hub assembly placement seats and spacer placement seats located on both sides of the rotating shaft mechanism.
[0007] The spacer holder is located in a first position, the wheel hub assembly holder is located in a second position, and the turntable rotates to move the spacer holder from the first position to the second position and the wheel hub assembly holder from the second position to the first position.
[0008] Alternatively, the hub assembly placement seat is located in the first position, the spacer ring placement seat is located in the second position, and the turntable rotates to rotate the hub assembly placement seat from the first position to the second position, and the spacer ring placement seat from the second position to the first position;
[0009] The first position and the second position are arranged along a second direction, which is perpendicular to the first direction.
[0010] In one embodiment, the automatic wheel hub assembly device further includes two bearing inner ring separation mechanisms, which are fixedly installed on the side of the frame near the robot assembly. Each bearing inner ring separation mechanism includes a cylinder and two grippers. The two grippers have a groove on their opposite sides for engaging the bearing inner ring. The cylinder drives the two grippers away from each other to fix the bearing inner ring; or, the cylinder drives the grippers closer together to release the bearing inner ring.
[0011] In one embodiment, the robot assembly includes a first robot assembly and a second robot assembly with identical structures. The first robot assembly and the second robot assembly are disposed on both sides of the turntable along the second direction, with the first robot assembly closer to the first position and the second robot assembly closer to the second position.
[0012] In one embodiment, both the first robot assembly and the second robot assembly include a base, a robotic arm, a robotic hand, and an image acquisition component. The robotic hand and the base are respectively connected to the two ends of the robotic arm, and the image acquisition component is fixedly installed on the robotic hand.
[0013] In one embodiment, the slide assembly includes a first slide assembly and a second slide assembly with the same structure and arranged along the second direction. The first slide assembly and the second slide assembly are mirror images of each other and can move closer or further apart along the second direction. The axle is placed between the first slide assembly and the second slide assembly.
[0014] In one embodiment, both the first slide assembly and the second slide assembly include a sliding housing and a positioning mechanism. The positioning mechanism is mounted on the side of the sliding housing facing the axle and is used to position the wheel hub assembly.
[0015] The positioning mechanism includes two sets of positioning sleeves extending along the second direction and a positioning shaft disposed between the two sets of positioning sleeves. When positioning the hub assembly, the bolts of the hub assembly are inserted into the two sets of positioning sleeves, and the central hole of the hub assembly is sleeved on the outer periphery of the positioning shaft.
[0016] In one embodiment, the press assembly includes a first press assembly and a second press assembly with identical structures and arranged along the second direction. The first press assembly is located between the gantry assembly and the first robot assembly, and the second press assembly is located between the gantry assembly and the second robot assembly.
[0017] In one embodiment, the first press assembly includes a C-frame, a pressing mechanism, and a positioning plate. The C-frame includes a first arm and a second arm arranged opposite to each other along a third direction. The pressing mechanism is mounted on the side of the first arm facing the second arm, and the positioning plate is disposed on the side of the second arm facing the pressing mechanism. The pressing mechanism is used to clamp and move the spacer ring, and the positioning plate is used to support the wheel hub assembly. The first direction, the second direction, and the third direction are perpendicular to each other.
[0018] In one embodiment, the pressing mechanism includes a pressing cylinder, a slider, a gripper cylinder, two gripping jaws, and a pressing head. The pressing cylinder drives the slider to slide along the third direction. The gripper cylinder is connected to the slider. The two gripping jaws are slidably mounted on the gripper cylinder along the second direction. The pressing head is located between the two gripping jaws. The gripper cylinder drives the two gripping jaws to move closer to each other to grip the spacer ring; or, the gripper cylinder drives the two gripping jaws to move away from each other to release the spacer ring.
[0019] In one embodiment, the automatic wheel hub assembly further includes a tray assembly located between the first slide assembly and the second slide assembly, the tray assembly being used to support the axle. Attached Figure Description
[0020] Figure 1 A structural diagram of an automatic wheel hub fitting device provided in one embodiment of this application;
[0021] Figure 2 A structural diagram of a gantry assembly provided in one embodiment of this application;
[0022] Figure 3 A structural diagram of a gantry assembly from another angle, provided for one embodiment of this application;
[0023] Figure 4A structural diagram of a robotic arm provided in one embodiment of this application;
[0024] Figure 5 A side view of a robotic arm provided for one embodiment of this application;
[0025] Figure 6 A structural diagram of the sliding box and positioning mechanism provided in one embodiment of this application;
[0026] Figure 7 A structural diagram of a slide base and a lifting mechanism provided in one embodiment of this application;
[0027] Figure 8 This is a structural diagram of a first press assembly or a second press assembly provided in one embodiment of this application.
[0028] Figure label:
[0029] 1-Gantry assembly; 100-Axle; 200-Hub assembly; 300-Spacer ring; 2-Slide assembly; 3-Press assembly; 4-Robot assembly; 5-Spacer ring holder; 6-Hub assembly holder; 11-Turntable; 12-Shaft mechanism; 13-Frame; 14-Hub assembly holder; 15-Spacer ring holder; 16-Second hub assembly holder; 17-Servo motor; 18-Reducer; A-First position; B-Second position; X-First direction; Y-Second direction; Z-Third direction; 41-First robot assembly; 42-Second robot assembly; 7-Bearing inner ring separator Structure; 71-Cylinder; 72-Gripper; 721-Groove; 411-Base; 412-Robot arm; 413-Robot hand; 414-Image acquisition component; 4131-Drive cylinder; 4132-Fixed plate; 4133-Guide rail; 4134-Limit block; 4135-Displacement sensor; 4136-First gripper arm; 4137-Second gripper arm; 4138-Synchronizer; 4139-Connector; M-Fourth direction; N-Fifth direction; P-Sixth direction; 401-Spacer gripper; 402-Bearing inner ring gripper; 403-Hub gripper; 404-Padded block; 4141-Camera Mounting bracket; 4142-Camera; 4143-Light source; 21-First slide assembly; 22-Second slide assembly; 211-Sliding housing; 202-Positioning sleeve; 203-Positioning shaft; 2031-Center; 2032-Positioning shaft cylinder; 2021-Bearing inner ring pressure head assembly; 2022-Horizontal movement cylinder; 2023-First guide rail; 2024-Second guide rail; 2025-Base plate; 2026-Slide plate; 213-Lifting mechanism; 210-Slide base; 214-Slide rail; 215-Slide cylinder; 2131-Lifting block; 2132-Lifting cylinder; 2133-Sliding... Cylinder; 2134-Mounting plate; 31-First press assembly; 32-Second press assembly; 311-C-frame; 312-Positioning plate; 313-Pressure fitting mechanism; 3111-First support arm; 3112-Second support arm; 301-Pressure fitting cylinder; 302-Slider; 303-Gripper cylinder; 304-Gripper; 305-Pressure head; 3051-First connecting plate; 3052-Second connecting plate; 3053-Pressure plate; 306-Adjusting cylinder; 307-Linear guide rail; 308-Limiting component; 8-Pattern assembly; 81-Pattern body; 82-Lifting and positioning mechanism; 83-Supporting fixture. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description of the application is provided in conjunction with the accompanying drawings and embodiments.
[0031] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more” unless the context clearly indicates otherwise.
[0032] References to “an embodiment” or “a specific embodiment” as used in this specification mean that one or more embodiments of this application include a particular feature, structure, or characteristic described in connection with that embodiment. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.
[0033] First, let's introduce the application scenarios. The main function of the oil seal spacer on a wheel hub is to prevent leakage or seepage of lubricating oil or other fluids, while also preventing dust from entering and maintaining good lubrication conditions for rolling or sliding friction parts, thereby extending the service life of the wheel hub. Workers need to use tooling to install the oil seal spacer into the wheel hub, which is a large workload and inefficient. Manual installation may also affect the assembly quality of the product. Furthermore, different tooling is required for different wheel hub models, increasing labor intensity, and errors such as incorrect or missing installations frequently occur.
[0034] To address the aforementioned issues, this application provides an automatic wheel hub assembly device that can automatically assemble wheel hubs and mount them onto the axle, thereby improving assembly efficiency and quality.
[0035] Figure 1 A structural diagram of an automatic wheel hub fitting device provided in one embodiment of this application is shown below. Figure 1 As shown, an embodiment of this application provides an automatic wheel hub assembly device including a gantry assembly 1, a slide assembly 2, a press assembly 3, and a robot assembly 4. The gantry assembly 1 carries the wheel hub assembly 200, spacer ring 300, and several tooling fixtures (e.g., a press head). The robot assembly 4 is mounted on one side of the gantry assembly 1 and is used to transport the wheel hub assembly 200 between the gantry assembly 1, the press assembly 3, and the slide assembly 2; alternatively, the robot assembly 4 is used to transport the spacer ring 300 between the gantry assembly 1 and the press assembly 3. Along a first direction X, the press assembly 3 is disposed between the gantry assembly 1 and the robot assembly 4 and is used to install the spacer ring 300 onto the wheel hub assembly 200. The slide assembly 2 is located below the gantry assembly 1 and is used to integrally mount the wheel hub assembly 200 and the spacer ring 300, assembled by the press assembly 3, onto the axle 100.
[0036] In the above embodiment, robot component 4 transports the wheel hub assembly 200 and spacer ring 300 from gantry assembly 1 to press assembly 3. Press assembly 3 automatically presses the spacer ring 300 into the wheel hub assembly 200. Then, robot component 4 places the assembled wheel hub assembly 200 and spacer ring 300 onto slide assembly 2. Slide assembly 2 installs the assembled wheel hub assembly 200 and spacer ring 300 onto axle 100. The entire wheel hub assembly process is fully automated, improving assembly efficiency and avoiding the situation where the spacer ring 300 is missed or incorrectly installed.
[0037] Figure 2 A structural diagram of a gantry assembly provided in one embodiment of this application is shown below. Figure 2 As shown, in one embodiment, the gantry assembly 1 includes a turntable 11, a rotating shaft mechanism 12, and a frame 13. The turntable 11 is rotatably mounted on the top of the frame 13 via the rotating shaft mechanism 12. The turntable 11 is rotatable around the rotating shaft mechanism 12. The turntable 11 is provided with a hub assembly placement seat 14 and a spacer ring placement seat 15, which are located on opposite sides of the rotating shaft mechanism 12. Rotation of the turntable 11 allows the hub assembly placement seat 14 and the spacer ring placement seat 15 to exchange positions. For example, in the initial position, the spacer ring placement seat 15 is located in the first position A (…). Figure 2 The wheel hub assembly mounting seat 14 is located at the second position B, which is located in the dotted box position on the left. Figure 2 (The position is indicated by the dashed box on the right). The turntable 11 rotates to move the spacer holder 15 from the first position A to the second position B, and the hub assembly holder 14 from the second position B to the first position A. Alternatively, during operation, the hub assembly holder 14 is in the first position A, the spacer holder 15 is in the second position B, and the turntable 11 rotates to move the hub assembly holder 14 from the first position A to the second position B, and the spacer holder 15 from the second position B to the first position A. The first position A and the second position B are arranged along the second direction Y, which is perpendicular to the first direction X. The first position A and the second position B are divided by the rotating shaft mechanism 12.
[0038] The wheel hub assembly 200 includes two structures: a disc structure and a drum structure. In one embodiment, the turntable 11 is further provided with a second wheel hub assembly placement seat 16. The second wheel hub assembly placement seat 16 is used to place the disc-structured wheel hub assembly, and the wheel hub assembly placement seat 14 is used to place the drum-structured wheel hub assembly. The second wheel hub assembly placement seat 16 can be disposed between the spacer ring placement seat 15 and the wheel hub assembly placement seat 14. In the initial position, both the spacer ring placement seat 15 and the second wheel hub placement seat 16 are located in the first position A, i.e., to the left of the rotating shaft mechanism 12. After the turntable 11 rotates, both the spacer ring placement seat 15 and the second wheel hub placement seat 16 are located in the second position B, i.e., to the right of the rotating shaft mechanism 12. The automatic wheel hub assembly device of this application is compatible with the assembly of different models and types of wheel hub products and has a wide range of applications.
[0039] Figure 3 A structural diagram of a gantry assembly from another angle, provided for one embodiment of this application, as shown below. Figure 3 As shown, in one embodiment, the gantry assembly 1 further includes a servo motor 17 and a reducer 18 connected to each other, both of which are disposed below the turntable 11. The reducer 18 is connected to the rotating shaft mechanism 12 and is used to drive the turntable 11 to rotate.
[0040] Continue to refer to Figure 1 In one embodiment, the robot assembly 4 includes a first robot assembly 41 and a second robot assembly 42 with identical structures, which are disposed on both sides of the turntable 11 along the second direction Y. A spacer rack 5 is disposed around the periphery of the first robot assembly 41, and a hub assembly rack 6 is disposed around the periphery of the second robot assembly 42.
[0041] The first robot assembly 41 is located near the first position A, and therefore the first robot assembly 41 is able to grasp the wheel hub assembly 200 located at the first position A and the spacer on the spacer placement rack 5. The second robot assembly 42 is located near the second position B, and therefore the second robot assembly 42 is able to grasp the spacer 300 located at the second position B and the wheel hub assembly on the wheel hub assembly placement rack 6.
[0042] The hub assembly 200 has a central bore, within which a bearing is housed. This bearing is specifically a tapered roller bearing, comprising an inner bearing ring and an outer bearing ring fitted together. The outer bearing ring is fixedly mounted to the inner wall of the central bore. To prevent the inner bearing ring from detaching during handling of the hub assembly 200 or during assembly of the spacer ring 300, the inner bearing ring must be removed before assembling the spacer ring 300. Figure 2As shown, in one embodiment, the automatic wheel hub assembly device further includes two bearing inner ring separation mechanisms 7. These two mechanisms are fixedly installed on the side of the frame 13 near the robot assembly 4, and respectively near the first position A and the second position B. Each bearing inner ring separation mechanism 7 includes a cylinder 71 and two grippers 72. A groove 721 is provided on the opposite side of the two grippers 72, used to engage the bearing inner ring. The cylinder 71 drives the two grippers 72 away from each other to fix the bearing inner ring to the grippers 72. Alternatively, the cylinder 71 drives the grippers 72 closer together to release the bearing inner ring. After the robot assembly 4 picks up the wheel hub assembly 200 from the wheel hub assembly placement seat 14, it moves it to the corresponding bearing inner ring separation mechanism 7. After the bearing inner ring separation mechanism removes the bearing inner ring, the robot assembly 4 flips the wheel hub assembly 200 180 degrees vertically and places it on the press assembly 3, awaiting the installation of the spacer ring 300. Specifically, the first robot assembly 41 picks up the wheel hub assembly 200 from the wheel hub assembly placement seat 14 and moves it to the bearing inner ring separation mechanism 7 on the left. After the bearing inner ring is removed by the bearing inner ring separation mechanism 7 on the left, the first robot assembly 41 flips the wheel hub assembly 200 180 degrees up and down and places it on the press assembly 3 on the left, waiting for the spacer 300 to be installed. Alternatively, the second robot assembly 42 picks up the wheel hub assembly 200 from the wheel hub assembly placement frame 6 and moves it to the bearing inner ring separation mechanism 7 on the right. After the bearing inner ring is removed by the bearing inner ring separation mechanism 7 on the right, the second robot assembly 42 flips the wheel hub assembly 200 180 degrees up and down and places it on the press assembly 3 on the right, waiting for the spacer 300 to be installed.
[0043] Continue to refer to Figure 1 In one embodiment, both the first robot assembly 41 and the second robot assembly 42 include a base 411, a robotic arm 412, a robotic hand 413, and an image acquisition component 414. The robotic hand 413 and the base 411 are respectively connected to both ends of the robotic arm 412, and the image acquisition component 414 is fixedly installed on the robotic hand 413. Before the second robot assembly 42 grips the wheel hub assembly 200 from the wheel hub assembly placement frame 6, it needs to take a picture of the wheel hub assembly 200 to record the position of the bolts on the top of the wheel hub assembly 200. Subsequently, when placing the wheel hub assembly 200 on the slide assembly 2, the wheel hub assembly 200 is positioned using the recorded position image. The base 411 and the robotic arm 412 are both existing technologies, including multiple degrees of freedom, and cooperate with each other to realize the handling of workpieces. Their specific structures will not be described in detail in this application.
[0044] Figure 4 A structural diagram of a robotic arm provided for one embodiment of this application. Figure 5 A side view of a robotic arm provided for one embodiment of this application. (In conjunction with...) Figure 4 and Figure 5The robotic arm 413 includes a drive cylinder 4131, a fixed plate 4132, a guide rail 4133, two limiting blocks 4134, a displacement sensor 4135, and a first gripper arm 4136 and a second gripper arm 4137 arranged opposite to each other. The guide rail 4133 is fixedly mounted on the fixed plate 4132, and the first gripper arm 4136 and the second gripper arm 4137 are slidably mounted on the guide rail 4133. The drive cylinder 4131 drives the first gripper arm 4136 and the second gripper arm 4137 to move closer or further apart. The two limiting blocks 4134 are respectively mounted on the fixed plate 4132 and are located on opposite sides of the first gripper arm 4136 and the second gripper arm 4137. The two limiting blocks 4134 respectively limit the range of movement of the first gripper arm 4136 and the second gripper arm 4137. A displacement sensor 4135 is mounted on the end of the drive cylinder 4131 facing the second gripper arm 4137 via a connector 4139, and is used to collect displacement data of the second gripper arm 4137. A synchronizer 4138 is also provided between the first gripper arm 4136 and the second gripper arm 4137, which is used to synchronize the movement of the first gripper arm 4136 and the second gripper arm 4137. The structure and working principle of the synchronizer 4138 are prior art and will not be described in detail in this application. The extension direction of the guide rail 4133 is the fourth direction M, and the extension direction of the first gripper arm 4136 is the fifth direction N, with the fourth direction M perpendicular to the fifth direction N.
[0045] The first gripper arm 4136 and the second gripper arm 4137 described above both include a spacer gripper 401, a bearing inner ring gripper 402, and a hub gripper 403. The spacer gripper 401 and the bearing inner ring gripper 402 are stacked along the sixth direction P, while the fourth direction M, the fifth direction N, and the sixth direction P are perpendicular to each other. The hub gripper 403 is located on the opposite side of the first gripper arm 4136 or the second gripper arm 4137, and the spacer gripper 401 and the bearing inner ring gripper 402 are mounted on the side of the hub gripper 403 away from the drive cylinder 4131. Pads 404 are provided on the inner sides of the spacer gripper 401, the bearing inner ring gripper 402, and the hub gripper 403 to protect the clamped workpiece from wear. The opposite sides of the spacer jaw 401, the bearing inner ring jaw 402, and the hub jaw 403 are nearly arc-shaped. The arc of the hub jaw 403 is greater than that of the spacer jaw 401, and the arc of the hub jaw 403 is greater than that of the bearing inner ring jaw 402.
[0046] The image acquisition component 414 includes a camera mount 4141, a camera 4142, and a light source 4143. The camera 4142 is mounted on the end of the fixing plate 4132 of the robotic arm 413, and the camera mount 4141 is located on the side of the fixing plate 4132 opposite to the first gripper arm 4136 and the second gripper arm 4137. The camera mount 4141 is mounted perpendicular to the fixing plate 4132, and both the camera 4142 and the light source 4143 are mounted on the side of the camera mount 4141 opposite to the fixing plate 4132. The acquisition direction of the camera 4142 is the fourth direction M.
[0047] It is worth noting that the aforementioned fourth direction M, fifth direction N, and sixth direction P are positional directions determined relative to the robotic arm 413 itself. Since the robotic arm 413 may move relative to the robotic arm 412 or the base 411, the fourth direction M, fifth direction N, and sixth direction P are not fixed directions for the automatic wheel hub assembly device.
[0048] Please continue to refer to this. Figure 1 In one embodiment, the slide assembly 2 includes a first slide assembly 21 and a second slide assembly 22 with identical structures arranged along a second direction Y. The first slide assembly 21 and the second slide assembly 22 are mirror images of each other, and the axle 100 is placed between the first slide assembly 21 and the second slide assembly 22. The first slide assembly 21 and the second slide assembly 22 can move closer to or further away from each other along the second direction Y. The first slide assembly 21 and the second slide assembly 22 respectively position and fix a wheel hub assembly 200, and simultaneously slide to install the two wheel hub assemblies 200 at both ends of the axle 100. The first robot assembly 41 transports workpieces to the first slide assembly 21, and the second robot assembly 42 transports workpieces to the second slide assembly 22. The aforementioned workpieces refer to the wheel hub assembly 200 or the inner ring of a bearing (not shown in the figure).
[0049] Figure 6 This is a structural diagram of a sliding housing and a positioning mechanism provided in one embodiment of this application. (In conjunction with...) Figure 1 and Figure 6 In a further embodiment, both the first slide assembly 21 and the second slide assembly 22 include a sliding housing 211 and a positioning mechanism. The positioning mechanism is installed on the side of the sliding housing 211 facing the opposite slide assembly and is used to position and fix the hub assembly 200. The positioning mechanism includes two sets of positioning sleeves 202 extending along the second direction Y. When positioning the hub assembly 200, two bolts on one side of the hub assembly 200 are inserted into one set of positioning sleeves 202, and two bolts on the opposite side are inserted into the other set of positioning sleeves 202.
[0050] A positioning shaft cylinder 2032 is installed inside the sliding housing 211. A positioning shaft 203 is also provided between the two sets of positioning sleeves 202. One part of the positioning shaft 203 is located inside the sliding housing 211 and connected to the positioning shaft cylinder 2032; the other part of the positioning shaft 203 is located outside the sliding housing 211 and is used to position the axle housing 100. After the hub assembly 200 is positioned by the positioning mechanism, the positioning shaft 203 passes through the central hole of the hub assembly 200. The end of the positioning shaft 203 away from the sliding housing 211 has a tip 2031. The positioning shaft cylinder 2032 drives the tip 2031 to move along the second direction Y, so that the tip 2031 abuts against the chamfer of the inner hole at the end of the axle housing 100, thus completing the positioning of the axle housing 100.
[0051] The positioning mechanism also includes two horizontally moving cylinders 2022, a first guide rail 2023, a second guide rail 2024, a base plate 2025, and a sliding plate 2026. Each horizontally moving cylinder 2022 drives a set of positioning sleeves 202 to move along a first direction X, thereby adjusting the position of the positioning sleeves 202 for the bolt positions of different models of wheel hub assemblies 200. A set of positioning sleeves includes two positioning sleeves 202. Each set of positioning sleeves 202 is mounted on a sliding plate 2026, which is slidably mounted on the second guide rail 2024, which extends along the first direction X. The second guide rail 2024 is fixedly mounted on the base plate 2025, which is slidably mounted on the first guide rail 2023, which extends along a third direction X. The first guide rail 2023 is fixedly mounted on the sliding housing 211.
[0052] It is worth noting that the bolts inserted into the positioning sleeve 202 are specific bolts. The position of these specific bolts is recorded by the image acquisition component 414 when the hub assembly 200 is on the hub assembly placement frame 6. When the second robot component 42 moves and places the hub assembly 200 from the hub assembly placement frame 6, it places it according to the recorded position information, ensuring precise positioning. Before installing the hub assembly 200 onto the slide assembly 2, the robot component 4 removes the pre-removed bearing inner ring from the bearing inner ring separation mechanism 7 and places it on the bearing inner ring pressure head assembly 2021. The bearing inner ring pressure head assembly 2021 includes a guide rod cylinder and a pin plate. The guide rod cylinder drives the pin plate to move along the third direction Z. The pin plate is used to fix the bearing pressure head during type change or replacement. After the hub assembly 200 is placed on the positioning mechanism, the slide assemblies at both ends of the gantry assembly 1 move relative to each other, allowing the bearing inner ring to be assembled with the hub assembly 200.
[0053] In one embodiment, the lifting mechanism 213 is mounted on the slide base 210 and located below and in front of the positioning mechanism 212, with "in front" referring to the side closest to the axle housing. The lifting mechanism 213 and the positioning mechanism 212 are offset from each other along the second direction Y, with a preset distance between them. The lifting mechanism 213 can move up and down along the third direction Z. The lifting mechanism 213 is used to lift the wheel hub assembly 200, providing it with certain support and ensuring that the axis of the wheel hub assembly 200 is horizontal and concentric with the axle housing 100.
[0054] Figure 7 A structural diagram of the slide base and lifting mechanism provided in one embodiment of this application is shown below. Figure 7 As shown, in one embodiment, both the first slide assembly 21 and the second slide assembly 22 further include a slide base 210, a slide rail 214, and a slide cylinder 215. The slide cylinder 215 is mounted on the frame 13 of the gantry assembly 1, and is located on the side of the sliding housing 211 opposite to the axle 100, connected to the sliding housing 211. The slide rail 214 is fixedly mounted on the slide base 210 and extends along the second direction Y. The sliding housing 211 is slidably mounted on the slide rail 214, and the slide cylinder 215 drives the first slide assembly 21 or the second slide assembly 22 to move along the slide rail 214. The lifting mechanism 213 in the above embodiment is also slidably mounted on the slide rail 214.
[0055] In one embodiment, the lifting mechanism 213 includes a lifting block 2131, a lifting cylinder 2132, a sliding cylinder 2133, and a mounting plate 2134. The upper surface of the lifting block 2131 is V-shaped to improve stability when lifting the wheel hub assembly. The mounting plate 2134 is slidably mounted on the slide rail 214. Both the lifting cylinder 2132 and the sliding cylinder 2133 are fixedly mounted on the mounting plate 2134. The lifting cylinder 2132 drives the lifting block 2131 to move along a third direction Z, and the sliding cylinder 2133 drives the mounting plate 2134 to move along a second direction Y, adjusting the position of the lifting block 2131 to accommodate different wheel hub products. When the sliding housing moves, the lifting mechanism moves synchronously with the sliding housing.
[0056] Continue to refer to Figure 1In one embodiment, the press assembly 3 includes a first press assembly 31 and a second press assembly 32 with identical structures arranged along a second direction Y. The first press assembly 31 is located between the gantry assembly 1 and the first robot assembly 41, and the second press assembly 32 is located between the gantry assembly 1 and the second robot assembly 42. The first robot assembly 41 transports the wheel hub assembly 200 at a first position A on the turntable 11 and the spacer ring 300 on the spacer ring placement frame 5 to the first press assembly 31. The second robot assembly 42 transports the spacer ring 300 at a second position B on the turntable 11 and the wheel hub assembly 200 on the wheel hub assembly placement frame 6 to the second press assembly 32.
[0057] Figure 8 A structural diagram of a first press assembly or a second press assembly provided for one embodiment of this application, as shown below. Figure 8 As shown, in one embodiment, both the first press assembly 31 and the second press assembly 32 include a C-frame 311, a pressing mechanism 313, and a positioning plate 312. The C-frame 311 includes a first arm 3111 and a second arm 3112 arranged opposite each other along a third direction Z, with the second arm 3112 located below the first arm 3111. The pressing mechanism 313 is mounted on the first arm 3111, and the positioning plate 312 is disposed on the second arm 3112. The pressing mechanism 313 is used to clamp and move the spacer 300, and can press the spacer 300 into the mounting groove within the wheel hub assembly 200. The positioning plate 312 is used to support and position the wheel hub assembly 200, with the first direction X, the second direction Y, and the third direction Z being perpendicular to each other.
[0058] In one specific embodiment, the pressing mechanism 313 includes a pressing cylinder 301, a slider 302, a gripper cylinder 303, two gripping jaws 304, and a pressing head 305. The pressing cylinder 301 drives the slider 302 to slide along a third direction Z. The pressing head 305 is detachably connected to the bottom of the slider 302. The two gripping jaws 304 are slidably mounted on the gripper cylinder 303 along a second direction Y, and the pressing head 305 is located between the two gripping jaws 304. The pressing head 305 specifically includes a first connecting plate 3051, a second connecting plate 3052, and a pressing plate 3053. The first connecting plate 3051 and the second connecting plate 3052 are arranged opposite to each other. One end of the first connecting plate 3051 and the second connecting plate 3052 is connected to the bottom of the slider 302. The pressing plate is connected to the other end of the first connecting plate 3051 and the second connecting plate 3052. The pressing plate 3053 is located between the two gripping jaws 304. The gripper cylinder 303 is used to drive the two gripping jaws 304 to move closer together to grip the spacer ring 300; or, the gripper cylinder 303 is used to drive the two gripping jaws 304 to move away from each other to release the spacer ring 300. When gripping the spacer ring 300, the spacer ring is located between the two gripping jaws 304 and is located on the side of the pressure plate 3053 facing the positioning disk 312, that is, below the pressure plate 3053.
[0059] The aforementioned pressure head 305 includes various models, each with different dimensions and shapes. Depending on the type or model of the wheel hub assembly 200, a pressure head 305 adapted to the wheel hub assembly can be used to press-fit the spacer ring 300. The pressing mechanism 313 also includes an adjusting cylinder 306, which is mounted at the bottom of the slider 302. A gripper cylinder 303 is connected to the adjusting cylinder 306. The adjusting cylinder 306 drives the gripper cylinder 303 to move along the third direction Z, thereby adjusting the relative position of the gripping claw 304 and the pressure plate 3053 to accommodate different models of pressure heads and ensure stable clamping of the spacer ring.
[0060] The aforementioned C-frame also includes a connecting arm that connects the first arm and the second arm, extending in the third direction Z. A linear guide rail 307 is provided on the side of the connecting arm facing the pressing mechanism, and the aforementioned slider 302 is slidably mounted on the linear guide rail 307. A limiting member 308 is provided at one end of the linear guide rail 307 near the positioning plate 312; this limiting member 308 is used to limit the movement range of the slider 302.
[0061] In one embodiment, the automatic wheel hub assembly further includes a tray assembly 8, located between a first slide assembly 21 and a second slide assembly 22, for supporting the axle 100. The tray assembly 8 includes a tray body 81 and a lifting and positioning mechanism 82. A support fixture 83 is mounted on the top of the tray body 81 for fixing the axle 100, and the lifting and positioning mechanism 82 is located at the bottom of the tray body 81 for adjusting the height of the tray body 81 in a third direction Z. The tray assembly 8 can be connected to external line equipment and is movable in a first direction X.
[0062] In one embodiment, the automatic wheel hub assembly device further includes a control module and a communication module. The communication module receives instructions from an external control system and sends them to the control module, which controls the gantry assembly, press assembly, slide assembly, bearing inner ring separation mechanism, robot assembly, and pallet assembly to perform assembly operations.
[0063] Taking the wheel hub assembly 200 with a drum-type structure as an example, the working process of the automatic wheel hub assembly device of this application is as follows:
[0064] S1: The lifting and positioning mechanism 82 of the pallet assembly 8 lifts the pallet body 81 and transports the axle 100 to the preset work station.
[0065] S2: The second robot component 42 takes a picture and identifies a wheel hub component 200 on the wheel hub component placement rack 6, records the bolt position of the wheel hub component, and then picks up the wheel hub component 200 and places it on the wheel hub component placement seat 14 located at the second position B on the right side of the turntable 11 of the gantry frame component 1. At the same time, the first robot component 41 picks up a spacer ring 300 from the spacer ring placement rack 5 and places it on the spacer ring placement seat 15 located at the first position A on the left side of the turntable 11. This spacer ring 300 is the first spacer ring.
[0066] S3: The reducer 18 drives the turntable 11 to rotate 180 degrees, causing the spacer ring placement seat 15 and the hub assembly placement seat 14 to exchange positions. The hub assembly placement seat 14 rotates to the first position A on the left, and the spacer ring placement seat 15 rotates to the second position B on the right. At the same time, the first robot assembly 41 picks up the second spacer ring 300 from the spacer ring placement frame 5 and places it on the press head 305 of the first press assembly 31. The gripping claw 304 clamps the spacer ring 300.
[0067] S4: The first robot assembly 41 grasps the hub assembly 200 at the first position A on the turntable 11 and moves it to the bearing inner ring separation mechanism 7 on the gantry assembly 1 near the first position A. The bearing inner ring separation mechanism 7 grasps the bearing inner ring inside the center hole of the hub assembly 200. Then, the first robot assembly 41 rotates the hub assembly 200, after removing the bearing inner ring, 180 degrees up and down and places it on the positioning plate 312 of the first press assembly 31 for positioning.
[0068] At the same time, the second robot component 42 grasps the spacer 300 located at the second position B on the turntable 11 and places it at the pressure head 305 of the second press component 32, and the gripper 304 clamps the spacer 300.
[0069] Then, the second robot component 42 takes a picture of the wheel hub assembly 200 on the wheel hub assembly 200 placement rack to identify the bolt position of the wheel hub assembly 200, grabs the wheel hub assembly 200, and moves it to the bearing inner ring separation mechanism 7 near the second position B on the gantry assembly 1. The bearing inner ring separation mechanism 7 grabs the bearing inner ring inside the wheel hub. Then, the second robot component 42 rotates the wheel hub assembly 200 with the bearing inner ring removed 180 degrees up and down and places the wheel hub assembly 200 at the positioning plate 312 of the second press assembly 32 for positioning.
[0070] S5: The first press assembly 31 and the second press assembly 32 press the spacer 300 into place. Specifically, when the gripper cylinder 303 slides to the preset position with the slider 302, the gripper cylinder 303 drives the gripping claws 304 to move away from each other, the pressing cylinder 301 continues to drive the slider 302 to descend, and the pressing head 305 presses the spacer 300 into the spacer mounting groove in the wheel hub assembly.
[0071] Simultaneously, the first robot grasps the inner bearing ring on the bearing inner ring separation mechanism 7 near the first position A, fits it outside the positioning shaft 203 of the first slide assembly 21, and is positioned at the bearing inner ring pressure head assembly 2021. The second robot grasps the inner bearing ring on the bearing inner ring separation mechanism 7 near the second position B, fits it outside the positioning shaft 203 of the second slide assembly 22, and is positioned at the bearing inner ring pressure head assembly 2021.
[0072] S6: The first robot component 41 grasps the wheel hub assembly 200 that has been pressed onto the first press assembly 31 and places it onto the positioning mechanism 212 of the first slide assembly 21; the second robot component 42 grasps the wheel hub assembly 200 that has been pressed onto the second press assembly 32 and places it onto the positioning mechanism 212 of the second slide assembly 22. Specific bolts of the wheel hub assembly 200 extend into the positioning sleeve 202, and the center hole is fitted outside the positioning shaft 203. After the lifting mechanism 213 of the slide assembly is raised, the robot arm 413 is released, and the positioning shaft cylinder 2032 drives the tip 2031 to extend. The tip 2031 abuts against the chamfer of the inner hole of the end face of the axle housing 100, precisely positioning the wheel hub assembly.
[0073] S7: The slide cylinders 215 of the first slide assembly 21 and the second slide assembly 22 move the sliding box 211 quickly (about 150 mm / s) to the preset position, switch to slow speed (about 30-50 mm / s) to press the bearing inner ring and the hub assembly 200 onto the end of the axle housing 100 respectively, and after holding the pressure, quickly return to the original position.
[0074] S8: All components return to their original positions, release tray component 8 to flow out, and the workflow of this station ends.
[0075] The automatic wheel hub assembly device of this application can assemble and install two sets of wheel hub components at the same time, thereby improving assembly efficiency.
[0076] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
Claims
1. An automatic wheel hub assembly device, characterized in that, This includes gantry assembly, slide table assembly, press assembly, and robot assembly, among which, The gantry assembly is used to support the wheel hub assembly and spacer ring; The robot component is fixedly mounted on one side of the gantry assembly, and the robot component is used to transport the hub assembly between the gantry assembly, the press assembly, and the slide assembly; or, the robot component is used to transport the spacer ring between the gantry assembly and the press assembly. The press assembly along the first direction is disposed between the gantry assembly and the robot assembly, and is used to install the spacer ring to the wheel hub assembly; The slide assembly is located below the gantry assembly and is used to mount the assembled wheel hub assembly and the spacer ring onto the axle.
2. The automatic wheel hub assembly device according to claim 1, characterized in that, The gantry assembly includes a turntable, a rotating shaft mechanism, and a frame. The turntable is rotatably mounted on the top of the frame and rotates around the rotating shaft mechanism. The turntable is provided with hub assembly placement seats and spacer placement seats located on both sides of the rotating shaft mechanism. The spacer holder is located in a first position, the wheel hub assembly holder is located in a second position, and the turntable rotates to move the spacer holder from the first position to the second position and the wheel hub assembly holder from the second position to the first position. Alternatively, the hub assembly placement seat is located in the first position, the spacer ring placement seat is located in the second position, and the turntable rotates to rotate the hub assembly placement seat from the first position to the second position, and the spacer ring placement seat from the second position to the first position; The first position and the second position are arranged along a second direction, which is perpendicular to the first direction.
3. The automatic wheel hub assembly device according to claim 2, characterized in that, It also includes two bearing inner ring separation mechanisms, which are fixedly installed on the side of the frame near the robot assembly. Each bearing inner ring separation mechanism includes a cylinder and two grippers. The two grippers have a groove on their opposite sides for engaging the bearing inner ring. The cylinder drives the two grippers away from each other to fix the bearing inner ring; or, the cylinder drives the grippers closer together to release the bearing inner ring.
4. The automatic wheel hub assembly device according to claim 2, characterized in that, The robot assembly includes a first robot assembly and a second robot assembly with identical structures. The first robot assembly and the second robot assembly are disposed on both sides of the turntable along the second direction, with the first robot assembly closer to the first position and the second robot assembly closer to the second position.
5. The automatic wheel hub assembly device according to claim 4, characterized in that, Both the first robot assembly and the second robot assembly include a base, a robotic arm, a robotic hand, and an image acquisition component. The robotic hand and the base are respectively connected to the two ends of the robotic arm, and the image acquisition component is fixedly installed on the robotic hand.
6. The automatic wheel hub assembly device according to claim 2, characterized in that, The slide assembly includes a first slide assembly and a second slide assembly with the same structure and arranged along the second direction. The first slide assembly and the second slide assembly are mirror images of each other. The first slide assembly and the second slide assembly can move closer to or further away from each other along the second direction. The axle is placed between the first slide assembly and the second slide assembly.
7. The automatic wheel hub assembly device according to claim 6, characterized in that, Both the first slide assembly and the second slide assembly include a sliding housing and a positioning mechanism. The positioning mechanism is installed on the side of the sliding housing facing the axle and is used to position the wheel hub assembly. The positioning mechanism includes two sets of positioning sleeves extending along the second direction and a positioning shaft disposed between the two sets of positioning sleeves. When positioning the hub assembly, the bolts of the hub assembly are inserted into the two sets of positioning sleeves, and the central hole of the hub assembly is sleeved on the outer periphery of the positioning shaft.
8. The automatic wheel hub assembly device according to claim 4, characterized in that, The press assembly includes a first press assembly and a second press assembly with the same structure and arranged along the second direction. The first press assembly is located between the gantry assembly and the first robot assembly, and the second press assembly is located between the gantry assembly and the second robot assembly.
9. The automatic wheel hub assembly device according to claim 8, characterized in that, The first press assembly includes a C-frame, a pressing mechanism, and a positioning plate. The C-frame includes a first arm and a second arm arranged opposite to each other along a third direction. The pressing mechanism is installed on the side of the first arm facing the second arm, and the positioning plate is installed on the side of the second arm facing the pressing mechanism. The pressing mechanism is used to clamp and move the spacer ring, and the positioning plate is used to support the wheel hub assembly. The first direction, the second direction, and the third direction are perpendicular to each other.
10. The automatic wheel hub assembly device according to claim 9, characterized in that, The pressing mechanism includes a pressing cylinder, a slider, a gripper cylinder, two gripping jaws, and a pressing head. The pressing cylinder drives the slider to slide along the third direction. The gripper cylinder is connected to the slider. The two gripping jaws are slidably mounted on the gripper cylinder along the second direction. The pressing head is located between the two gripping jaws. The gripper cylinder drives the two gripping jaws to move closer to each other to grip the spacer ring; or, the gripper cylinder drives the two gripping jaws to move away from each other to release the spacer ring.
11. The automatic wheel hub assembly device according to claim 6, characterized in that, It also includes a pallet assembly located between the first slide assembly and the second slide assembly, the pallet assembly being used to support the axle.