CN111114199A - Control method of automatic wheel mounting/dismounting apparatus and computer-readable storage medium - Google Patents
Control method of automatic wheel mounting/dismounting apparatus and computer-readable storage medium Download PDFInfo
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- CN111114199A CN111114199A CN201911329447.2A CN201911329447A CN111114199A CN 111114199 A CN111114199 A CN 111114199A CN 201911329447 A CN201911329447 A CN 201911329447A CN 111114199 A CN111114199 A CN 111114199A
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- wheel
- dismounting
- mounting
- module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B29/00—Apparatus or tools for mounting or dismounting wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B29/00—Apparatus or tools for mounting or dismounting wheels
- B60B29/001—Apparatus or tools for mounting or dismounting wheels comprising lifting or aligning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B29/00—Apparatus or tools for mounting or dismounting wheels
- B60B29/008—Wheel pullers; tools for axial movement of wheels
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a control method and a storage medium of an automatic wheel dismounting/mounting device, wherein the automatic wheel dismounting/mounting device comprises a walking module and a dismounting/mounting module, the control method comprises a dismounting method and/or a mounting method, and the dismounting method comprises the following steps: controlling the walking module to move to a disassembling station according to the position information of the wheel to be disassembled, and controlling the disassembling/assembling module to take out the nut according to the current position of the nut; controlling the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled; the installation method comprises the following steps: and controlling the walking module to move to an installation station according to the installation position information of the wheel to be installed, controlling the disassembling/installing module to align the installation hole of the wheel to be installed with the wheel shaft according to the current position of the wheel shaft, and controlling the disassembling/installing module to tighten the nut according to the current position of the bolt. The control method can realize the transportation of the wheels and the automatic disassembly/assembly of the wheels, further reduce the labor intensity of manual operation and ensure the disassembly and assembly efficiency.
Description
Technical Field
The present invention relates to the field of wheel mounting and dismounting technologies, and in particular, to a control method for an automatic wheel mounting and dismounting device and a computer-readable storage medium.
Background
The vehicle needs to be subjected to secondary maintenance after running for a certain mileage, and wheel disassembly and assembly are an important link of the secondary maintenance. At present, the wheel dismouting of second grade warranty generally adopts mode dismouting nut, the calibration of mechanical type torque wrench of "manual operation + pneumatic spanner", and this mode manual operation intensity of labour is big, and the dismouting is efficient, and the nut fastening numerical value precision is poor, can not take notes.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a control method for an automatic wheel dismounting/mounting device, so as to achieve automatic dismounting/mounting of a wheel, reduce labor intensity of manual operation, and ensure dismounting efficiency.
In order to achieve the above object, a first aspect of the present invention provides a control method for an automatic wheel mounting/demounting apparatus including a travel module, a mounting/demounting module, and a control module, the control method including a mounting method and/or a demounting method,
the disassembling method comprises the following steps: the control module acquires position information of a wheel to be disassembled, determines a disassembling station according to the position information and controls the walking module to drive the automatic wheel disassembling/assembling device to move to the disassembling station; the control module acquires the current position of the nut of the wheel to be disassembled and controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut; the control module acquires the current position of the wheel to be disassembled and controls the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled;
the installation method comprises the following steps: the control module acquires installation position information of a wheel to be installed, determines an installation station according to the installation position information, and controls the walking module to drive the automatic wheel dismounting/mounting device to move to the installation station; the control module acquires the current position of the wheel shaft of the wheel to be installed, and controls the disassembling/assembling module to align the installing hole of the wheel to be installed with the current position of the wheel shaft according to the current position of the wheel shaft; the control module obtains the current position of the bolt of the wheel to be installed, and controls the disassembling/installing module to tighten the nut of the wheel to be installed according to the current position of the bolt.
According to the control method of the automatic wheel dismounting/mounting device, disclosed by the embodiment of the invention, the control module in the automatic wheel dismounting/mounting device is used for controlling the running module and the dismounting/mounting module in the automatic wheel dismounting/mounting device, so that the automatic dismounting/mounting of wheels and the transportation of the wheels can be realized, the labor intensity of manual operation can be further reduced, and the dismounting efficiency can be guaranteed.
In addition, the control method of the automatic wheel mounting/dismounting device according to the embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the automatic wheel mounting/dismounting device includes a positioning module, wherein the step of the control module acquiring a current position of an axle of the wheel to be mounted and controlling the mounting/dismounting module to align a mounting hole of the wheel to be mounted with the current position of the axle according to the current position of the axle includes: the positioning module acquires the current position of the wheel shaft of the wheel to be installed in an image recognition mode; the control module controls the disassembling/assembling module to align the assembling hole of the wheel to be assembled with the current position of the wheel shaft according to the current position of the wheel shaft.
According to an embodiment of the present invention, the step of the control module acquiring a current position of a bolt of the wheel to be mounted and controlling the detachment/attachment module to tighten a nut of the wheel to be mounted according to the current position of the bolt includes: the positioning module acquires the current position of a bolt of the wheel to be installed and the installation position of the wheel to be installed corresponding to the bolt in an image recognition mode; and the control module rotates the wheel to be installed according to the current position of the bolt and the installation position of the wheel to be installed corresponding to the bolt, so that the installation position is aligned with the current position of the bolt, and controls the disassembling/assembling module to tighten the nut of the wheel to be installed according to the current position of the bolt.
According to an embodiment of the present invention, the disassembling/assembling module of the automatic wheel disassembling/assembling device includes at least one tightening device, wherein the step of the control module acquiring a current position of a bolt of the wheel to be assembled and controlling the disassembling/assembling module to tighten a nut of the wheel to be assembled according to the current position of the bolt includes: the control module controls at least one tightening device to tighten at least one first nut of the wheel to be installed according to the current position of the bolt; the control module controls at least one tightening device to rotate and tighten at least one second nut of the wheel to be installed according to the current position of the bolt.
According to an embodiment of the present invention, the step of the control module acquiring the current position of the nut of the wheel to be disassembled and controlling the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut comprises: the positioning module acquires the current position of the nut of the wheel to be disassembled in an image recognition mode; and the control module controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut.
According to an embodiment of the present invention, the disassembling/assembling module of the automatic wheel disassembling/assembling device includes at least one unscrewing device, wherein the step of the control module acquiring the current position of the nut of the wheel to be disassembled and controlling the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut includes: the control module controls at least one unscrewing device to unscrew and take out at least one first nut of the wheel to be disassembled according to the current position of the nut; and the control module controls at least one unscrewing device to rotate according to the current position of the nut, unscrews and takes out at least one second nut of the wheel to be installed.
According to an embodiment of the invention, a magnetic stripe is laid on the ground within the running range of the walking module, the automatic wheel dismounting/mounting device further comprises a magnetic navigation sensor, and the step of controlling the walking module to drive the automatic wheel dismounting/mounting device to move to the dismounting station or the mounting station by the control module comprises the following steps: the magnetic navigation sensor acquires position signals of the walking module relative to the magnetic strip; and the control module controls the walking module to drive the automatic wheel dismounting/mounting device to move to the dismounting station or the mounting station according to the position signal.
According to an embodiment of the present invention, the control method further includes: the control module judges whether the distance between the control module and the wheel shaft of the wheel to be disassembled or the wheel to be installed is in a preset distance interval or not after the walking module drives the automatic wheel disassembling/assembling device to move to the disassembling station or the installing station; if the distance is within the preset distance interval, the control module controls the disassembling/assembling module to disassemble the wheel to be disassembled or assemble the wheel to be assembled; and if the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is not within the preset distance interval, the control module controls the walking module to drive the automatic wheel disassembling/assembling device to further move until the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is within the preset distance interval.
According to an embodiment of the present invention, the step of the control module controlling the disassembly/assembly module to tighten the nut of the wheel to be mounted according to the current position of the bolt includes: the control module acquires output torque for fastening the nut and judges whether the output torque reaches a preset torque threshold value; the control module determines that the nut is tightened if a preset torque threshold is reached.
According to an embodiment of the present invention, after the control module controls the disassembly/assembly module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled, the disassembly method further includes: the control module controls the walking module to drive the automatic wheel dismounting/mounting device to transport and place the wheel to be dismounted on the wheel frame.
According to an embodiment of the invention, before the control module controls the running module to drive the automatic wheel dismounting/mounting device to move to the mounting station, the mounting method further comprises the following steps: the control module controls the automatic wheel dismounting device to grab the wheel to be installed from the wheel frame.
According to one embodiment of the invention, the automatic wheel dismounting/mounting device is an automatic wheel dismounting/mounting device, and the control method comprises a dismounting method and a mounting method; the automatic wheel dismounting device further comprises an acquisition module, wherein the control method further comprises the following steps: the acquisition module acquires a working mode input by a user, wherein the working mode comprises a disassembly mode and an installation mode; when the working mode is the disassembling mode, the control module executes the disassembling method; and the control module executes the steps of the installation method when the working mode is the installation mode.
To achieve the above object, a second convenient embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the control method of the automatic wheel mounting/dismounting device.
The computer-readable storage medium of the embodiment of the invention, when the computer program corresponding to the control method of the automatic wheel dismounting/mounting device stored on the computer-readable storage medium is executed by the processor, can realize automatic dismounting/mounting of the wheel and transportation of the wheel, and further can reduce labor intensity of manual operation and guarantee dismounting efficiency.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a control method of an automatic wheel mounting/dismounting device according to an embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of a control method of an automatic wheel mounting/dismounting device according to an example of the present invention;
fig. 3 is a flowchart of a disassembling method in a control method of an automatic wheel disassembling/assembling apparatus according to an example of the present invention;
fig. 4 is a flowchart of an installation method in a control method of an automatic wheel mounting/dismounting device according to an example of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method and a computer-readable storage medium of an automatic wheel mounting/dismounting device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of an automatic wheel mounting/dismounting device according to an embodiment of the present invention.
In an embodiment of the invention, the automatic wheel dismounting/mounting device comprises a walking module, a dismounting/mounting module and a control module, and the control method comprises a dismounting method and/or a mounting method. The automatic wheel dismounting/mounting device can be an automatic wheel dismounting device which can only realize the automatic wheel dismounting function; the automatic wheel mounting device can only realize the automatic wheel mounting function; the automatic wheel dismounting device can realize the automatic wheel dismounting function and the automatic wheel mounting function. The disassembly/assembly module may be a disassembly module that only enables wheel disassembly; or the installation module can only realize wheel installation; the wheel mounting and dismounting module can be used for mounting and dismounting the wheel. The walking module can comprise universal wheels which can drive the automatic wheel dismounting/mounting device to move in any direction.
As shown in fig. 1, the disassembling method comprises the following steps:
and S11, the control module acquires the position information of the wheel to be disassembled, determines the disassembling station according to the position information and controls the walking module to drive the automatic wheel disassembling/assembling device to move to the disassembling station.
Specifically, when the wheel of the vehicle needs to be disassembled, an operator can issue a disassembling instruction to the automatic wheel disassembling/assembling device through an operation module (such as an operation panel) of the automatic wheel disassembling/assembling device (for example, when the automatic wheel disassembling/assembling device is only the automatic wheel disassembling device, a number of the wheel to be disassembled can be selected on the operation panel, and then a 'start' option is clicked), the disassembling instruction can contain position information of the wheel to be disassembled (such as the wheel with the number of L01, namely, a left front wheel), and based on the position information, the control module can control the walking module to drive the automatic wheel disassembling/assembling device to move to a disassembling station (namely, the operation station where the wheel to be disassembled is located).
And S12, the control module acquires the current position of the nut of the wheel to be disassembled and controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut.
As an example, the automatic wheel dismounting/mounting device includes a positioning module, wherein the step of the control module acquiring the current position of the nut of the wheel to be dismounted and controlling the dismounting/mounting module to take out the nut of the wheel to be dismounted according to the current position of the nut includes: the positioning module acquires the current position of a nut of the wheel to be disassembled in an image recognition mode; the control module controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut.
In particular, the positioning module may include a plurality of vision cameras, for example, two vision cameras, and the two vision cameras may be symmetrically disposed on the detaching/attaching module. When the automatic wheel dismounting/mounting device moves to the dismounting station, the two vision cameras can acquire images of nuts of the wheel to be dismounted, the images are identified, the current positions of the nuts can be determined, and then the control module can control the dismounting/mounting module to take out the nuts of the wheel to be dismounted.
As an example, the disassembling/assembling module of the automatic wheel disassembling/assembling device includes at least one unscrewing device, wherein the step of the control module acquiring the current position of the nut of the wheel to be disassembled and controlling the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut includes: the control module controls at least one unscrewing device to unscrew and take out at least one first nut of the wheel to be disassembled according to the current position of the nut; the control module controls the at least one unscrewing device to rotate according to the current position of the nut and unscrews and takes out the at least one second nut of the wheel to be mounted.
Specifically, one unscrewing device can correspond a nut, that is, one unscrewing device can only unscrew a nut once, and the quantity of unscrewing device can be less than the quantity of waiting to dismantle the wheel nut, for example, the quantity of unscrewing device is two, and the quantity of waiting to dismantle the wheel nut is 10, and at this moment, two unscrewing devices can only be once unscrewed two nuts in the centering, and the nut of centering for the first time can be marked as first nut, and after first nut was unscrewed, steerable two unscrewing devices rotated, with centering other two nuts that are not unscrewed and take out, analogize in proper order, until all nuts all are all unscrewed and take out, wherein, after first nut was unscrewed and was taken out, other nuts that need the unscrewing device to rotate and just can unscrew and take out can be marked as second nuts.
Alternatively, the dismounting/mounting module may comprise a turntable, the control device may control the turntable to rotate, the unscrewing device may be disposed on the turntable, and the rotation of the turntable may drive the unscrewing device to rotate.
And S13, the control module also obtains the current position of the wheel to be disassembled and controls the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled.
As an example, the step of the control module acquiring the current position of the wheel to be disassembled and controlling the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled includes: the positioning module acquires the current position of the wheel to be disassembled in an image recognition mode; the control module controls the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel shaft.
Specifically, the dismounting/mounting module may include a gripping device, the gripping device may be integrally movable in the up-down, front-back, and front-back directions, the gripping device may include at least three gripping portions, the at least three gripping portions form an acute triangle, a line connecting the at least two gripping portions is parallel to a horizontal plane and is movable in the horizontal direction, and the at least one gripping portion may perform a partial circular motion on a vertical plane, such as a circular motion from an upper left portion to a lower right portion, or a circular motion from an upper right portion to a lower left portion. When the automatic wheel dismounting/mounting device moves to the dismounting station, the two visual cameras can acquire the wheel axle image, and the current position of the wheel axle can be determined by identifying the wheel axle image. According to this current position the holistic position of adjustable grabbing device and the position of portion of snatching to make the projection of waiting to dismantle the wheel in the shaft direction fall into the reference circle of grabbing portion injectedly, at this moment, the steerable grabbing device of control module is whole to waiting to dismantle the wheel motion to first position, and then steerable grabbing portion is towards the inside motion of reference circle, will wait to dismantle the wheel chucking. After the wheel to be disassembled is clamped, the whole grabbing device can be controlled to move to the second position in the reverse direction of the wheel shaft of the wheel to be disassembled, and the wheel to be disassembled is taken out at the moment. The first position and the second position can be set according to requirements, for example, the first position is a position where the front ends of all the grabbing parts and the side of the wheel far away from the automatic wheel dismounting/mounting device are in the same plane, and the second position is a position ready to be extended for grabbing.
Alternatively, the gripping device may comprise two positioning plates, the surfaces of which facing the wheel constitute the wheel positioning surfaces, both positioning plates may be provided with contact sensors, both positioning plates may be arranged on both sides of the gripping device, whereby the setting and control of the unscrewing device may not be influenced. When the control module controls the whole grabbing device to move towards the wheel to be disassembled, when the contact sensor detects that the wheel to be disassembled is in good contact with the two positioning plates, the control module judges that the grabbing device moves to the first position.
As an example, the gripping parts may be provided on the mounting bracket, and the at least two gripping parts are provided at the lower end of the mounting bracket, and the at least one gripping part is provided at the upper end of the mounting bracket, thereby better gripping and holding the wheel. And the mounting bracket is arranged in a hollow manner, so that the unscrewing device can be arranged in the hollow position.
In this example, upward thrusts of at least two gripping portions provided at a lower end of the mounting bracket may be detected, and if the sum of the upward thrusts reaches a thrust threshold, the control module may determine that the gripping portions grip the wheel. When the wheel is disassembled, the nut can be loosened in the step S12 and the wheel can be grabbed in the step S13 (i.e., the whole grabbing device is controlled to move to the first position towards the wheel to be disassembled and clamp the wheel to be disassembled), and after all the nuts are loosened and taken out, the grabbing device can be controlled to take out the wheel to be disassembled (i.e., the whole grabbing device is controlled to move to the second position towards the wheel axle of the wheel to be disassembled in the opposite direction).
As an example, after the control module controls the detachment/attachment module to take out the wheel to be detached according to the current position of the axle, the detachment method further includes: the control module controls the walking module to drive the automatic wheel dismounting/mounting device to transport and place the wheel to be dismounted on the wheel frame (as shown in figure 2).
As shown in fig. 1, the installation method comprises the following steps:
and S21, the control module acquires the installation position information of the wheel to be installed, determines an installation station according to the installation position information, and controls the walking module to drive the automatic wheel dismounting/mounting device to move to the installation station.
As an example, before the control module controls the traveling module to move the automatic wheel dismounting/mounting device to the mounting station, the mounting method further comprises: the control module controls the automatic wheel dismounting device to grab the wheel to be installed from the wheel frame.
Specifically, the process of grabbing the wheel to be installed from the wheel frame (as shown in fig. 2) includes obtaining the current position of the axle hole, controlling the grabbing device to move to the first position, the second position, and the like, similar to the control manner of grabbing the wheel to be dismantled.
And S22, the control module acquires the current position of the wheel shaft of the wheel to be installed, and controls the dismounting/mounting module to align the mounting hole of the wheel to be installed with the current position of the wheel shaft according to the current position of the wheel shaft.
As one example, the automatic wheel mounting/dismounting device includes a positioning module, wherein the step of the control module acquiring a current position of an axle of the wheel to be mounted, and controlling the mounting/dismounting module to align the mounting hole of the wheel to be mounted with the current position of the axle according to the current position of the axle includes: the positioning module acquires the current position of a wheel shaft of a wheel to be installed in an image recognition mode; the control module controls the dismounting/mounting module to align the mounting hole of the wheel to be mounted with the current position of the wheel shaft according to the current position of the wheel shaft.
In particular, the positioning module may include a plurality of vision cameras, for example, two vision cameras, and the two vision cameras may be symmetrically disposed on the detaching/attaching module. When the automatic wheel dismounting/mounting device moves to the mounting station, the two vision cameras can acquire wheel axle images, the wheel axle images are identified, the current position of the wheel axle can be determined, and then the control module can control the dismounting/mounting module to align the mounting hole of the wheel to be mounted with the current position of the wheel axle. At the moment, the grabbing device can be controlled to move to a first position towards the direction of the wheel axle, and the wheel to be installed is placed in the wheel axle; after the wheel is placed, the grabbing part can be controlled to move, the wheel to be installed is released, and then the grabbing device can be controlled to move to the second position in the direction opposite to the wheel shaft.
And S23, the control module acquires the current position of the bolt of the wheel to be installed and controls the disassembling/assembling module to tighten the nut of the wheel to be installed according to the current position of the bolt.
As an example, the step of the control module acquiring the current position of the bolt of the wheel to be mounted and controlling the disassembly/assembly module to tighten the nut of the wheel to be mounted according to the current position of the bolt includes: the positioning module acquires the current position of a bolt of a wheel to be installed and the installation position of the wheel to be installed corresponding to the bolt in an image recognition mode; and the control module rotates the wheel to be installed according to the current position of the bolt and the installation position of the wheel to be installed corresponding to the bolt so that the installation position is aligned with the current position of the bolt, and controls the disassembling/assembling module to tighten the nut of the wheel to be installed according to the current position of the bolt.
Specifically, the dismounting/mounting module may include a gripping device, the gripping device may include at least three gripping portions, the at least three gripping portions form an acute triangle, a line connecting the at least two gripping portions is parallel to a horizontal plane and is movable left and right in a horizontal direction, and the at least one gripping portion may perform a partial circular motion on a vertical plane, such as a circular motion from an upper left portion to a lower right portion, or a circular motion from an upper right portion to a lower left portion; the gripping part can be configured as a roller, which can rotate. After the wheels are grabbed by the grabbing device, all grabbing parts are tightly attached to the wheels, when at least one roller is driven to rotate, the at least one roller can drive the wheels to rotate, the installation position can also rotate until the installation position is aligned with the current position of the bolt, and of course, other rollers can also rotate simultaneously in the process. After the mounting position is aligned with the current position of the bolt, the gripping device can be controlled to mount the wheel to be mounted into the wheel shaft, and then after the nut of the wheel to be mounted is mounted into the bolt, the control module can control the dismounting/mounting module to screw the nut of the wheel to be mounted tightly.
As an example, the disassembling/assembling module of the automatic wheel disassembling/assembling device includes at least one tightening device, wherein the step of the control module acquiring a current position of a bolt of the wheel to be assembled and controlling the disassembling/assembling module to tighten a nut of the wheel to be assembled according to the current position of the bolt includes: the control module controls at least one tightening device to tighten at least one first nut of the wheel to be installed according to the current position of the bolt; the control module controls the at least one tightening device to rotate and tighten the at least one second nut of the wheel to be mounted according to the current position of the bolt.
Specifically, one tightening device may correspond to one nut, that is, one tightening device may only tighten one nut at a time, the number of tightening devices may be less than the number of nuts of the wheel to be installed, for example, the number of tightening devices is two, the number of nuts of the wheel to be installed is 10, at this time, two tightening devices may only tighten two nuts at a time, the first nut in the centering may be referred to as a first nut, after the first nut is tightened, the two tightening devices may be controlled to rotate so as to center the other two nuts that are not tightened, and so on until all the nuts are tightened, wherein after the first nut is tightened, the other nuts that are tightened by the rotation of the tightening devices may be referred to as second nuts.
As an example, the loosening device and the tightening device may be one and the same device, denoted as a tightening device. When the nut is unscrewed, the control module can control the loosening and tightening device to drive the nut to rotate towards a first direction; when the nut is tightened, the control module can control the tightening and loosening device to drive the nut to rotate towards a second direction, wherein the first direction and the second direction are opposite to each other, for example, the first direction is an anticlockwise direction, and the second direction is a clockwise direction.
When the wheel is mounted, the positioning and the placement of the wheel in step S22 and the positioning and the tightening of the nut in step S23 may be performed simultaneously. Specifically, the wheels can be positioned while the tightening device can be positioned; after the wheel to be installed is placed on the wheel shaft, the nut can be screwed down; and in the process of screwing the nut, the wheel to be installed can be released, and the grabbing device is controlled to move to the second position.
Therefore, the control method of the automatic wheel dismounting/mounting device provided by the embodiment of the invention can realize automatic dismounting, automatic transportation and automatic storage of the wheels when the wheels are dismounted; when the wheels are installed, the wheels can be automatically stored, transported and installed; from this, can reduce manual operation intensity of labour, guarantee dismouting efficiency. And when the wheel is automatically disassembled/assembled, the grabbing of the wheel and the screwing and unscrewing of the nut can be independently controlled and do not conflict with each other, and the wheel grabbing and the screwing and unscrewing of the nut can be synchronously operated, so that the timeliness of the disassembling/assembling of the wheel can be improved.
As an example, a magnetic stripe is laid on the ground within the operation range of the walking module, the automatic wheel dismounting/mounting device further comprises a magnetic navigation sensor, and the step of controlling the walking module to drive the automatic wheel dismounting/mounting device to move to the dismounting station or the mounting station by the control module comprises the following steps: the magnetic navigation sensor acquires position signals of the walking module relative to the magnetic strip; the control module controls the walking module to drive the automatic wheel dismounting/mounting device to move to a dismounting station or a mounting station according to the position signal.
Specifically, the magnetic stripe may be laid along a specific route, which may be as shown in fig. 2, and the control module may control the traveling module to move along the specific route. The specific route can be set according to factors such as possible dismounting stations, the positions of the wheel frames, the shortest route and the like, and is convenient to move. Therefore, the walking module can be conveniently controlled through magnetic stripe navigation.
As an example, the control method further includes: the control module judges whether the distance between the control module and a wheel shaft of the wheel to be disassembled or installed is in a preset distance interval or not after the walking module drives the automatic wheel disassembling/assembling device to move to a disassembling station or an installing station; if the vehicle wheel is within the preset distance interval, the control module controls the disassembling/assembling module to disassemble the wheel to be disassembled or assemble the wheel to be assembled; if the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is not within the preset distance interval, the control module controls the walking module to drive the automatic wheel disassembling/assembling device to further move until the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is within the preset distance interval.
Specifically, at least two distance sensors (such as an ultrasonic probe, an infrared probe, a camera, etc.) may be disposed on a side where the detaching/attaching module is operated on the automatic wheel detaching/attaching device, and the at least two distance sensors may be disposed on the front half portion and the rear half portion of the automatic wheel detaching/attaching device, respectively. When the automatic wheel dismounting/mounting device moves to the dismounting station or the mounting station, the distance between the automatic wheel dismounting/mounting device and the vehicle can be detected through the distance sensor, whether the automatic wheel dismounting/mounting device is parallel to the vehicle or not can be judged according to the distance, and whether the distance meets the requirement of the dismounting/mounting module on the distance during working (namely whether the distance is in a preset distance interval or not) can be judged. And if at least one of the automatic wheel dismounting/mounting device and the vehicle is not parallel and the distance is not in the preset distance interval is not satisfied, the walking module is further controlled to drive the automatic wheel dismounting/mounting device to move until the automatic wheel dismounting/mounting device and the vehicle are parallel and the distance is in the preset distance interval. Therefore, accurate detachment/installation of the wheel is facilitated, and detachment/installation reliability of the wheel is improved.
As an example, the step of the control module controlling the disassembly/assembly module to tighten the nut of the wheel to be mounted according to the current position of the bolt includes: the control module acquires output torque for fastening the nut and judges whether the output torque reaches a preset torque threshold value; the control module determines that the nut is tightened if a preset torque threshold is reached.
Specifically, a torque sensor for detecting the torque of the fastening nut may be provided on the tightening device, and an operator may select a fastening mode, i.e., a preset torque threshold to be reached for the output torque of the fastening nut, according to the vehicle demand. When the tightening device is controlled to tighten the nut, the output torque for tightening the nut can be acquired, and when the output torque reaches a preset torque threshold value, the control module judges that the nut is tightened, namely the nut is tightened. Meanwhile, the control module can also acquire the final fastening numerical value of each nut so as to be convenient for the follow-up operator to check.
Optionally, when the nut is tightened, if the nut does not meet the tightening requirement in one tightening control, the tightening device can be controlled to tighten the nut again; if the nuts are screwed down for multiple times (such as 2 times, 3 times and the like) and the fastening requirements are not met, the control module can give an alarm to prompt so that an operator can check and remove the current fault in time.
As an example, the automatic wheel dismounting/mounting device is an automatic wheel dismounting/mounting device, and the control method includes a dismounting method and a mounting method; the automatic wheel dismounting device further comprises an acquisition module, wherein the control method further comprises the following steps: the acquisition module acquires a working mode input by a user, wherein the working mode comprises a disassembly mode and an installation mode; when the working mode is the disassembly mode, the control module executes the step of the disassembly method; and when the working mode is the installation mode, the control module executes the steps of the installation method.
Specifically, the automatic wheel dismounting device can realize the automatic wheel dismounting function and also can realize the automatic wheel mounting function. When the wheel to be disassembled needs to be disassembled, the disassembling mode can be selected through an operation panel of the automatic wheel disassembling and assembling device, and then the automatic wheel disassembling and assembling device can execute the steps of the disassembling method. When the wheel to be disassembled needs to be installed, the installation mode can be selected through an operation panel of the automatic wheel disassembling and assembling device, and then the automatic wheel disassembling and assembling device can execute the steps of the installation method.
In order to facilitate understanding of the control method of the automatic wheel mounting/dismounting apparatus according to the embodiment of the present invention, a wheel mounting/dismounting process and a wheel mounting process will be described with reference to fig. 2 to 4 by way of a specific example:
in this example, the automatic wheel mounting/dismounting device is an automatic wheel mounting/dismounting device, and the control method includes a dismounting method and a mounting method. As shown in fig. 2, the automatic wheel mounting and dismounting device is a mobile device, and can be placed near a device storage area or a trench of an overhaul warehouse.
As shown in fig. 3, when the wheel of the vehicle needs to be disassembled, the operator activates the automatic wheel disassembling/assembling device, selects the disassembling mode and the operation position (i.e., the position information of the wheel to be disassembled), and the automatic wheel disassembling/assembling device can automatically complete the disassembling of the nut and the wheel and transport the wheel to the specified wheel frame.
As shown in fig. 4, when a wheel of a vehicle needs to be installed, an operator first places the wheel to be installed on a specified wheel frame, starts the automatic wheel mounting and dismounting device, selects an installation mode and an installation position (i.e., installation position information of the wheel to be installed), and the automatic wheel mounting and dismounting device automatically transports the wheel to be installed from the wheel frame to an installation station for installation. After the mounting is finished, nuts can be manually mounted, and an operator starts the automatic wheel dismounting device again to finish the fastening of all the nuts and records data (including the fastening numerical values of all the nuts). After the current wheel to be installed is installed, the installation of other wheels to be installed is carried out according to the flow.
In summary, the control method of the automatic wheel dismounting/mounting device provided by the embodiment of the invention can realize automatic dismounting, mounting and transporting of the wheel, further reduce the labor intensity of manual operation, ensure the dismounting efficiency, realize accurate fastening of the wheel nut, record the fastening value of the nut, and facilitate checking.
Further, the present invention proposes a computer-readable storage medium.
In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the control method of the automatic wheel mounting/dismounting device described above is implemented.
According to the computer-readable storage medium of the embodiment of the invention, when the computer program corresponding to the control method of the automatic wheel dismounting/mounting device stored on the computer-readable storage medium is executed by the processor, automatic dismounting, mounting and transporting of the wheel can be realized, further, the labor intensity of manual operation can be reduced, the dismounting efficiency can be guaranteed, the accurate fastening of the wheel nut can be realized, the nut fastening value can be recorded, and the checking is convenient.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A control method of an automatic wheel dismounting/mounting device is characterized in that the automatic wheel dismounting/mounting device comprises a walking module, a dismounting/mounting module and a control module, the control method comprises a dismounting method and/or a mounting method,
the disassembling method comprises the following steps:
the control module acquires position information of a wheel to be disassembled, determines a disassembling station according to the position information and controls the walking module to drive the automatic wheel disassembling/assembling device to move to the disassembling station;
the control module acquires the current position of the nut of the wheel to be disassembled and controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut;
the control module acquires the current position of the wheel to be disassembled and controls the disassembling/assembling module to take out the wheel to be disassembled according to the current position of the wheel to be disassembled;
the installation method comprises the following steps:
the control module acquires installation position information of a wheel to be installed, determines an installation station according to the installation position information, and controls the walking module to drive the automatic wheel dismounting/mounting device to move to the installation station;
the control module acquires the current position of the wheel shaft of the wheel to be installed, and controls the disassembling/assembling module to align the installing hole of the wheel to be installed with the current position of the wheel shaft according to the current position of the wheel shaft;
the control module obtains the current position of the bolt of the wheel to be installed, and controls the disassembling/installing module to tighten the nut of the wheel to be installed according to the current position of the bolt.
2. The method for controlling an automatic wheel mounting/dismounting device according to claim 1, wherein the automatic wheel mounting/dismounting device includes a positioning module, and wherein the step of the control module acquiring a current position of an axle of the wheel to be mounted and controlling the mounting/dismounting module to align the mounting hole of the wheel to be mounted with the current position of the axle according to the current position of the axle includes:
the positioning module acquires the current position of the wheel shaft of the wheel to be installed in an image recognition mode;
the control module controls the disassembling/assembling module to align the assembling hole of the wheel to be assembled with the current position of the wheel shaft according to the current position of the wheel shaft.
3. The control method of the automatic wheel mounting/dismounting device according to claim 2, wherein the step of the control module acquiring the current position of the bolt of the wheel to be mounted and controlling the mounting/dismounting module to tighten the nut of the wheel to be mounted according to the current position of the bolt comprises:
the positioning module acquires the current position of a bolt of the wheel to be installed and the installation position of the wheel to be installed corresponding to the bolt in an image recognition mode;
and the control module rotates the wheel to be installed according to the current position of the bolt and the installation position of the wheel to be installed corresponding to the bolt, so that the installation position is aligned with the current position of the bolt, and controls the disassembling/assembling module to tighten the nut of the wheel to be installed according to the current position of the bolt.
4. The method for controlling an automatic wheel mounting/dismounting device according to claim 3, wherein the mounting/dismounting module of the automatic wheel mounting/dismounting device includes at least one tightening device, and wherein the step of the control module acquiring a current position of a bolt of the wheel to be mounted and controlling the mounting/dismounting module to tighten a nut of the wheel to be mounted according to the current position of the bolt includes:
the control module controls at least one tightening device to tighten at least one first nut of the wheel to be installed according to the current position of the bolt;
the control module controls at least one tightening device to rotate and tighten at least one second nut of the wheel to be installed according to the current position of the bolt.
5. The control method of the automatic wheel mounting/dismounting device according to claim 2, wherein the step of the control module acquiring the current position of the nut of the wheel to be dismounted and controlling the mounting/dismounting module to take out the nut of the wheel to be dismounted according to the current position of the nut comprises:
the positioning module acquires the current position of the nut of the wheel to be disassembled in an image recognition mode;
and the control module controls the disassembling/assembling module to take out the nut of the wheel to be disassembled according to the current position of the nut.
6. The method for controlling an automatic wheel mounting/dismounting device according to claim 5, wherein the dismounting/mounting module of the automatic wheel mounting/dismounting device includes at least one unscrewing device, wherein the step of the control module acquiring the current position of the nut of the wheel to be dismounted and controlling the dismounting/mounting module to take out the nut of the wheel to be dismounted according to the current position of the nut comprises:
the control module controls at least one unscrewing device to unscrew and take out at least one first nut of the wheel to be disassembled according to the current position of the nut;
and the control module controls at least one unscrewing device to rotate according to the current position of the nut, unscrews and takes out at least one second nut of the wheel to be installed.
7. The method for controlling the automatic wheel dismounting/mounting device according to claim 1, wherein a magnetic stripe is laid on the ground within the operating range of the traveling module, the automatic wheel dismounting/mounting device further comprises a magnetic navigation sensor, and the step of controlling the traveling module to drive the automatic wheel dismounting/mounting device to move to the dismounting/mounting station or the mounting station by the control module comprises:
the magnetic navigation sensor acquires position signals of the walking module relative to the magnetic strip;
and the control module controls the walking module to drive the automatic wheel dismounting/mounting device to move to the dismounting station or the mounting station according to the position signal.
8. The control method of an automatic wheel mounting/dismounting device according to claim 7, wherein the control method further comprises:
the control module judges whether the distance between the control module and the wheel shaft of the wheel to be disassembled or the wheel to be installed is in a preset distance interval or not after the walking module drives the automatic wheel disassembling/assembling device to move to the disassembling station or the installing station;
if the distance is within the preset distance interval, the control module controls the disassembling/assembling module to disassemble the wheel to be disassembled or assemble the wheel to be assembled;
and if the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is not within the preset distance interval, the control module controls the walking module to drive the automatic wheel disassembling/assembling device to further move until the distance between the wheel to be disassembled and the wheel axle of the wheel to be assembled is within the preset distance interval.
9. The control method of the automatic wheel mounting and dismounting device according to claim 1, wherein the step of the control module controlling the dismounting/mounting module to tighten the nut of the wheel to be mounted according to the current position of the bolt comprises:
the control module acquires output torque for fastening the nut and judges whether the output torque reaches a preset torque threshold value;
the control module determines that the nut is tightened if a preset torque threshold is reached.
10. The control method of an automatic wheel mounting/dismounting device according to claim 1, wherein after the control module controls the mounting/dismounting module to take out the wheel to be dismounted according to the current position of the wheel to be dismounted, the dismounting method further comprises:
the control module controls the walking module to drive the automatic wheel dismounting/mounting device to transport and place the wheel to be dismounted on the wheel frame.
11. The method for controlling the automatic wheel mounting/dismounting device according to claim 1, wherein before the control module controls the traveling module to move the automatic wheel mounting/dismounting device to the mounting station, the mounting method further comprises:
the control module controls the automatic wheel dismounting device to grab the wheel to be installed from the wheel frame.
12. The control method of an automatic wheel mounting/dismounting device according to claim 1, wherein the automatic wheel mounting/dismounting device is an automatic wheel mounting/dismounting device, and the control method includes a mounting method and a dismounting method; the automatic wheel dismounting device further comprises an acquisition module, wherein the control method further comprises the following steps:
the acquisition module acquires a working mode input by a user, wherein the working mode comprises a disassembly mode and an installation mode;
when the working mode is the disassembling mode, the control module executes the disassembling method;
and the control module executes the steps of the installation method when the working mode is the installation mode.
13. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a control method of an automatic wheel mounting/dismounting device according to any one of claims 1 to 12.
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