CN107914678B - Automatic tire deflation equipment and automatic automobile detection system - Google Patents
Automatic tire deflation equipment and automatic automobile detection system Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses an automatic tire deflation device and an automatic automobile detection system, wherein the automatic tire deflation device comprises: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line; the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun. According to the automatic tire deflation equipment provided by the invention, the automatic tire deflation technology is used for replacing the manual tire deflation, so that the labor cost is reduced, the preparation rate is improved, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of automobile detection, and relates to an automobile detection system, in particular to automatic tire deflation equipment; in addition, the invention also relates to an automatic detection system for the automobile.
Background
The automatic parking three-dimensional garage is a special three-dimensional garage for storing automobiles in large batch, and the automobiles which are put in the garage are placed on each parking space frame of a tunnel of the garage or the automobiles which are out of the garage are moved out of the parking space frames by a high-speed stacker. In a whole vehicle logistics warehouse of an automobile production factory, the commodity vehicles are discharged from the warehouse in a large quantity every day, in order to avoid that defective commodity vehicles flow into logistics and distribution links, the whole vehicle logistics warehouse needs to carry out PDI inspection on the commodity vehicles discharged from the warehouse, and at present, related operations including vehicle chassis quality defect inspection, tire deflation, vehicle body surface quality loss inspection and the like are carried out in a special PDI workshop in a manual inspection mode.
The PDI inspection of the commodity vehicles discharged from the warehouse in the whole vehicle logistics warehouse is mainly performed in a manual mode, and a large amount of manual operation, vehicle chassis quality inspection and tire deflation are required. The chassis quality defect inspection station is provided with a special trench, inspectors need to enter the trench to inspect each passing vehicle, the labor intensity is high, the inspection efficiency is low, and a certain error probability exists in manual inspection; the four tires of the vehicle are manually deflated one by one when the tires are deflated, so that the efficiency is low and the labor intensity is high; the quality loss inspection of the surface of the automobile body needs a plurality of people to carry out visual inspection around the commercial vehicle, so that the time and the labor are wasted, the omission of quality defects is easily caused, and meanwhile, the judgment standard of the visual inspection of the personnel also has subjective factors, and the complete consistency is difficult to achieve.
In view of the above, there is an urgent need to design a new detection method for automobiles so as to overcome the above-mentioned defects of the existing detection methods.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided is an automatic tire deflation device which can reduce labor cost, improve preparation rate and improve operation efficiency.
In addition, the invention also provides an automatic automobile detection system, which can reduce the labor cost, improve the preparation rate and improve the operation efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic tire deflation apparatus, comprising: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line;
the vehicle model acquisition unit comprises an RFID recognizer and is used for recognizing a unique identification code of a vehicle and acquiring information of the vehicle, wherein the information comprises the vehicle model and a set specification corresponding to the corresponding model;
the position adjusting mechanism comprises a bearing plate for bearing a vehicle, a plurality of first distance sensors distributed on the bearing plate, a bearing plate adjusting and calculating module and a bearing plate adjusting mechanism;
the bearing plate adjusting and calculating module comprises a vehicle parking position obtaining unit and an adjusting and calculating unit;
the vehicle parking position acquisition unit is used for acquiring the parking position of a vehicle according to a plurality of first distance sensors which are tightly arranged on the bearing plate to obtain the specific position distribution of the edge of the vehicle, and thus, the specific coordinates of the set key comparison points in the edge of the vehicle are obtained; the key comparison points comprise a vehicle front end central position point and a vehicle rear end central position point;
the method for acquiring the key comparison points comprises the following steps: firstly, obtaining the positions of two side edges of a vehicle, obtaining two parallel straight lines where each point of the two side edges of the vehicle is located, and generating a plane which is parallel to the two parallel straight lines and has the same distance with the two parallel straight lines; the central position point of the front end of the vehicle and the central position point of the rear end of the vehicle are in the generated plane, so that key comparison points are obtained;
the adjusting and calculating unit is used for comparing the obtained coordinates (a1, b1), (a2, b2) of the key comparison points set in the edge region of the vehicle with the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked, and obtaining the angle required to be rotated, the distance required to be transversely adjusted after being rotated and the distance required to be longitudinally adjusted;
the calculation method of the angle needing to be adjusted is as follows: the coordinates (a1, b1), (a2, b2) of the key comparison points form a straight line, and the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked form a straight line included angle;
the calculation mode of the distance needing to be transversely adjusted after rotation is as follows: updating the rotated key pair point coordinates (a1 ', b 1'), in such a way that key pair points are obtained, and subtracting the abscissa of the rotated and adjusted key pair point coordinates (a1 '), b 1'), from the abscissa of the key pair point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the calculation mode of the distance needing to be longitudinally adjusted after rotation is as follows: the ordinate of the key ratio point coordinates (a1 ", b 1") after the rotation adjustment is subtracted from the ordinate of the key ratio point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the robot also comprises a robot position adjusting mechanism for automatically controlling the robot to move to a corresponding area suitable for operating a corresponding vehicle after the position of the vehicle is adjusted;
the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun;
(1) the tire nut positioning device comprises visual positioning equipment used for positioning the position of a nut through image processing software;
(2) or the tire nut positioning device comprises a circular panel with the size of a wheel hub or a tire, second distance sensors distributed on the circular panel, and a panel position adjusting mechanism, wherein the panel position adjusting mechanism is connected with the circular panel and used for adjusting the position of the circular panel to align the circular panel to the side face of the wheel hub or the tire, and each second distance sensor aligns to each position in the direction of the tire to obtain the distance from each detection point to the circular panel;
the panel position adjusting mechanism is used for judging the overlapping area of the circular panel and the side surface of the hub or the side surface of the tire according to the distance information sensed by each second distance sensor, calculating the circle center position of a circle corresponding to the side surface of the hub or the tire according to the overlapping area, and then adjusting the center of the circular panel to the circle center position; or, the panel position adjusting mechanism judges the direction of the circular panel to be adjusted according to the shape of the overlapping area, if the overlapping area is on the left side of the circular panel, the circular panel should be adjusted leftwards, if the overlapping area is on the right side of the circular panel, the circular panel should be adjusted rightwards, if the overlapping area is on the upper side of the circular panel, the circular panel should be adjusted upwards, if the overlapping area is on the lower side of the circular panel, the circular panel should be adjusted downwards until the position of the circular panel corresponds to the position of the center of the hub or the tire;
the tire nut positioning device further comprises a tentacle, a rotating rod which is connected with the tentacle and can rotate by taking the center of the wheel hub as the center, and a rotating motor which can drive the rotating rod to rotate by taking the center of the wheel hub of the tire as the center, wherein a pressure sensor or a third distance sensor is arranged on one side of the tentacle, and when the tentacle touches the tire nut or approaches the tire nut, an induction signal is obtained, so that the specific position of the nut is obtained;
the tire pressure sensor comprises a mandril which is used as the air release mechanism; the tire pressure sensor adjusts the position through the robot gripper; the nut knob gun is subjected to position adjustment through the robot gripper.
An automatic tire deflation apparatus, comprising: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line;
the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun.
As a preferable aspect of the present invention, the vehicle model obtaining unit is configured to identify a unique identification code of a vehicle, and obtain information of the vehicle, including a vehicle model and a set specification corresponding to the vehicle model.
As a preferable aspect of the present invention, the vehicle model acquisition unit includes an RFI D identifier for identifying a unique identification code of the vehicle, and acquires information of the vehicle.
As a preferred embodiment of the present invention, the position adjustment mechanism includes a bearing plate for bearing a vehicle, a plurality of first distance sensors distributed on the bearing plate, a bearing plate adjustment calculation module, and a bearing plate adjustment mechanism.
As a preferred scheme of the present invention, the bearing plate adjustment calculation module includes a vehicle parking position acquisition unit and an adjustment calculation unit;
the vehicle parking position acquisition unit is used for acquiring the parking position of a vehicle according to a plurality of first distance sensors which are tightly arranged on the bearing plate to obtain the specific position distribution of the edge of the vehicle, and thus, the specific coordinates of the set key comparison points in the edge of the vehicle are obtained; the key comparison points comprise a vehicle front end central position point and a vehicle rear end central position point;
the method for acquiring the key comparison points comprises the following steps: firstly, obtaining the positions of two side edges of a vehicle, obtaining two parallel straight lines where each point of the two side edges of the vehicle is located, and generating a plane which is parallel to the two parallel straight lines and has the same distance with the two parallel straight lines; the central position point of the front end of the vehicle and the central position point of the rear end of the vehicle are in the generated plane, so that key comparison points are obtained;
the adjusting and calculating unit is used for comparing the obtained coordinates (a1, b1), (a2, b2) of the key comparison points set in the edge region of the vehicle with the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked, and obtaining the angle required to be rotated, the distance required to be transversely adjusted after being rotated and the distance required to be longitudinally adjusted;
the calculation method of the angle needing to be adjusted is as follows: the coordinates (a1, b1), (a2, b2) of the key comparison points form a straight line, and the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked form a straight line included angle;
the calculation mode of the distance needing to be transversely adjusted after rotation is as follows: updating the rotated key pair point coordinates (a1 ', b 1'), in such a way that key pair points are obtained, and subtracting the abscissa of the rotated and adjusted key pair point coordinates (a1 '), b 1'), from the abscissa of the key pair point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the calculation mode of the distance needing to be longitudinally adjusted after rotation is as follows: the vehicle should park the ordinate of the key ratio point pair (a1 ', b 1') corresponding to the standard position minus the ordinate of the key ratio point pair (a1 ", b 1") after rotational adjustment.
In a preferred embodiment of the present invention, the tire nut positioning device includes a visual positioning device for positioning the nut position by image processing software.
As a preferred scheme of the present invention, the tire nut positioning device includes a circular panel of a size of a wheel hub or a tire, second distance sensors disposed across the circular panel, and a panel position adjusting mechanism, the panel position adjusting mechanism is connected to the circular panel to adjust a position of the circular panel to align the circular panel to a side surface of the wheel hub or the tire, and each second distance sensor aligns to each position in a tire direction to obtain a distance from each detection point to the circular panel;
the panel position adjusting mechanism is used for judging the overlapping area of the circular panel and the side surface of the hub or the side surface of the tire according to the distance information sensed by each second distance sensor, calculating the circle center position of a circle corresponding to the side surface of the hub or the tire according to the overlapping area, and then adjusting the center of the circular panel to the circle center position; or, the panel position adjusting mechanism judges the direction of the circular panel to be adjusted according to the shape of the overlapping area, if the overlapping area is on the left side of the circular panel, the circular panel should be adjusted leftwards, if the overlapping area is on the right side of the circular panel, the circular panel should be adjusted rightwards, if the overlapping area is on the upper side of the circular panel, the circular panel should be adjusted upwards, if the overlapping area is on the lower side of the circular panel, the circular panel should be adjusted downwards until the position of the circular panel corresponds to the position of the center of the hub or the tire;
the tire nut positioning device further comprises a tentacle, a rotating rod which is connected with the tentacle and can rotate by taking the center of the wheel hub as the center, and a rotating motor which can drive the rotating rod to rotate by taking the center of the wheel hub of the tire as the center, wherein a pressure sensor or a third distance sensor is arranged on one side of the tentacle, and when the tentacle touches the tire nut or approaches the tire nut, an induction signal is obtained, so that the specific position of the nut is obtained;
as a preferable aspect of the present invention, the tire pressure sensor includes a plunger as the air release mechanism; the tire pressure sensor adjusts the position through the robot gripper; the nut knob gun is subjected to position adjustment through the robot gripper.
As a preferable scheme of the invention, the automatic tire deflation device further comprises an electronic fence, and the electronic fence is arranged at the periphery of the plurality of robots and surrounds the plurality of robots.
An automobile automatic detection system comprises the automatic tire deflation equipment.
The invention has the beneficial effects that: according to the automatic tire deflation equipment and the automatic automobile detection system, the automatic tire deflation technology is used for replacing manual tire deflation, so that the labor cost is reduced, the preparation rate is improved, and the operation efficiency is improved.
According to the invention, through the automatic positioning and air discharging device of the robot, the air discharge of 4 tires of the commercial vehicle is reduced from 120 seconds which is originally manual to 48 seconds.
Drawings
FIG. 1 is a schematic view showing the components of the automatic tire deflation apparatus of the present invention.
Fig. 2 is a schematic view of the working scene of the automatic tire deflation device of the present invention.
FIG. 3 is a schematic view showing the structure of a position adjusting mechanism in the automatic tire deflation apparatus according to the present invention.
Fig. 4 is a schematic structural view of the automatic tire deflation equipment robot of the present invention.
Fig. 5 is a schematic structural diagram of a tire nut positioning device of an automatic tire deflation apparatus according to the second embodiment of the present invention.
FIG. 6 is a schematic structural diagram of a tire nut positioning device of an automatic tire deflation apparatus according to the third embodiment of the present invention.
Fig. 7 is a schematic view of a working scenario of the automatic vehicle body surface quality loss detection apparatus according to the fourth embodiment.
Fig. 8 is a schematic composition diagram of an automatic vehicle body surface quality loss detection apparatus according to a fourth embodiment.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example one
Referring to fig. 1 and 2, the present invention discloses an automatic tire deflation apparatus, comprising: the system comprises a vehicle model acquisition unit 21, a position adjusting mechanism 22, a plurality of robots 23, a tire nut positioning device 24 and a main control module 20, wherein the main control module 20 is respectively connected with the vehicle model acquisition unit 21, the position adjusting mechanism 22, the plurality of robots 23 and the tire nut positioning device 24, receives corresponding information and controls the actions of the position adjusting mechanism 22, the plurality of robots 23 and the tire nut positioning device 24; each robot 23, and the tire nut positioning device 24 are disposed near both sides of the vehicle conveyor line.
The vehicle model obtaining unit 21 includes an RFID identifier for identifying a unique identification code of the vehicle, and obtains information of the vehicle, including a vehicle model and a set specification corresponding to the corresponding model.
As shown in fig. 3, the position adjustment mechanism 22 includes a carrier plate 221 for carrying a vehicle, a plurality of first distance sensors 222 distributed on the carrier plate, a carrier plate adjustment calculation module 223, and a carrier plate adjustment mechanism 224.
The loading plate adjustment calculation module 223 includes a vehicle parking position obtaining unit and an adjustment calculation unit.
The vehicle parking position obtaining unit is used for obtaining the vehicle parking position according to a plurality of first distance sensors 222 tightly arranged on the bearing plate to obtain the specific position distribution of the vehicle edge, and thus obtaining the specific coordinates of the set key comparison point in the vehicle edge; the key comparison points can comprise a vehicle front end central position point and a vehicle rear end central position point; of course, other key points may be also possible, and the key points that can be identified according to the vehicle shape may be all used as key comparison points, such as the middle position points on both sides of the vehicle, the center point of the vehicle, and the like.
The method for acquiring the key comparison points comprises the following steps: firstly, obtaining the positions of two side edges of a vehicle, obtaining two parallel straight lines where each point of the two side edges of the vehicle is located, and generating a plane which is parallel to the two parallel straight lines and has the same distance with the two parallel straight lines; and the central position point of the front end of the vehicle and the central position point of the rear end of the vehicle are in the generated plane, so that the key comparison points are obtained.
The adjustment calculating unit is used for comparing the obtained coordinates (a1, b1), (a2, b2) of the key comparison points set in the edge region of the vehicle with the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked, and obtaining the angle required to be rotated, the distance required to be transversely adjusted after being rotated and the distance required to be longitudinally adjusted.
The calculation method of the angle needing to be adjusted is as follows: the coordinates (a1, b1), (a2, b2) of the key comparison points form a straight line, and the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked form an included angle of the straight line.
The calculation mode of the distance needing to be transversely adjusted after rotation is as follows: updating the rotated key pair point coordinates (a1 ', b 1'), in such a way that the key pair points are obtained, the abscissa of the key pair point (a1 ', b 1') corresponding to the standard position where the vehicle should park minus the abscissa of the rotated key pair point coordinates (a1 ', b 1').
The calculation mode of the distance needing to be longitudinally adjusted after rotation is as follows: the vehicle should park the ordinate of the key ratio point pair (a1 ', b 1') corresponding to the standard position minus the ordinate of the key ratio point pair (a1 ", b 1") after rotational adjustment.
The robot 23 further comprises a robot position adjusting mechanism for automatically controlling the robot to move to an area corresponding to the vehicle suitable for operating the corresponding vehicle after the vehicle has adjusted its position.
Referring to fig. 2 and 4, the robot 23 is provided with a robot gripper 231 and a robot controller 232, and the robot gripper 231 is provided with a tire pressure sensor 233, an air release mechanism 234 and a nut knob gun 235; the robot controller 232 is connected to the tire nut positioning device 24, the tire pressure sensor 233, the air release mechanism 234, and the nut knob gun 235, respectively.
(1) The tire nut positioning device 235 may include a visual positioning device for positioning the nut position via image processing software.
(2) Alternatively, referring to fig. 5 and 6, the tire nut positioning device 235 includes a circular panel 2351 with a size of a wheel hub or a tire, second distance sensors 2352 arranged to cover the circular panel 2351, and a panel position adjusting mechanism 2353, wherein the panel position adjusting mechanism 2353 is connected to the circular panel 2351 to adjust the position of the circular panel 2351 to be aligned with a side surface of the wheel hub or the tire, and each second distance sensor 2352 is aligned with each position in the tire direction to obtain a distance from each detection point to the circular panel 2351.
To use tires or hubs of different sizes, the circular panel 2351 may acquire and analyze only data of the second distance sensor 2352 within a corresponding size range according to the tire/hub data acquired by the vehicle model acquisition unit 21; of course, other ways such as adjusting the position of the sensor on the circular panel (either manually or automatically) or using circular panels of different sizes may be used. The circular panel may have another shape, and when acquiring data, the circular panel may acquire a circle projected by the second distance sensor in the set area.
Specifically, the panel position adjusting mechanism 2353 may be completed by one robot gripper 231 provided in the robot 23 (the robot 23 may be provided with a plurality of robot grippers 231, partially completing the tire pressure sensing deflation action, and partially completing the tire nut positioning action). Of course, the panel position adjusting mechanism 2353 may also include a cross bar 23531, a position adjusting motor 23532, and an adjusting panel 23533, wherein a slide way is disposed on the adjusting panel 23533, and the position adjusting motor 23532 can drive the cross bar 23531 to move along the slide way on the adjusting panel 23533.
The panel position adjusting mechanism 2353 is configured to determine an overlapping area between the circular panel 2351 and the side surface of the hub or the side surface of the tire according to the distance information sensed by each of the second distance sensors 2352, calculate a position of a center of a circle of a corresponding circle of the side surface of the hub or the tire according to the overlapping area, and then adjust the center of the circular panel to the position of the center of the circle. Or, the panel position adjusting mechanism judges the direction of the circular panel to be adjusted according to the shape of the overlapping area, if the overlapping area is on the left side of the circular panel, the circular panel should be adjusted leftwards, if the overlapping area is on the right side of the circular panel, the circular panel should be adjusted rightwards, if the overlapping area is on the upper side of the circular panel, the circular panel should be adjusted upwards, if the overlapping area is on the lower side of the circular panel, the circular panel should be adjusted downwards until the position of the circular panel corresponds to the position of the center of the hub or the tire.
The tire pressure sensor 233 includes a jack as the air release mechanism 234; the tire pressure sensor 233 performs position adjustment by the robot gripper 231; the nut knob gun 235 is position adjusted by the robotic gripper 231.
Example two
An automatic tire deflation apparatus, comprising: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line;
the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun.
EXAMPLE III
The invention discloses an automatic automobile detection system which comprises automatic tire deflation equipment in the first embodiment or the second embodiment.
Example four
The invention discloses an automatic detection system for an automobile, which comprises automatic detection equipment for the surface quality loss of an automobile body in the first embodiment or the second embodiment.
Meanwhile, the vehicle intelligent detection system may further include an automatic detection device for vehicle body surface quality loss, please refer to fig. 7 and 8, where the automatic detection device for vehicle body surface quality loss 3 includes: an imaging mechanism 34, a streak generation device 35, a second position adjustment mechanism 36, a surface quality loss detection module 37, and a surface quality loss detection control module 30. Meanwhile, the automatic detection device for vehicle body surface quality loss may also use the data acquired by the vehicle model acquisition unit 21 and the position adjustment mechanism 22 and the result of the adjustment.
The surface quality loss detection control module 30 is connected to a streak generation device 35, and controls the streak generation device 35 to generate a moire streak in a set region on the surface of the vehicle body.
The surface quality loss detection control module 30 is connected with a second position adjusting mechanism 36, and the second position adjusting mechanism 36 controls the movement of the stripe generating device 35; thereby enabling the moire fringes to move on the surface of the car body; during the movement of the stripes, image data of the corresponding vehicle surface is acquired by the camera mechanism 34.
The vehicle body surface quality loss detection module 37 searches comparison image data from a database according to the vehicle model; comparing the acquired surface image data of the vehicle with the image data in the database; the deformation-free vehicle is modeled in advance, and marks are positioned at the same positions of a normal vehicle model after stripe deformation is identified, so that detection is finished; if the surface of the vehicle body has defects, the vehicle body surface quality loss detection module 37 detects the defects by a three-dimensional detection method according to the stripe deformation; the detected defect types comprise scratch scratches, concave pits and foreign matters, the contrast ratio of the defects passing through a bright field part and a dark field part can be changed, the defects are identified, and the deformation defects are calculated through stripe deformation.
The surface quality loss detection control module 30 controls the stripe generating device 35 to generate moving stripes through the second position adjusting mechanism 36, the moving stripes are generated for a plurality of times, then the direction is changed for a plurality of times, and then the moving stripes are moved for a plurality of times, and a plurality of images are shot through the camera mechanism 34; and comparing the acquired image with a corresponding image in the database to judge whether the defect exists.
In conclusion, the automatic tire deflation equipment and the automatic automobile detection system provided by the invention replace manual tire deflation by the automatic tire deflation technology, so that the labor cost is reduced, the preparation rate is improved, and the operation efficiency is improved. According to the invention, through the automatic positioning and air discharging device of the robot, the air discharge of 4 tires of the commercial vehicle is reduced from 120 seconds which is originally manual to 48 seconds.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (8)
1. An automatic tire deflation apparatus, comprising: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line;
the vehicle model acquisition unit comprises an RFID recognizer and is used for recognizing a unique identification code of a vehicle and acquiring information of the vehicle, wherein the information comprises the vehicle model and a set specification corresponding to the corresponding model;
the position adjusting mechanism comprises a bearing plate for bearing a vehicle, a plurality of first distance sensors distributed on the bearing plate, a bearing plate adjusting and calculating module and a bearing plate adjusting mechanism;
the bearing plate adjusting and calculating module comprises a vehicle parking position obtaining unit and an adjusting and calculating unit;
the vehicle parking position acquisition unit is used for acquiring the parking position of a vehicle according to a plurality of first distance sensors which are tightly arranged on the bearing plate to obtain the specific position distribution of the edge of the vehicle, and thus, the specific coordinates of the set key comparison points in the edge of the vehicle are obtained; the key comparison points comprise a vehicle front end central position point and a vehicle rear end central position point;
the method for acquiring the key comparison points comprises the following steps: firstly, obtaining the positions of two side edges of a vehicle, obtaining two parallel straight lines where each point of the two side edges of the vehicle is located, and generating a plane which is parallel to the two parallel straight lines and has the same distance with the two parallel straight lines; the central position point of the front end of the vehicle and the central position point of the rear end of the vehicle are in the generated plane, so that key comparison points are obtained;
the adjusting and calculating unit is used for comparing the obtained coordinates (a1, b1), (a2, b2) of the key comparison points set in the edge region of the vehicle with the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked, and obtaining the angle required to be rotated, the distance required to be transversely adjusted after being rotated and the distance required to be longitudinally adjusted;
the calculation method of the angle needing to be adjusted is as follows: the coordinates (a1, b1), (a2, b2) of the key comparison points form a straight line, and the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked form a straight line included angle;
the calculation mode of the distance needing to be transversely adjusted after rotation is as follows: updating the rotated key pair point coordinates (a1 ', b 1'), in such a way that key pair points are obtained, and subtracting the abscissa of the rotated and adjusted key pair point coordinates (a1 '), b 1'), from the abscissa of the key pair point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the calculation mode of the distance needing to be longitudinally adjusted after rotation is as follows: the ordinate of the key ratio point coordinates (a1 ", b 1") after the rotation adjustment is subtracted from the ordinate of the key ratio point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the robot also comprises a robot position adjusting mechanism for automatically controlling the robot to move to a corresponding area suitable for operating a corresponding vehicle after the position of the vehicle is adjusted;
the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun;
(1) the tire nut positioning device comprises visual positioning equipment used for positioning the position of a nut through image processing software;
(2) or the tire nut positioning device comprises a circular panel with the size of a wheel hub or a tire, second distance sensors distributed on the circular panel, and a panel position adjusting mechanism, wherein the panel position adjusting mechanism is connected with the circular panel and used for adjusting the position of the circular panel to align the circular panel to the side face of the wheel hub or the tire, and each second distance sensor aligns to each position in the direction of the tire to obtain the distance from each detection point to the circular panel;
the panel position adjusting mechanism is used for judging the overlapping area of the circular panel and the side surface of the hub or the side surface of the tire according to the distance information sensed by each second distance sensor, calculating the circle center position of a circle corresponding to the side surface of the hub or the tire according to the overlapping area, and then adjusting the center of the circular panel to the circle center position; or, the panel position adjusting mechanism judges the direction of the circular panel to be adjusted according to the shape of the overlapping area, if the overlapping area is on the left side of the circular panel, the circular panel should be adjusted leftwards, if the overlapping area is on the right side of the circular panel, the circular panel should be adjusted rightwards, if the overlapping area is on the upper side of the circular panel, the circular panel should be adjusted upwards, if the overlapping area is on the lower side of the circular panel, the circular panel should be adjusted downwards until the position of the circular panel corresponds to the position of the center of the hub or the tire;
the tire nut positioning device further comprises a tentacle, a rotating rod which is connected with the tentacle and can rotate by taking the center of the wheel hub as the center, and a rotating motor which can drive the rotating rod to rotate by taking the center of the wheel hub of the tire as the center, wherein a pressure sensor or a third distance sensor is arranged on one side of the tentacle, and when the tentacle touches the tire nut or approaches the tire nut, an induction signal is obtained, so that the specific position of the nut is obtained;
the tire pressure sensor comprises a mandril which is used as the air release mechanism; the tire pressure sensor adjusts the position through the robot gripper; the nut knob gun is subjected to position adjustment through the robot gripper.
2. An automatic tire deflation apparatus, comprising: the device comprises a vehicle model acquisition unit, a position adjusting mechanism, a plurality of robots and a tire nut positioning device; each robot and each tire nut positioning device are arranged close to two sides of the vehicle conveying line;
the robot is provided with a robot gripper and a robot controller, and the robot gripper is provided with a tire pressure sensor, an air release mechanism and a nut knob gun; the robot controller is respectively connected with the tire nut positioning device, the tire pressure sensor, the deflation mechanism and the nut knob gun;
the position adjusting mechanism comprises a bearing plate for bearing a vehicle, a plurality of first distance sensors distributed on the bearing plate, a bearing plate adjusting and calculating module and a bearing plate adjusting mechanism;
the bearing plate adjusting and calculating module comprises a vehicle parking position obtaining unit and an adjusting and calculating unit;
the vehicle parking position acquisition unit is used for acquiring the parking position of a vehicle according to a plurality of first distance sensors which are tightly arranged on the bearing plate to obtain the specific position distribution of the edge of the vehicle, and thus, the specific coordinates of the set key comparison points in the edge of the vehicle are obtained; the key comparison points comprise a vehicle front end central position point and a vehicle rear end central position point;
the method for acquiring the key comparison points comprises the following steps: firstly, obtaining the positions of two side edges of a vehicle, obtaining two parallel straight lines where each point of the two side edges of the vehicle is located, and generating a plane which is parallel to the two parallel straight lines and has the same distance with the two parallel straight lines; the central position point of the front end of the vehicle and the central position point of the rear end of the vehicle are in the generated plane, so that key comparison points are obtained;
the adjusting and calculating unit is used for comparing the obtained coordinates (a1, b1), (a2, b2) of the key comparison points set in the edge region of the vehicle with the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked, and obtaining the angle required to be rotated, the distance required to be transversely adjusted after being rotated and the distance required to be longitudinally adjusted;
the calculation method of the angle needing to be adjusted is as follows: the coordinates (a1, b1), (a2, b2) of the key comparison points form a straight line, and the key comparison points (a1 ', b 1'), and (a2 ', b 2') corresponding to the standard position where the vehicle should be parked form a straight line included angle;
the calculation mode of the distance needing to be transversely adjusted after rotation is as follows: updating the rotated key pair point coordinates (a1 ', b 1'), in such a way that key pair points are obtained, and subtracting the abscissa of the rotated and adjusted key pair point coordinates (a1 '), b 1'), from the abscissa of the key pair point (a1 ', b 1') corresponding to the standard position where the vehicle should park;
the calculation mode of the distance needing to be longitudinally adjusted after rotation is as follows: the vehicle should park the ordinate of the key ratio point pair (a1 ', b 1') corresponding to the standard position minus the ordinate of the key ratio point pair (a1 ", b 1") after rotational adjustment.
3. An automatic tyre deflation apparatus as claimed in claim 2, wherein:
the vehicle model acquisition unit is used for identifying the unique identification code of the vehicle and acquiring the information of the vehicle, including the vehicle model and the set specification corresponding to the corresponding model.
4. An automatic tyre deflation apparatus as claimed in claim 3, wherein:
the vehicle model acquisition unit comprises an RFID recognizer for recognizing the unique identification code of the vehicle and acquiring the information of the vehicle.
5. An automatic tyre deflation apparatus as claimed in claim 2, wherein:
the tire nut positioning device comprises visual positioning equipment used for positioning the position of a nut through image processing software.
6. An automatic tyre deflation apparatus as claimed in claim 2, wherein:
the tire nut positioning device comprises a circular panel with the size of a wheel hub or a tire, second distance sensors distributed on the circular panel, and a panel position adjusting mechanism, wherein the panel position adjusting mechanism is connected with the circular panel and used for adjusting the position of the circular panel to align the circular panel to the side face of the wheel hub or the tire, and each second distance sensor aligns to each position in the direction of the tire to obtain the distance from each detection point to the circular panel;
the panel position adjusting mechanism is used for judging the overlapping area of the circular panel and the side surface of the hub or the side surface of the tire according to the distance information sensed by each second distance sensor, calculating the circle center position of a circle corresponding to the side surface of the hub or the tire according to the overlapping area, and then adjusting the center of the circular panel to the circle center position; or, the panel position adjusting mechanism judges the direction of the circular panel to be adjusted according to the shape of the overlapping area, if the overlapping area is on the left side of the circular panel, the circular panel should be adjusted leftwards, if the overlapping area is on the right side of the circular panel, the circular panel should be adjusted rightwards, if the overlapping area is on the upper side of the circular panel, the circular panel should be adjusted upwards, if the overlapping area is on the lower side of the circular panel, the circular panel should be adjusted downwards until the position of the circular panel corresponds to the position of the center of the hub or the tire;
tire nut positioner still include one tentacle, with tentacle connection can use the wheel hub center to be center pivoted dwang, can drive the dwang uses the tire wheel hub center to be center pivoted rotation motor, and one side of tentacle sets up pressure sensor or third distance sensor, obtains sensing signal when tentacle touches the tire nut or when being close the tire nut to this concrete position of acquireing the nut.
7. An automatic tyre deflation apparatus as claimed in claim 2, wherein:
the tire pressure sensor comprises a mandril which is used as the air release mechanism; the tire pressure sensor adjusts the position through the robot gripper; the nut knob gun is subjected to position adjustment through the robot gripper.
8. An automobile automatic detection system is characterized in that: the automatic automobile detection system comprises the automatic tire deflation device according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711091265.7A CN107914678B (en) | 2017-11-08 | 2017-11-08 | Automatic tire deflation equipment and automatic automobile detection system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711091265.7A CN107914678B (en) | 2017-11-08 | 2017-11-08 | Automatic tire deflation equipment and automatic automobile detection system |
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| CN107914678B true CN107914678B (en) | 2020-07-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4998438A (en) * | 1990-05-22 | 1991-03-12 | Martin Jerry L | Digital air pressure gauge and inflation device |
| CN101445024B (en) * | 2008-11-28 | 2010-11-24 | 南京智真电子科技有限公司 | Tire pressure monitoring and controlling system |
| KR101610148B1 (en) * | 2014-11-17 | 2016-04-08 | 현대자동차 주식회사 | System for inspecting vehicle body and method thereof |
| CN205280382U (en) * | 2015-12-25 | 2016-06-01 | 济宁技术学院实习厂 | Industrial robot of inspection automobile tire fixing bolt stability |
| CN106739849B (en) * | 2016-12-20 | 2019-01-15 | 浙江福林国润汽车零部件有限公司 | A kind of intelligence automatic tire inflation systems |
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