JPH0558362A - Position detecting device for wheel hub - Google Patents

Abstract

(57) [Summary] [Object] An object of the present invention is to provide a position detecting device for a wheel hub capable of easily automating a wheel mounting operation. [Structure] A wheel hub position detecting device according to the present invention comprises:
A pair of abutting members (16, 24) which are movably arranged in mutually different axial directions and abut on the peripheral surfaces (HS, HS ') of the wheel hubs (H, H'), respectively, and the abutting members (16, 24). 16 and 24) measuring means (1)
4, 18) and means (26, 27) for measuring the distances from the predetermined reference surface (M) to at least three different points on the wheel mounting surfaces (HT, HT ') of the wheel hub (H, H'). , 28) and.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel hub position detecting device applied when a wheel is mounted on a wheel hub of a vehicle.

[0002]

2. Description of the Related Art Conventionally, the work of attaching a wheel to a wheel hub of a vehicle has been manually performed, but automation is desired in the assembly line of the vehicle from the viewpoint of reducing the burden on the operator. ..

[0003]

By the way, when attaching a wheel to a wheel hub of a vehicle, it is necessary to match the position and the posture of the wheel with the posture and the position of the wheel hub.

Since the posture and position of the wheel hub change each time depending on the installation position of the vehicle conveyed on the assembly line or the steering state of the front wheels, it is difficult to automate the above work. I have to.

In view of the above situation, an object of the present invention is to provide a wheel hub position detecting device which can easily automate the wheel mounting work.

[0006]

A position detecting device for a wheel hub according to the present invention includes a pair of abutting members which are movably arranged in mutually different axial directions and abut on a peripheral surface of the wheel hub. It is provided with means for measuring the moving distances of the contact members and means for measuring the distances from a predetermined reference surface to at least three different points on the wheel mounting surface of the wheel hub.

[0007]

According to the above construction, the position of the wheel hub is measured by the moving distance of the contact member, and the attitude of the wheel hub is measured by the distance of at least three points from the reference surface to the wheel mounting surface.

[0008]

The present invention will be described in detail below with reference to the drawings illustrating the embodiments. FIG. 5 conceptually shows a wheel mounting process LT in a four-wheel vehicle assembly line to which the wheel hub position detection device according to the present invention is applied. The wheel mounting step LT illustrated here is the hub end surface (wheel mounting surface) HT of the wheel hub H corresponding to the steered wheels of the vehicle AM.
The wheels T are sequentially attached to the wheel assembly, and the position detecting device 10 of the wheel hub H and the wheel mounting robot R are arranged on both sides of the assembly line. Although not shown in the drawing, the position detecting device 10 and the wheel mounting robot R are arranged symmetrically with respect to each other across the assembly line. Will be described only. Further, in the absolute coordinate system XYZ included in the wheel mounting robot R, the width direction of the assembly line is the X-axis direction, the conveyance direction of the vehicle AM on the assembly line is the Y-axis direction, and the vertical up-down direction is the Z-direction. It is in the axial direction.

As shown in FIGS. 1 and 2, the position detecting device 10 includes a pair of rail members 11 laid on a floor surface F,
11, a device main body 12 movably arranged on the pair of rail members 11, 11, and a moving cylinder actuator 13 arranged between the device main body 12 and the floor surface F. .. A pair of rail members 11, 11
Are arranged in a straight rod shape having a rectangular cross section and are parallel to each other, and extend in the direction (X-axis direction) orthogonal to the transport direction of the vehicle AM in the assembly line.

The apparatus main body 12 has a rectangular box shape,
A lifting cylinder actuator 14 is provided therein. The lifting cylinder actuator 14 has a linear encoder (not shown) built therein,
A lower slide member 15 is provided at the tip of the operating rod 14a, and the operating rod 14a is directed vertically upward through the cylinder body 14b of the lower sliding member 15.
2 is attached to the upper plate 12a.

As shown in FIG. 3, the lower slide member 15 is in the form of a rectangular plate having a long side in the direction along which the vehicle AM is conveyed (Y-axis direction) in the assembly line, and has one end portion thereof. Is provided with a lower contact member 16,
A track member 17 is provided at the center thereof, and a slide cylinder actuator 18 is provided at the other end thereof.
By the expansion / contraction operation of the lifting cylinder actuator 14, the lifting / lowering cylinder actuator 14 is moved up and down in the vertical direction (Z-axis direction). The lower contact member 16 has a substantially rectangular cross section in which a rectangular contact portion 16b extends in a right angle direction from one end edge of a rectangular main portion 16a.
It is in the shape of a letter and is fixed to the upper surface of the lower slide member 15 via the main portion 16a in such a manner that the corresponding contact portion 16b is directed vertically upward. The track member 17 has a rectangular rod shape in cross section, and is used for the vehicle AM in the assembly line.
Is extended along the transport direction (Y-axis direction). The slide cylinder actuator 18 has a linear encoder (not shown) built therein, and includes a side slide member 19 at the tip of the operating rod 18a, and the operating rod is connected via the cylinder body 18b. The lower slide member 15 is attached to the upper surface of the lower slide member 15 in a state in which 18a is horizontally oriented toward one end side of the lower slide member 15.

The lower slide member 15 is provided with guide rods 2 at both end portions of the lower surface thereof so as to face downward.
0 and 20 are extended and fitted into the bushes 21 and 21 arranged in the apparatus body 12. The axis of the operating rod 18a of the slide cylinder actuator 18 is arranged in the same plane as the axis of the operating rod 14a of the lifting cylinder actuator 14 so as to be orthogonal to each other.

The side slide member 19 is the track member 1 described above.
7, a guide member 22 movably arranged on the guide member 7, and a vertical wall member 23 extending vertically upward from the guide member 22.
And a side contact member 24 disposed on the vertical wall member 23, the expansion / contraction operation of the slide cylinder actuator 18 causes the vehicle AM in the assembly line with respect to the lower slide member 15. It is reciprocated along the traveling direction (Y-axis direction). The side contact member 24 is
Similar to the lower contact member 16, the main portion 24 has a rectangular shape.
A rectangular abutting portion 24b extends in a right angle direction from one end edge of a to form a substantially L-shaped cross section, and the abutting portion 24b extends vertically above the main portion 24a in a mode along the vertical direction. Wall member 2
3 is fixed to the outer surface.

As shown in FIG. 2, the moving cylinder actuator 13 has an operating rod 13a whose tip is fixed to the apparatus main body 12 and whose cylinder main body 13b is attached to the floor surface F via a bracket 25. Thus, the device main body 12 is selectively occupied by two positions, that is, a position closest to the assembly line (measurement position) and a position farthest from the assembly line (standby position) by performing expansion and contraction operation. ..

Further, the position detecting device 10 has three laser distance measuring sensors 26, 27, 28. Each of these distance measuring sensors 26, 27, 28 has a laser projecting portion 26a, 27a, 28a on the tip end surface thereof, and the object to be measured (wheel hub) H from these projecting portions 26a, 27a, 28a. The distance to the object to be measured H is measured by irradiating the laser beam onto the object.

These range-finding sensors 26, 27, 28, as shown in FIGS.
27a, 28a are arranged at three different measurement positions M1, M2, M3 of the common reference plane M, and brackets 29, 28a are provided within the hub end face HT of the wheel hub H.
It is held by the side slide member 19 via 30.

In the position detecting device 10, the device body 12 is normally occupied by the standby position, and the lifting cylinder actuator 14 and the sliding cylinder actuator 18 are held in the most retracted state.

On the other hand, as shown in FIG. 5, the wheel mounting robot R has a main body R1 installed on a floor F and rotatably arranged around a vertical axis (Z axis), and the main body R1. R
A first arm R2 extending from the first arm R2 so as to be swingable about a horizontal axis; and a first arm R2 extending from a tip end portion of the first arm R2 and being swingable about the horizontal axis. 2 arm R
3 and a wrist portion R4 which is disposed at the tip end portion of the second arm R3 and rotates around three axes (X axis, Y axis, Z axis) orthogonal to each other, and the wrist portion R4. A device assembly 80 including a phase adjusting device 40, a wheel holding device 60, and a nut fastening device 70 is provided at the tip of the device.

The phase adjusting device 40 adjusts the phases of the plurality of hub bolts HB1, HB2 ... In a given state to a predetermined phase. As shown in FIGS. 6 and 7, the device body 41 has a shaft member 42. Is equipped with. The shaft member 42 is provided with a pinion gear 43 at its intermediate portion and a lever member 44 at its outer end portion, and is held by the device body 41 via bearings 45, 45 so as to be rotatable about its central axis. Has been done.

Further, in the phase adjusting device 40, on the circumference of the same diameter as the circumference HBπ around the central axis of the shaft member 42 and the hub bolts HB1, HB2 ... Of the wheel hub H are arranged. A fixed member 46 and a moving member 47 are arranged. As shown in FIG. 9, the fixed member 46 and the movable member 47 are cylindrical base members 46a and 47a each having an open front end, and springs 48 interposed in the base members 46a and 47a. Built-in pin member 4
6b and 47b, the fixing member 46 is fixed to the apparatus main body 41 via the base member 46a, and the moving member 47 is fixed to the tip end portion of the lever member 44 via the base member 47a. Has been done.

Further, the phase adjusting device 40 includes a adjusting cylinder actuator 49. The cylinder actuator 49 is provided with a rack member 50 that meshes with the pinion gear 43 at the tip of an operating rod 49a, and the apparatus main body 4 via the cylinder main body 49b.
It is attached to 1.

The phase adjusting device 40 constructed as described above.
Then, the state in which the regulation cylinder actuator 49 is most retracted is the initial state, and at this time, as shown in FIG. 8, the moving member 47 forms a central angle of 180 ° or more with the fixed member 46. Have

Now, when the apparatus main body 41 is made to face the hub end surface HT of the wheel hub H so as to face each other and the central axes thereof are matched, as shown in FIG. 10A, the fixing member 46 and the moving member 47 are separated. The pin members 47b are respectively occupied on the circumference HBπ in which the plurality of hub bolts HB1, HB2 ... Are arranged.

When the adjusting cylinder actuator 49 is extended from this state, the lever member 44 is swung via the pinion gear 43, and the moving member 47 is moved so as to narrow the central angle with the fixed member 46. It
At this time, the pin member 47b of the moving member 47 abuts and moves the hub bolt HB1 in the moving path, so that the wheel hub H rotates to change the phases of the hub bolts HB1, HB2, ....

When the rotation of the wheel hub H progresses, the hub bolt HB2 eventually contacts the pin member 46b of the fixing member 46, and as shown in FIG. 10 (b), the pin member 46b of the fixing member 46 and the moving member 47. The hub bolts HB1 and HB2 are sandwiched and held between the pin bolt 47b and the pin member 47b, and the plurality of hub bolts HB1 and HB2 ... Have a predetermined phase, for example, in FIG. The positions are adjusted to the 6 o'clock and 9 o'clock positions, at which time the operation of the adjusting cylinder actuator 49 is stopped.

FIG. 11 shows the apparatus main body 41 with the wheel hub H.
The pin member 47b of the moving member 47
And the hub bolt HB4 match, the phase regulation state is shown in order. In the state shown in FIG. 11A, as shown in FIG. 9A, the pin member 47b of the moving member 47 is retracted into the base member 47a against the pressing force of the spring 48. The wheel hub H does not rotate due to the initial movement of the moving member 47.

However, as shown in FIG. 11B, when the position of the pin member 47b and the hub bolt HB4 is displaced by the movement of the moving member 47, as shown in FIG. 9B, the pressing force of the spring 48 is pushed. As a result, the pin member 47b projects and contacts the next hub bolt HB1, so that the phases of the hub bolts HB1, HB2 ... Are regulated by the same action as described above, as shown in FIG. 11 (c).

FIG. 12 sequentially shows the phase regulation state in the case where the pin member 46b of the fixing member 46 and the hub bolt HB3 are aligned with each other when the apparatus main body 41 is brought close to the wheel hub H. .. Even in the state shown in FIG. 12A, as shown in FIG.
Since the pin member 46b of No. 6 is retracted into the base member 46a against the pressing force of the spring 48, the fixing member 46 cannot regulate the movement of the hub bolt HB3.

However, also in this case, the moving member 47
The rotation of the wheel hub H associated with the movement of FIG.
As shown in FIG. 9B, when the pin member 46b of the fixing member 46 and the hub bolt HB3 are displaced from each other, the pin member 4 is pressed by the pressing force of the spring 48 as shown in FIG. 9B.
6b protrudes and contacts the next hub bolt HB2,
As shown in FIG. 12 (c), the phases of the hub bolts HB1, HB2 ... Are regulated by the same operation as described above.

As shown in FIG. 14, the wheel holding device 60 is provided with a plurality of claw members 61, 61 ... Which are opened and closed by the operation of an actuator (not shown), and these claw members 61 are closed by closing each other. , 61 ... Hold the wheel T between them. The wheel T held by the wheel holding device 60 has a bolt hole (not shown) whose phase is regulated in advance by a pre-process (not shown) and is always held in the same state between the claw members 61, 61 ... It

The nut fastening device 70 is for temporarily fastening a wheel nut (not shown) to a plurality of hub bolts HB1, HB2 ..., and a corresponding number of drive parts are provided at portions corresponding to the hub bolts HB1, HB2. 71, 71 ... An actuator (not shown) is linked to each of the drive portions 71, 71 ... And the actuator rotates by a preset torque around each central axis by the operation of the actuator.

Wheel mounting process L having the above structure
In T, before actually operating the assembly line, first, in a state where the vehicle AM is positioned and installed at a predetermined position in the wheel mounting process LT, the wheel mounting robot R is taught the following wheel mounting work. Work data such as position data and posture data at that time are sequentially set and stored in the robot controller (not shown). When performing this teaching, the hub end surface HT of the wheel hub H is corrected by appropriately operating a steering wheel (not shown) so as to be along the carrying direction (Y-axis direction) of the vehicle AM in the assembly line. deep.

(Step A1) First, the wheel mounting robot R in an arbitrary state is operated, and as shown in FIG.
The phase adjusting device 40 of the device assembly 70 is arranged at a position separated from the hub end surface HT of the wheel hub H in the reference state by a predetermined distance in such a manner that their central axes coincide with each other (the initial state of the wheel mounting robot R). ).

(Step A2) From this initial state, the phase adjusting device 40 is brought closer to the hub end surface HT of the wheel hub H, and the phase adjusting device 40 is operated to bring the phases of the hub bolts HB1, HB2 ... Adjust.

(Step A3) Next, the wheel mounting robot R is actuated, and the plurality of claw members 61 provided on the wheel holding device 60 are provided with the wheels T whose phases of bolt holes (not shown) are regulated in advance in the previous step. 61 ... Hold in between.

(Step A4) As shown in FIG. 14, the wheel holding device 60 holding the wheel T between the plurality of claw members 61, 61 ... Is set at a predetermined distance from the hub end surface HT of the wheel hub H in the reference state. They are arranged at positions separated from each other in such a manner that their central axes coincide with each other.

(Step A5) Further, from there, the wheel holding device 60 is brought closer to the wheel hub H and the hub bolts HB1, HB2 ... Are respectively inserted into a plurality of bolt holes (not shown), so that the wheel T is wheeled. Mounted on hub H.

(Step A6) The wheel T is attached to the wheel hub H.
Then, the nut fastening device 70 is placed at a position separated from the hub end surface HT of the wheel hub H in the reference state by a predetermined distance.
The tips of the ... Are arranged opposite to the tips of the hub bolts HB1, HB2.

(Step A7) From this state, the nut fastening device 70 is brought close to the hub end surface HT of the wheel hub H, and actuators (not shown) of the driving portions 71, 71 ... 71 ... is rotated with a preset torque.

(Step A8) At the time when the above-mentioned work is completed, the wheel mounting robot R is operated to restore the initial state.

When the teaching of the wheel mounting work described above is completed, in the wheel mounting step LT, the following initial setting of the position detecting device 10 is performed. In addition, this initial value setting work is performed by the wheel hub H.
With the wheel T removed from the wheel hub, the wheel hub H is operated in the same position and in the same posture as when the teaching of the wheel mounting operation is performed.

(Step B1) First, the position detecting device 10
Of the moving cylinder actuator 13 of
The apparatus main body 12 is brought close to the assembly line to occupy the measurement position.

(Step B2) From this state, as shown in FIG. 15, the lifting cylinder actuator 14 is extended to move the lower slide member 15 upward, and the lower contact member 16 thereof moves to the above-mentioned reference state. The moving distance z0 until the wheel hub H comes into contact with the hub peripheral surface HS is stored.

(Step B3) Next, the side cylinder slide member 18 is extended to move the side slide member 19, and the side contact member 2 is moved.
4 is the hub peripheral surface HS of the wheel hub H in the standard state
The moving distance y0 until it touches
As shown in FIG. 16, each distance measuring sensor 26, 2 at this time
The coordinates of the measurement positions M1, M2, M3 of 7, 28 are set and stored. M1 (XM1, YM1, ZM1) M2 (XM2, YM2, ZM2) M3 (XM3, YM3, ZM3)

(Step B4) Each of the distance measuring sensors 26, 27, 28 is operated from the above-mentioned state, and from the three measurement positions M1, M2, M3 on the hub end face HT of the wheel hub H in the reference state, respectively. The distances x01, x02, x03 to the three measurement points P1, P2, P3 corresponding to are measured and stored.

(Step B5) From each of the measured distance data, the coordinates of the three measurement points P1, P2, P3 on the hub end face HT of the wheel hub H in the standard state are calculated and stored. P1 (XM1 + x01, YM1, ZM1) ⇒P1 (XP1, YP
1, ZP1) P2 (XM2 + x02, YM2, ZM2) ⇒ P2 (XP2, YP
2, ZP2) P3 (XM3 + x03, YM3, ZM3) ⇒ P3 (XP3, YP
3, ZP3) YM1 = YP1, YM2 = YP2, YM3 = YP3 ZM1 = ZP1, ZM2 = ZP2, ZM3 = ZP3

(Step B6) From these three measurement points P1, P2, P3 on the hub end face HT, as shown in FIG. 17, the hub end face HT is made into the X'-Y 'plane, and the measurement point P1 is the origin, A reference user coordinate system X'-Y'-Z 'in which the direction of the measurement point P2 is the X'direction is created and stored.

(Step B7) The above wheel mounting robot R
The work data such as the position data and the posture data of the wheel mounting work taught in 1) is converted into data corresponding to the reference user coordinate system X'-Y'-Z 'created in (step B6) and stored.

(Step B8) The slide cylinder actuator 18, the lifting cylinder actuator 14 and the moving cylinder actuator 13 are successively retracted to return the position detecting device 10 to the standby position.

When the teaching of the wheel mounting work on the wheel mounting robot R and the initial value setting work on the position detecting device 10 are all completed, the assembly line is actually operated, and the wheels are mounted in accordance with the procedure shown in FIG. Installation process L
The wheels T are sequentially attached to the wheel hub H ′ of the vehicle AM conveyed to T. Even when the assembly line is actually operated, the hub end surface HT 'of the wheel hub H'is set to the vehicle AM in the assembly line by appropriately operating the steering wheel (not shown) as in the case of performing the teaching. It is corrected so as to be along the transport direction (Y-axis direction).

The above-mentioned vehicle AM is transported on the assembly line,
When it is confirmed by a positioning sensor (not shown) that the vehicle AM has been positioned and installed at a predetermined position in the wheel mounting process LT (step 100), first, as shown in FIG. Is occupying the measurement position, and the moving distances y1 and z1 until the lower contact member 16 and the side contact member 24 contact the hub peripheral surface HS 'of the wheel hub H'of the transported vehicle AM are measured. Be done (Step 1
01).

The robot controller (not shown) calculates deviation distances Δy and Δz in the Y-axis direction and the Z-axis direction from the measured distances y1 and z1 with respect to the reference state of the wheel hub H ', and stores the deviation distances (y). 102). Here, the deviation distance in the Y-axis direction: Δy = y1-y0 The deviation distance in the Z-axis direction: Δz = z1-z0

From this state, the distance measuring sensors 26, 2
7, 28 are operated, and as shown in FIG. 19, the distances x11, x12 from the respective measurement positions M'1, M'2, M'3 of the reference plane M to the hub end face HT 'of the wheel hub H', respectively. ，
x13 is measured (step 103). At this time, the coordinates of the measurement positions M'1, M'2, M'3 of the distance measuring sensor 32 are M'1 (XM1, YM1 + Δy, ZM1 + Δz) M'2 (XM2, YM2 + Δy, ZM2 + Δz) M'3 ( XM3, YM3 + Δy, ZM3 + Δz)

The robot controller (not shown) uses the measured distances x11, x12, and x13 to deviate from the reference state of the wheel hub H'by steering by the deviation distance Δ at each position in the X-axis direction.
The correction points P'1, P'2, P'3 are obtained by calculating x1, Δx2, Δx3 and correcting the coordinates of the measurement points P1, P2, P3 of the wheel hub H'according to them. Step 104). Here, the deviation distance between the measurement point P1 and the correction point P'1 in the X-axis direction: Δx1 = x11-x01 The deviation distance between the measurement point P2 and the correction point P'2 in the X-axis direction: Δx2 = x12-x02 Measurement Deviation distance in the X-axis direction between the point P3 and the correction point P'3: .DELTA.x3 = x13-x03 Also, the correction points P'1, P'2, P'3 of the wheel hub H '.
P'1 (XP1 + Δx1, YP1 + Δy, ZP1 + Δz) ⇒ P'1 (XH1, YH1, ZH1) P'2 (XP2 + Δx2, YP2 + Δy, ZP2 + Δz) ⇒ P'2 (XH2, YH2, ZH2) (XP3 + Δx3, YP3 + Δy, ZP3 + Δz) ⇒ P'3 (XH3, YH3, ZH3)

The robot control unit (not shown), which has corrected the coordinates of the respective measurement points according to the deviation of the position in the X-axis direction, now turns to Z of the wheel hub H'by steering from the measurement distances x11, x12, x13. Calculate the deviation of the posture around the axis (Step 1
05), the correction points P′1,
By further correcting the coordinates of P'2, P'3, corresponding points P "1, P" 2, P "3 corresponding to the individual measurement points P1, P2, P3 in the reference state are obtained (step 106). P ″ 1 (X1, Y1, Z1) P ″ 2 (X2, Y2, Z2) P ″ 3 (X3, Y3, Z3)

First, the corresponding points P "1, P" 2, P "3.
Since the Z-axis coordinates Z1, Z2, and Z3 are not affected by the deviation of the posture around the Z-axis due to steering, the Z-axis coordinates ZH1, ZH2, ZH2, and ZH2 of the correction points P'1, P'2, and P'3 are Same as ZH3. That is, Z1 = ZH1, Z2 = ZH2, Z3 = ZH3

The Y-axis coordinates Y1, Y2, Y3 of the corresponding points P "1, P" 2, P "3 are the measurement points P1, P in the reference state.
The deviation distances Yθ1, Yθ2, Yθ3 caused only by the difference in posture and the deviation distance Ys caused only by the difference in position are added to the Y-axis coordinates YP1, YP2, YP3 of 2, P3. Y1 = (YH1-Δy) + Yθ1 + Ys (YP1 = YH1-Δy) Y2 = (YH2-Δy) + Yθ2 + Ys (YP2 = YH2-Δy) Y3 = (YH3-Δy) + Yθ3 + Ys (YP3 = YH3-Δy)

Here, regarding the deviation distances Yθ1, Yθ2, Yθ3 which are caused only by the difference in the posture, the wheel hub H in the standard state (shown by the solid line in the figure) and the wheel hub H of the conveyed vehicle AM. ′ (Shown by the two-dot chain line in the figure)
21 are calculated by the following equations, respectively, from FIG. 21, which shows a state in which the steering angle O is deviated by an angle θ. Yθ1 = D · sin (α−θ) −S13 Yθ2 = S23−K · sin (β + θ) Yθ3 = −L · sin θ tan θ = (Δx2−Δx1) / S12 D, K and L in the above formula are These are the distances from the steering center O of the wheel hub H to the measurement points P1, P2, P3. Further, S12, S23, and S13 are Y-axis spans between the measurement points P1 and P2, between P2 and P3, and between P1 and P3, respectively. Further, α and β are the central angle between the measurement points P1 and P3 with respect to the steering center O and the measurement point P, respectively.
The central angle between 2 and P3, which is calculated by the following formula. tanα = S13 / L tanβ = S23 / L

As for the deviation distance Ys caused only by the difference in position, the moving distance Δy of the side contact member 24 is set.
However, since it is composed of the deviation distance Ys caused only by this difference in position and the deviation distance ΔYθ based on the deviation of the posture, the wheel hub H (indicated by the solid line in the figure) in the reference state is conveyed. The wheel hub H ′ of the vehicle AM (indicated by a chain double-dashed line in the figure) and the wheel hub H ′ of the vehicle AM deviated by the angle θ around the steering center O are calculated by the following equation. Ys = Δy−ΔYθ ΔYθ = W · sin (γ−θ) −J−y ′ y ′ = ΔXθ · tan θ ΔXθ = W · cosγ−W · cos (γ−θ) In the above formula, W is a wheel hub. The distance from the steering center O of H to the point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state, and J is the distance from the central axis of the wheel hub H to the hub peripheral surface HS. Further, γ is a central angle between the central axis of the wheel hub H and a point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state, and is calculated by the following equation. tan γ = J / I where I is the distance in the X-axis direction from the steering center O of the wheel hub H to a point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state.

From the above, the corresponding points P "1, P" 2, P "3
The Y-axis coordinates Y1, Y2, and Y3 of are as follows. Y1 = YH1 + Yθ1−ΔYθ Y2 = YH2 + Yθ2−ΔYθ Y3 = YH3 + Yθ3−ΔYθ

On the other hand, the X-axis coordinates X1, X2, X3 of the corresponding points P "1, P" 2, P "3 are the wheel hub H in the standard state (solid line in the figure) due to the deviation in the Y-axis direction. 22) and a wheel hub H ′ of the conveyed vehicle AM (indicated by a two-dot chain line in the figure) deviate from the steering center O by an angle θ. , X1 = XH1 + εx1 εx1 = Δn · tan θ Δn = n−Yθ1 X2 = XH2 + εx2 X3 = XH3 + εx3

After all, corresponding points P ″ 1, P ″ 2, corresponding to the individual measurement points P1, P2, P3 in the above-mentioned reference state.
The coordinates of P ″ 3 are calculated as follows: P ″ 1 (X1, Y1, Z1) ⇒ P ″ 1 (XH1 + εx1, YH1 + Yθ1−ΔYθ, ZH1) P ″ 2 (X2, Y2, Z2) ⇒ P ″ 2 (XH2 + εx2, YH2 + Yθ2−ΔYθ, ZH2) P ″ 3 (X3, Y3, Z3) ⇒ P ″ 3 (XH3 + εx3, YH3 + Yθ3−ΔYθ, ZH3)

As described above, corresponding points P ″ 1, P ″ 2, corresponding to the individual measurement points P1, P2, P3 in the reference state.
As shown in FIG. 20, the robot control unit (not shown) which has obtained P ″ 3, from the three measurement points P ″ 1, P ″ 2, P ″ 3 on these hub end faces HT ′, HT 'to X "-
It is a Y "plane, the measurement point P" 1 is the origin, and the measurement point P "2
User coordinate system X "-Y"-whose direction is the X "direction
Z ″ is created and stored (step 107).

The robot control unit (not shown) that has created the operating user coordinate system X "-Y" -Z ", firstly, the position data relating to the work contents from (Step A1) to (Step A2) described above and Work data such as posture data
The data is converted into data corresponding to the operating user coordinate system X "-Y" -Z ", and as shown in FIG. 24, the wheel mounting robot R is moved to the operating user coordinate system X" based on the converted data.
By operating with -Y "-Z", the hub bolt HB 'in the wheel hub H'of the conveyed vehicle AM.
The phase of 1, HB'2 ... Is regulated to a predetermined phase (step 108).

Next, the wheel mounting robot R is operated in the absolute coordinate system X-Y-Z provided for the wheel mounting robot R, and the wheel T having the phase of the bolt hole (not shown) preliminarily regulated in the previous step is wheeled. The holding device 60 is held between the plurality of claw members 61, 61 ... (Step 109).

When the wheels T are held by the wheel holding device 60, the work data such as the position data and the posture data relating to the work contents from (step A4) to (step A7) described above is obtained from the operating user. Coordinate system X "-Y"
-Z "is converted into data corresponding to the data, and as shown in FIG. 25, the wheel mounting robot R is operated in the operating user coordinate system X" -Y "-Z" based on the converted data to convey The wheels T are attached to the wheel hub H'of the vehicle AM that has been removed (step 110, step 1).
11).

After that, the wheel mounting robot R is returned to the initial state, and the wheel mounting work is completed (step 11).
2).

Hereinafter, the reference user coordinate system X'-Y'-Z '
Work data such as position data and posture data converted into data corresponding to the operating user coordinate system X ″ -Y ″ -Z ″ corresponding to the wheel hub H ′ of the transported vehicle AM.
By converting each time into the data of the above, the wheels T are automatically attached to the wheel hub H ′ whose position and attitude deviate from the reference state.

In the above embodiment, only the detection of the position and the posture of the wheel hub H corresponding to the steered wheels of the vehicle AM has been described, but the position and posture of the wheels other than the steered wheels are obtained by the same action. Of course, can be detected. Further, the deviation of the position of the wheel hub H'with respect to the reference state is detected by measuring the hub peripheral surface HS ', and the deviation of the posture of the wheel hub H'with respect to the reference state is detected by measuring the hub end surface HT'. However, if the wheel hub is provided with the disk surface HD, the disk surface HD may be measured to detect the position deviation and the attitude deviation. Further, although the cylinder actuators 14 and 18 are illustrated as the actuators of the pair of contact members 16 and 24, other actuators may be used. Further, the laser distance measuring sensors 26, 27, 28 are exemplified as the means for measuring the distance to the wheel mounting surface HT, but other means may be used. In the examples,
The distances to the wheel mounting surface HT are measured by the three distance measuring sensors 26, 27, 28, respectively.
The distance may be measured at three or more points by moving only one sensor on the reference plane.

Further, in the above embodiment, one contact member 1
The other abutting member 24 and its cylinder actuator 18 are arranged on the slide member 15 holding 6 and the distance measuring sensors 26, 27, 28 are arranged on the slide member 19 holding the other abutting member 24. By doing so, the pair of contact members 16, 24 and the distance measuring sensor 26,
27 and 28 are linked to each other, the pair of contact members 16 and 24 and the distance measuring sensors 26 and 2 are connected to each other.
7 and 28 may be separately arranged. The pair of abutting members are arranged so as to be orthogonal to each other, but they need not necessarily be orthogonal to each other. In addition, the operating rod 14 in the lifting cylinder actuator 14
The axis of a and the cylinder actuator 1 for sliding
The axial center of the actuating rod 18a in FIG. 8 is arranged to be orthogonal to each other in the same plane, but they do not necessarily have to be orthogonal and need not be in the same plane.

[0071]

As described above, according to the position detecting device for a wheel hub according to the present invention, the position of the wheel hub is measured by the moving distance of the contact member, and at least 3 from the reference surface to the wheel mounting surface. Since the posture of the wheel hub can be measured by the distance between the points, it becomes possible to easily automate the wheel mounting work.

[Brief description of drawings]

FIG. 1 is a side view conceptually showing a position detecting device for a wheel hub according to the present invention.

FIG. 2 is a front view thereof.

FIG. 3 is a plan view thereof.

FIG. 4 is a flowchart showing an embodiment of a wheel mounting method to which the present invention is applied.

FIG. 5 is a perspective view conceptually showing a wheel attaching process of the assembly line in the embodiment.

FIG. 6 is a sectional front view conceptually showing a phase adjusting device for a hub bolt applied to the embodiment.

FIG. 7 is a sectional side view thereof.

FIG. 8 is a side view thereof.

9 is a conceptual view of a main part of a phase adjusting device, and FIG. 9 (a) is a cross-sectional view showing a state in which an engagement pin and a hub bolt of a wheel hub are in phase. (B)
FIG. 6 is a cross-sectional view showing a state in which an engagement pin acts on a hub bolt of a wheel hub.

FIG. 10 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 11 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 12 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 13 is a perspective view showing a state in which the phase of the hub bolt is regulated by the phase regulating device.

FIG. 14 is a perspective view showing a state in which wheels are mounted on a wheel hub by a wheel holding device.

FIG. 15 is a perspective view showing a state in which the position of the wheel hub is being detected by the position detecting device.

FIG. 16 is a perspective view showing a state in which the position of the wheel hub is being measured by the position detection device.

FIG. 17 is a perspective view showing measurement points and a reference coordinate system on a wheel mounting surface of a wheel hub.

FIG. 18 is a perspective view showing a state in which a position deviation of the wheel hub of the vehicle carried in by the position detection device is detected.

FIG. 19 is a perspective view showing a state in which the deviation of the attitude of the wheel hub of the vehicle carried in by the position detection device is being measured.

FIG. 20 is a perspective view showing a measurement point and an operating coordinate system on a wheel mounting surface of a wheel hub of a vehicle that has been carried in.

FIG. 21 is a plan view conceptually showing the deviation in posture between the wheel hub in the reference state and the wheel hub of the loaded vehicle.

FIG. 22 is an enlarged view of a main part thereof.

FIG. 23 is a plan view conceptually showing the positional deviation and the attitude deviation between the wheel hub in the reference state and the wheel hub of the loaded vehicle.

FIG. 24 is a perspective view showing a state in which the phase of the hub bolt in the wheel hub of the vehicle carried in by the phase adjusting device is adjusted.

FIG. 25 is a perspective view showing a state in which wheels are mounted on a wheel hub of a vehicle carried in by a wheel holding device.

[Explanation of symbols]

 14, 18 Cylinder actuator 16, 24 Abutment member 26, 27, 28 Distance measuring sensor H, H'Wheel hub HS, HS 'Wheel hub peripheral surface HT, HT' Wheel mounting surface M Reference surface

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location G01B 21/26 7617-2F

Claims (1)

[Claims] 1. A pair of abutting members that are movably arranged in mutually different axial directions and abut on the peripheral surface of a wheel hub, a means for measuring the moving distance of each of these abutting members, and a predetermined reference. And a means for measuring distances from at least three different points on the wheel mounting surface of the wheel hub to the wheel hub position detecting device.