JPH0821723A - Method and equipment for detecting phase of hub bolt - Google Patents

Abstract

PURPOSE:To provide an equipment for detecting the phase of a hub bolt, which comes into contact directly with the hub bolt mechanically and measure the phase of the hub bolt and has a simple structure, and its detecting method. CONSTITUTION:The base end section of a lever 20 is supported rotatably to the side section of a copying plate 10 being brought into contact with the front ends of all hub bolts and detecting the angle of a hub surface, the copying plate 10 is driven to move forward and backward, and the lever 20 is rotated from both directions, thus measuring the angles of rotation from the rotary places of references at the contact time on both sides respectively regarding each of the two hub bolts. Radius vector L at the center point of each hub bolt is arithmetically operated on the basis of L=(D/2)/sinDELTAtheta from different angles DELTAtheta among the angles of rotation computed at the center points of the hub bolts and one of the angles of rotation on both sides and the known diameter D of the hub bolt, and two-dimensional coordinate values at the center points of the two hub bolts with the center point of the revolution of the lever as an origin are computed on the basis of the radius vectors L and the angles of rotation at the center points. The phase displacement of the hub bolts to the center points of the hub surface is detected assuming the positional relationship of the four known hub bolts on the basis of these two-dimensional coordinate values.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to detection of the inclination angle of a hub surface of a wheel and rotation of a hub bolt from a reference rotation position with a center point of the hub surface as a rotation center for automation of tire mounting. The present invention relates to a hub bolt phase detecting method and device for detecting a position shift, that is, a phase shift.

[0002]

2. Description of the Related Art As a device for detecting a phase shift of a hub bolt, according to Japanese Patent Laid-Open No. 1-218903, a hub bolt is rotationally driven around a rotation axis orthogonal to the hub surface and is located outside the side surface of the hub bolt to the side surface of the hub bolt. A rotary body having an ultrasonic distance sensor for measuring a distance and a rotation angle sensor for detecting the rotation angle thereof are provided, and at least three positions are sequentially detected from the distance signal output by the distance sensor when the rotary body rotates. It is well known that the phase from the hub bolt position or the reference rotation position can be measured from the distance data to the side surface of the hub bolt and the rotation angle data at the time of occurrence.

[0003]

However, when such an ultrasonic sensor is used, an error may occur due to a reflected beam from a foreign substance adhering to the hub bolt or due to the temperature fluctuation characteristic of the circuit element. . The present invention
In view of such a point, it is an object of the present invention to provide a hub bolt phase detecting method and device having a simple structure that mechanically directly contacts the hub bolt for measurement.

[0004]

SUMMARY OF THE INVENTION In order to achieve this object, the present invention is disclosed in JP-A 1-218904.
The main body that is driven forward toward the standard hub surface position has an area that can contact the tips of all the hub bolts, and a copying plate whose contact surface is flat is rotatably supported and parallel to the standard hub surface. In view of the fact that a hub surface angle detection device provided with a sensor for detecting the angle of the copy plate with respect to a reference surface and a reference surface orthogonal to the reference surface is proposed by the applicant, It is configured by using a copy plate that is driven forward and backward. That is, on the side of the copying plate, the base end of a lever having a length that can reach at least two hub bolts is rotatably supported in parallel with the copying plate, and the copying plate is driven to move back and forth. By rotating the two hub bolts, the rotation angle from the reference rotation position is measured at the time of contact on both sides, and the center point rotation angle of the hub bolt calculated from the rotation angles on both sides and the rotation angle on both sides are measured. Difference angle from one of the rotation angles Δθ
And the diameter D of the known hub bolt, the moving radius L of each hub bolt center point is calculated based on L = (D / 2) / sin Δθ, and the lever rotation is calculated based on the calculated moving radius L and center point rotation angle. The two-dimensional coordinate values of the two hub bolt center points with the dynamic center point as the origin are calculated, and the hub surface center point is assumed on the assumption that the positional relationship of the four hub bolts is known based on these two-dimensional coordinate values. The phase shift from the reference rotation position of the hub bolt with respect to is detected.

[0005]

The lever is supported by the copy plate so that it can be moved back and forth with respect to the hub surface. Therefore, by rotating the lever at a position where it can be rotationally contacted with the hub bolt, the rotation angle at the time of contact on both sides is increased. Are measured for each of the two hub bolts. As a result, the center point rotation angle of each hub bolt and the difference angle Δθ between this rotation angle and one of the rotation angles on both sides are uniquely obtained. At this time, at the time of contact, the lever becomes a tangent to the hub bolt having a circular cross section, and the line connecting the contact and the hub bolt center point becomes a right angle, and the radius vector L of each hub bolt center point can be calculated. The radius vector occupies a rotation angle that is the difference angle Δθ added to one of the rotation angles on both sides of the affiliation. When this rotation angle θ is set, the center point of the two hub bolts whose origin is the center of rotation of the lever Two-dimensional coordinate value of Lcosθ, Ls
It is calculated as in θ. 4 based on these two-dimensional coordinate values
Assuming that the positional relationship of the hub bolts is known, the phase shift from the reference rotational position of the hub bolt is detected directly or by converting into a two-dimensional coordinate value with respect to the hub surface center point.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An example of an apparatus to which the hub surface angle detecting method of the present invention is applied will be described with reference to FIGS. Reference numeral 9 is a main body frame of this apparatus, and a guide block 13 attached to a main body base 9a thereof is driven forward by a cylinder 14 toward a hub 1 along a guide rod 12 supported by a guide base 15. At the front part of the main body frame 9, a circular copying plate 10 having flat surfaces on both sides and having an area including all the hub bolts 2 is provided at the center which is orthogonal to the center point of the vertical surface of the hub surface 1a in the standard position. It is rotatably supported by being fixed inside the spherical bearing 18 having the point P of the line A as the center of rotation.

Three optical distance sensors 19 (only two are shown) are attached to the main body frame 9, and the copy plate 10 is provided.
Light is irradiated toward the back surface of the and the distance is measured from the incident angle of the reflected light. The cylinder 14 is provided with a drive circuit 14a for driving the copying plate 10 forward to drive at least 3
When the hub bolt 2 is contacted and restrained, the pressure sensor 14b in the cylinder inner chamber detects an increase in pressure due to overload. Then, the driving of the cylinder 14 is stopped, and the detection data output means 16 is caused to output the three types of distance data at that time. Thereby, the calculation means 17 calculates the inclination angle of the hub surface.

Such a device is disclosed in Japanese Patent Laid-Open No. 1-218890.
As is well known from Japanese Patent No. 4, the hub bolt phase detecting device of the present invention is attached to the side portion of the copying plate 10.
That is, the motor 21 is attached to the side portion of the copying plate 10 in the radial direction, and the lever 20 is supported parallel to the surface of the copying plate 10 by the rotation shaft 21a thereof. The length of this lever is set to such an extent that it can reach the two hub bolts 2 that may rotate about the center line A of the hub surface 1a as the center of rotation. The surface of the lever 20 is formed, for example, as a capacitance type touch sensor 20a, and the base end portion 23 thereof is formed.
The accessory circuit part is stored in. Behind the motor 21, there is a rotating shaft 21 for detecting the rotation angle of the lever 20.
A rotary encoder 22 as a rotation angle sensor of a is attached.

A sequence control means 25 is attached to the motor 21 and the cylinder 14. As shown in FIG. 3, this sequence control circuit uses a horizontal reference position (two-dot chain line in FIG. 3A) so that the lever 20 does not interfere with the hub bolt 2 from the position shown in FIG. 2 when measuring the inclination angle of the hub surface 1a. The motor 21 is driven via the motor drive circuit 21b so that the motor 21 is rotated. In the subsequent phase detection from the reference rotation positions of the four hub bolts, in order to measure the positions of the two hub bolts 2, the cylinder drive circuit 14a is rotated with the lever 20 rotated to the horizontal reference position. The cylinder 14 is driven forward through the lever 20 so that the lever 20 enters the hub bolt region where the lever 20 can be pivotally contacted. The forward (as viewed in FIG. 2 counterclockwise direction) is in the front hub bolt 2 ₁
When the touch sensor 20a detects contact with the motor 2,
1 is reversed with stops, the touch sensor 20a to contact to another hub bolt 2 ₂ is stopped at the time of the detection.

The rotation angles θ _F1 and θ _R2 from opposite directions are taken in from the rotary encoder 22 at the time of stopping of both, and the intermediate from the reverse direction between the hub bolts 2 ₁ and 2 _{2 is} obtained by the following formula 1. The rotation angle θ _R0 is calculated, the cylinder 14 is once retracted, and the lever 20 is rotated to this intermediate rotation angle θ _R0 .
Cylinder 14 to reposition to hub bolt area
Drive forward.

Θ _R0 = (θ _F1 + θ _R2 ) / 2 + θ _R2 (1)

Further, as shown in FIGS. 3B and 3D,
The hub bolts 2 _{1 and} 2 ₂ are first rotated in the reverse direction so that they are brought into contact with the surfaces of the hub bolts 2 _{1 and} 2 ₂ that face each other in order. As a result, the measurement is completed, the cylinder 14 is driven backward, and the lever 20
Return to the rotation angle when not in use.

[0013] 26 calculates the radius L _1, L ₂ of each of the center point O _H a line contact from the hub bolts 2 _1, 2 ₂ in the forward direction as a rotation around the center of the rotating shaft 21a as a start line dynamic It is a diameter calculation means. Further, as shown in FIG. 3C, rotation angle theta _F3 from the forward direction with respect to the center point O _H hub bolts 2 ₁ becomes Equation 2 below.

Θ _F3 = (θ _F1 + θ _R1 ) / 2 + 180 ° (2)

Here, the rotation angle θ _R1 from the reverse rotation direction has a negative sign. The difference angle Δθ between the rotation angle θ _F1 and the contact angle θ _F3 in the normal rotation direction, that is, the angle formed by the starting line and the moving radius L ₁ is given by the following expression 3.

Δθ = θ _F3 −θ _F1 (3)

[0017] The diameter D of the hub bolt 2 is known and therefore the line connecting the contact point and the center point O _H a radial L ₁ for hub bolts 2 ₁ of the lever 20 of the center point O _H hub bolts 2 ₁ relative to the center of the rotation axis 21a Is orthogonal to the lever 20, and is calculated by the following equation 4.

L ₁ = (D / 2) / sin Δθ (4)

[0019] Similarly, with respect to hub bolts 2 _2, the radial L ₂ theta _F1 of the center point O _H based on Equation 2 to Equation 4, theta _R1 of theta _F2, is calculated by substitution of theta _R2.

27 is a center point O of the hub bolts 2 ₁ and 2 _2.
Hub surface 1a whose origin is the center of the rotary shaft 21a with respect to _H
Is a hub bolt coordinate value calculation means for calculating the XY coordinate values of a two-dimensional surface parallel to. That is, coordinate values (L ₁ cos center point O _H hub bolts 2 ₁ from the relationship shown in FIG. 3C
θ _F3 , L ₁ sin θ _F3 ). Coordinates of the center point O _H hub bolts 2 ₂ from the relationship shown in FIG. 3E, Formula 2
The rotation angle from the forward rotation direction with respect to the center point calculated based on the above is defined as θ _F4 (L ₂ cos θ _F4 , L ₂ sin θ _F4 ).

Reference numeral 28 is a coordinate value conversion means, which is a rotary shaft 21.
From the coordinate value with the center of a as the origin, the center point O of the hub surface 1a
Convert to coordinates with the origin as. This conversion can be carried out simply by parallel translation on the assumption that the center point of the rotation axis and the center point of the hub surface are in a known positional relationship. That is, as shown in FIG. 3F, the coordinates X _O and Y _O in the coordinate system whose origin is the center of the rotary shaft 21a with respect to the hub surface origin are added to the respective detected coordinate values. The converted coordinate value of the hub bolt 2 is compared with the standard coordinate value in this coordinate system to calculate the phase shift from the reference rotational position.

The operation of the hub bolt phase detector constructed as above will be described with reference to FIG. After the measurement of the hub surface inclination angle by the control of the motor 21 and the cylinder 14 by the sequence control means 25, as shown in FIG. 6A, the lever 20 is slightly separated from the horizontal reference position with respect to the hub surface 1a. In the state of being allowed to enter, the two hub bolts 2 ₁ and 2 ₂ are rotated in the forward and reverse directions and brought into contact with each other from opposite sides, and the rotation angles θ _F1 and θ _R2 are detected by the touch sensor 20a. In response to the rotary encoder 22
Take in from.

While the lever 20 is retracted, the lever 20 is rotated and moved to an intermediate rotation angle θ _R0 that can surely avoid the interference between the hub bolt 2 and the lever 20 calculated by the equation 1, and the levers 20 and 30 are shown in FIGS. Both hub bolts 2 as shown
The surfaces of ₁ , 2 ₂ facing each other are brought into contact with each other. Radius calculating means 26 rotating angle theta _R1, crowded preparative theta _F2, as shown in Figure C and E, hub bolts 2 _1, 2 ₂ of the rotation from the forward direction for each of the center point O _H The angles θ _F3 and θ _F4 are calculated from Equation 2. Then, based on the equations 3 and 4, the radius vector L ₁ ,
Calculate L ₂ .

As a result, the hub bolt coordinate value calculation means 2
7, each of the two-dimensional X-Y-coordinate values with the origin of the rotation shaft center of the motor 21 of the center point O _H (L ₁ cos
θ _F3 , L ₁ sin θ _F3 ) and (L ₂ cos θ _F4 , L ₂ s
in θ _F4 ). Further, the coordinate value conversion means 2
As shown in F of the same figure, 8 is converted into coordinates having the center point O of the hub surface 1a as the origin, and the four hub bolts 2 including the remaining two are in a square relationship of known dimensions. Based on the above, the shift angle of the rotation angle from the reference state is calculated, and the phase shift data is output.

From such phase shift data, the rotational position of the hub bolt 2 can be confirmed, or when the rotational position of the hub bolt 2 can be confirmed in more detail by image processing in the subsequent step, can the position be within the imaging range? It can be used as judgment data. The coordinate value converting means 28 is abolished when the coordinate value with the center point of the hub surface 1a as the origin is not required, and the hub bolt coordinate value calculating means 27 directly uses the coordinate value with the center of the rotation axis as the origin. It can also be converted.

FIG. 4 shows a touch sensor as a limit switch with an antenna known per se, for example, VL manufactured by Matsushita Electric Works.
In another embodiment using the -T series, a limit switch 30 having an antenna 31 as a lever is attached to a bracket 35 attached to the rotary shaft of the motor 21 on the side of the copying plate 10. There is. As a result, a detection signal is obtained when either side of the antenna 31 contacts the hub.

[0027]

According to the present invention, a phase detecting device for a hub bolt position having a simple structure in which a lever is brought into direct contact with a hub bolt is subjected to the influence of diffuse reflection of ultrasonic waves caused by foreign matter on the hub bolt or temperature characteristics of electronics. It becomes possible to measure at low cost.

[Brief description of drawings]

FIG. 1 is a side view of a hub surface angle detecting device with a hub bolt phase detecting device according to an embodiment of the present invention.

FIG. 2 is a front view of the same device.

FIG. 3 is a diagram illustrating an operation of the device.

FIG. 4 is a front view of a touch sensor portion of a lever according to another embodiment.

[Explanation of symbols]

 1 Hub 1a Hub Surface 2 Hub Bolt 10 Copy Plate 20 Lever 21 Motor 22 Rotary Encoder 30 Limit Switch 31 Antenna

Claims (2)

[Claims] 1. A copying plate that can be driven to move back and forth toward a hub surface and is rotatably supported, and at the time when the copying plate is in contact with at least three tips of four hub bolts having a circular cross section. A hub bolt phase detection method using a hub surface angle detection device including a standard sensor for detecting an angle of the copying plate with respect to the hub surface, wherein at least two hub bolts are provided on a side portion of the copying plate. The base end of a lever having a length that can reach the two rotatably parallel to the copying plate, and driving the copying plate to move back and forth to rotate the lever in both directions, thereby the two hub bolts. For each of the contact points on both sides, the rotation angle from the reference rotation position is measured, and the center point rotation angle of the hub bolt calculated from the rotation angle on both sides and one of the rotation angles on both sides are measured. Difference angle Δθ and known From the diameter D of the hub bolt, the moving radius L of each hub bolt center point is calculated based on L = (D / 2) / sin Δθ, and based on the calculated moving radius L and the center point turning angle, The two-dimensional coordinate values of the two hub bolt center points with the center of rotation as the origin are calculated, and the positional relationship of the four hub bolts is known based on these two-dimensional coordinate values. A method for detecting a phase of a hub bolt, wherein a phase shift of the hub bolt from a reference rotational position with respect to a hub surface center point is detected. 2. A copying plate which can be driven forward and backward by a cylinder toward a hub surface and is rotatably supported, and the copying plate is in contact with at least three tips of four hub bolts having a circular cross section. A hub bolt phase detection device using a hub surface angle detection device having a sensor for detecting the angle of the copying plate with respect to the standard hub surface at a time point, wherein a side portion of the copying plate is provided to the hub bolt. A touch sensor for detecting contact is provided, and the base end portion of a lever having a length that can reach at least two of the hub bolts in parallel with the copy plate is supported on the copy plate on a rotary shaft of a motor in an orthogonal direction, A rotation angle sensor that detects a rotation angle of the rotation shaft, and sequentially controls the motor so that the levers can be contacted bidirectionally with the two hub bolts in response to a detection signal from the touch sensor. And a sequence control means for sequentially controlling the cylinder so as to bring the lever into contact with the predetermined hub bolt without interfering with the rotation of the motor; The rotation angle sensor detects the rotation angles on both sides from the reference rotation position, and the difference angle between one of these rotation angles and the center point rotation angle of the hub bolt calculated from these rotation angles. Radius vector calculating means for calculating the radius vector L of each hub bolt center point with respect to the center of the rotation axis from Δθ and the known diameter D of the hub bolt, based on L = (D / 2) / sin Δθ; Based on the diameter L and the rotation angle of the center point, two of the center points of the two hub bolts whose origin is the center of the rotation shaft are used.
Hub bolt coordinate value calculation means for calculating a dimensional coordinate value and detecting a phase shift from the reference rotational position of the hub bolt with respect to the hub surface center point on the assumption that the positional relationship of the four hub bolts is known. A hub bolt phase detecting device characterized by comprising.