JPH0958541A - Wheel mounting position detection method - Google Patents

Abstract

(57) [Summary] (Correction) [Problem] It is necessary to operate actuators for position detection and phase regulation, and there is a risk that productivity will be disadvantageous due to the operation time of these actuators. A hub bolt HB protruding from a first measurement position at two points MC11 and MC12 on a wheel hub H by a first CCD image sensor 61 having a relatively short focal length.
And measuring the distances from the distance measurement positions ML1 ', ML2', ML3 'corrected based on the measured tip occupying position of the hub bolt HB to the wheel hub H, respectively. A step of calculating the posture of the wheel hub H based on the measured distance, and a relatively long focal length from the two second measurement positions MC21 'and MC22' corrected based on the calculated posture of the wheel hub H, respectively. Of the second CCD image sensor 62 having a long length, and measuring the position of the tip of the hub bolt HB.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a method for detecting a wheel mounting position for mounting a wheel on a wheel hub of a vehicle occupying a predetermined working position.

[0002]

2. Description of the Related Art Conventionally, when a wheel is mounted on a wheel hub of a vehicle by applying a robot, usually, a teaching operation for wheel mounting work is performed on a wheel hub arranged at a reference position, and this teaching operation is performed. The robot is played back to the wheel hub of the vehicle that is transported on the transport line each time based on the teaching data obtained in (1).

[0003]

By the way, in a wheel hub of a vehicle which is transported on a transportation line, the occupied position and posture of the wheel hub and the phase of the hub bolt due to the displacement of the vehicle and the difference in the steering state. Is not always the same as when the teaching operation is performed, and in such a case, it becomes difficult to attach the wheels even by the playback of the robot.

Therefore, the applicant has previously arranged a pair of contact members which are movably arranged in mutually different axial directions and respectively contact the peripheral surface of the wheel hub, and a means for measuring the moving distance of these contact members. And a position detecting device for the wheel hub, which includes a measuring means for measuring distances from a predetermined reference plane to at least three different points of the wheel hub, and a hub bolt having a predetermined phase by cooperation of the fixed member and the moving member. The phase adjustment device specified in 1. was provided.

With such a position detecting device and phase adjusting device, the occupied position of the wheel hub is detected by the moving distance of the contact member, and the attitude of the wheel hub is detected by the measurement result of the measuring means. Since it is possible to correct the teaching data based on these detection results, the hub bolt can be defined in the same phase as in the teaching operation by the cooperation of the fixed member and the moving member. Therefore, the wheels can be reliably attached by the playback of the robot.

However, in the position detecting device and the phase adjusting device, it is necessary to actuate an actuator such as a cylinder actuator when moving the contact member or driving the moving member. There is no choice but to interrupt the mounting work of, and there is a risk of being disadvantageous in terms of productivity.

[0007]

SUMMARY OF THE INVENTION The present invention is a method for detecting a wheel mounting position for mounting a wheel on a wheel hub of a vehicle occupying a predetermined working position, wherein a plurality of preset first tips are provided. The step of measuring the tip occupancy position of the hub bolt projecting from the wheel hub by the first visual sensor having a relatively short focal length from the measurement position, and presetting based on the measured tip occupancy position of the hub bolt Correcting at least three distance measuring positions and measuring the distances from the corrected distance measuring positions to the wheel hubs respectively; calculating the posture of the wheel hub based on the measured distances; The plurality of second tip measurement positions preset based on the posture of the wheel hub are corrected, and the plurality of second tip measurement positions are corrected. And a step of measuring the tip occupied position position of the hub bolts by a long second visual sensor relatively focal length, respectively.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing one embodiment. FIG. 7 and FIG.
The wheel mounting step of a four-wheeled vehicle assembly line to which the wheel mounting position detecting method according to the present invention is applied is conceptually shown, and a first stop position S1 and a second stop position for positioning and positioning the vehicle CV respectively. S2 and each wheel hub H of the vehicle CV positioned and arranged at the second stop position S2.
The wheel mounting process for mounting the wheels W is illustrated in each of FIGS. In the following, the transport direction of the vehicle CV in the assembly line is defined as the X-axis direction, the vertical up and down direction is defined as the Y-axis direction, and the width direction of the assembly line is defined as the Z-axis direction. The right side will be sequentially described as each upstream of the assembly line. Further, it is assumed that the vehicle CV that conveys the assembly line includes four hub bolts HB on each wheel hub H.

The first stop position S1 is used to measure the amount of displacement of the vehicle CV with respect to the assembly line prior to the work of mounting the wheels W. The X-axis direction measurement sensor 10 and the Z-axis direction measurement sensor 11 are connected to each other. I have it. Each of these measurement sensors 10 and 11 is composed of an air cylinder scale, and each of the measurement sensors 10 and 11 can be mounted on the vehicle CV from a predetermined installation position.
Each position deviation amount is measured in accordance with the stroke amount until the contact with the corresponding portion of.

As is apparent from the figure, at the first stop position S1, the X-axis direction measuring sensor 10 is fixedly installed downstream on the center line of the assembly line in a manner along the X-axis direction. Each of the Z-axis direction measurement sensors 11 is set to Z.
Along the axial direction toward the center line of the assembly line, and X
One pair is arranged on each side of the assembly line so as to move along the axial direction. The Z-axis direction measurement sensor 11 arranged on the downstream side of the assembly line holds correction plates 12 that are parallel to each other at the tip of each operating rod, and the correction plates 12 are attached to the vehicle front side. The wheel hub H is steered by pressing the wheel hub H so that the steering state of the vehicle CV conveyed on the assembly line is within a certain range, specifically within a range of about 10 °. It also has the function of correcting to.

On the other hand, at the second stop position S2, the measuring robots 20 are arranged on both sides of the assembly line, respectively. The wheel supply device 30 and the nut supply device 40 are arranged at a site located on the downstream side of the line, and the wheel mounting robot 50 is arranged in an area surrounded by the measurement robot 20, the wheel supply device 30, and the nut supply device 40. I have set up. At the second stop position S2, the measuring robot 20 and the wheel supply device 3
No. 0, the nut supply device 40, and the wheel mounting robot 50 are all arranged symmetrically with respect to each other across the assembly line, so only one side will be described below.

As shown in FIGS. 7, 8 and 10, the measuring robot 20 has a main measuring body 21 arranged on the floor so as to move along the X axis and rotate around the Y axis.
A first measurement arm 22 extending from the main measurement body 21 and swingably arranged around a horizontal axis; and a first measurement arm 22 extending from the tip of the first measurement arm 22 and swinging around the horizontal axis. The measurement list includes a second measurement arm 23 that can be disposed and a measurement list 24 that is disposed at the tip of the second measurement arm 23 and that rotates around each of the X, Y, and Z axes. A measuring device 60 is held at the tip of 24.

The measuring device 60 measures the posture of the wheel hub H,
In addition, it measures the position of the tip of a plurality of hub bolts HB protruding from the wheel hub H. As shown in FIG. 10, two types of CCD image sensors 61 and 62 and a laser distance measuring sensor 63 are used. Prepared and configured.

Two types of CCD image sensors 61, 62
Are different in focal length from each other, specifically, one at a position separated by a distance d (hereinafter referred to as the first CCD
As shown in FIG. 2B, the image sensor 61 has a rectangular measurement range 61a of 80 mm in length × 61 mm in width, and the other (hereinafter, referred to as a second CCD image sensor 62) has 32 mm in length × 25 mm in width. Rectangular measurement range 62a
And are arranged side by side on the holding plate 64 attached to the tip of the measurement wrist 24 in a manner to face each other in the same direction.

Although not shown in the figure, the distance measuring sensor 63 has a light projecting portion and a light receiving portion on the tip end surface thereof, and the laser light emitted from the light projecting portion is the object to be measured, that is, the wheel hub H. The distance to the reflection point of the laser light on the wheel hub H is measured when the light is reflected on the light receiving portion and is reflected by the light receiving portion.
It is attached to the holding plate 64 via a bracket 65 in the same direction as 1,2.

The wheel supply device 30, as shown in FIG.
The wheel supply line 31 extending along the assembly line is provided, and the wheels W whose center axis is directed vertically in the wheel supply line 31 are sequentially conveyed in the direction opposite to the conveyance direction of the vehicle CV. To make. Although not shown in the figure,
In the wheel supply device 30, the wheel rotation means for rotating the wheel W on the wheel supply line 31 around its central axis and the phases of the four hub bolt insertion holes (not shown) provided in the wheel W are detected. And a phase detection means,
By the cooperation of the wheel rotating means and the phase detecting means, the hub bolt insertion holes (not shown) of the wheel W which have reached the terminal end of the wheel supply line 31 are defined to have the same preset phases. .

The nut supply device 40 has a nut supply line 41 extending along the assembly line at a site located outside the wheel supply line 31 of the wheel supply device 30 and above the nut supply line 41. In the state where four nuts (not shown) corresponding to the hub bolt HB of the vehicle CV are accommodated in a pallet (not shown), the vehicle CV is sequentially transported in the opposite direction to the transportation direction. Although not shown in the drawing, the pallet applied to the nut supply device 40 accommodates four nuts (not shown) at positions corresponding to the hub bolt insertion holes (not shown) in the wheel W, respectively. , The bottom portion of which is formed into a prismatic shape, and when the end portion of the nut supply line 41 is reached by cooperation with a guide member (not shown) of the nut supply line 41, the four nuts (not shown) ) Is defined in the same phase as the hub bolt insertion hole (not shown) of the wheel W.

The wheel mounting robot 50 is shown in FIGS.
As shown in FIG. 5, a main mounting body 51 installed on the floor in a manner of rotating around the Y axis, and a first mounting arm 5 extending from the main mounting body 51 and swingably arranged around a horizontal axis.
2, a second mounting arm 53 that extends from the tip of the first mounting arm 52 and is swingable about a horizontal axis, and a second mounting arm 53 that is disposed at the tip of the second mounting arm 53. , Y and Z
And a mounting list 54 that rotates around each axis of
The wheel mounting device 70 is held at the tip of the mounting list 54.

The wheel mounting device 70 is for mounting the wheel W positioned at the terminal end of the wheel supply line 31 to the wheel hub H of the vehicle CV.
As shown in FIGS. 11A and 11B, a plurality of wheel holding claws 71, specifically, three wheel holding claws 71 and a nut runner 72 are provided.

Although not shown in the drawing, the wheel holding claws 71 are rotatably supported on the peripheral portions of the disk-shaped claw holding plate 73 in such a manner that they are opened and closed with respect to each other. In this case, the wheels W are held between each other when they are moved in a closed state by the operation of an opening / closing actuator (not shown).

The nut runner 72 has four sockets 74 for individually accommodating and holding four nuts (not shown) positioned and arranged at the end of the nut supply line 41, and the sockets 74 are individually rotated. In addition, four fastening actuators 75 for moving the socket 74 forward and backward along the respective central axes are provided, and when the wheel W is held between the wheel holding claws 71, the hub bolt insertion hole of the wheel W is provided. The sockets 74 (not shown) are attached to the claw holding plate 73 in such a manner as to face each other.

As shown in FIG. 11 (b), the wheel holding claw 71 and the nut runner 72 are provided with a sliding portion 76 and a driven gear 77 on the outer circumferences of their connecting portions. It is rotatably supported by a bracket 78 attached to the tip end of the attachment wrist 54 via the driven gear 77 and meshes with the drive gear 79 via the driven gear 77. The drive gear 79 is fixed to the drive shaft of the rotation servomotor 80 held by the bracket 65, and when the rotation servomotor 80 is driven, the wheel holding claw 71 and the nut runner 72 are rotated around the central axis. The action of rotating to.

In the wheel mounting process configured as described above,
Before actually operating the assembly line, first, the vehicle CV is positioned and arranged at the above-mentioned first stop position S1, and from this state, the teaching operation and the initial value setting operation for the measurement work as described below are performed. The obtained teaching data and initial value data are sequentially set and stored in a measurement control unit (not shown).

(Step A1) First, the X-axis direction measurement sensor 10 is operated with respect to the vehicle CV positioned and arranged at the first stop position S1, and the measurement value at that time is set and stored as zero.

(Step A2) Next, the Z-axis direction measurement sensors 11 are appropriately moved along the X-axis direction so that the Z-axis direction measurement sensors 11 are arranged opposite to the corresponding wheel hubs H, and the Z-axis direction measurement sensors 11 at that time are occupied. Set and store each position.

(Step A3) The Z-axis direction measurement sensor 11 arranged to face each wheel hub H is operated to set and store each measurement value as zero.

At this time, as described above, the correction plate 12 is pressed against the wheel hub H on the front side of the vehicle in accordance with the operation of the Z-axis direction measurement sensor 11 arranged on the downstream side of the assembly line, and the vehicle CV is The steering state of the wheel hub H is corrected within the range of about 10 ° without moving.

(Step A4) First stop position S described above
When the teaching operation in 1 and the initial value setting work are completed, the assembly line is driven for a predetermined distance, and the first
The vehicle CV positioned and positioned at the stop position S1 is transported and positioned and positioned at the second stop position S2.

Although the teaching operation and the initial value setting work at the second stop position S2 described below are all performed for the four wheel hubs H in the front, rear, left and right,
Since both are the same, only the operations for the front and rear wheels on one side will be described. Also, the second
The teaching operation and the initial value setting work at the stop position S2 are both performed in a reference state in which four hub bolts HB projecting from the wheel hub H are arranged in a predetermined phase, specifically, as shown in FIGS. As shown in (b), set the hub bolts HB to 12 o'clock, 3 o'clock, 6 o'clock and 9 o'clock, respectively.
It shall be performed in the standard condition in which it is occupied at the time position.

(Step A5) First, at the second stop position S2, as shown in FIG. 6C, the intersection of the central axis HC of the front and rear wheel hubs H and the plane α including the tip surfaces of the hub bolts HB. Is set and stored as each work center point C, and the initial state position, specifically, the second stop position S2
By appropriately operating the measuring robot 20 occupying the most downstream side, the measuring device 60 is installed opposite to the wheel hub H on the front wheel side.

(Step A6) Next, the distance d from the tip surface of each hub bolt HB in the wheel hub H on the front wheel side.
The above-mentioned first CCD in the reference plane β spaced apart by
First measurement position 2 points MC11, M by the image sensor 61
C12 is set and stored as a coordinate value having the origin of the work center point C of the corresponding wheel hub H.

Here, these two first measurement positions MC1
1 and MC12 are capable of measuring the positions of the tips of the two hub bolts HB diagonally located with respect to each other, regardless of the phase of the four hub bolts HB. As shown in FIG. 6 (b), the first
One rectangular measurement range 61a of the CCD image sensor 61
One is set so that the hub bolt HB occupying at the 3 o'clock position is arranged in contact with the inner edge of the lower end thereof, and the hub bolt HB occupying at the 12 o'clock position is arranged in contact with the outer edge of the left end thereof, and The first CCD image sensor 61
In the other rectangular measurement range 61a, the hub bolt HB occupying the 9 o'clock position is arranged in contact with the inner edge of the upper end thereof, and the hub bolt HB occupying the 6 o'clock position is arranged in contact with the outer edge of its right end. Is set to the other.

(Step A7) Next, as shown in FIGS. 6 (a) to 6 (c), the distance measuring position by the distance measuring sensor 63 described above in the reference plane β is three points ML1,
ML2 and ML3 are set and stored as coordinate values with the working center point C of the corresponding wheel hub H as the origin.

Here, these three distance measurement positions ML1
, ML2, ML3 are points that are on the same plane in the wheel hub H, specifically, points that face the brake disc surface BD.

(Step A8) Further, the reference plane β
The second measurement position two points MC21 and MC22 by the second CCD image sensor 62 described above are set and stored as coordinate values with the working center point C of the corresponding wheel hub H as the origin.

Here, these two second measurement positions MC2
1 and MC22 are the hub bolts HB arranged in the rectangular measurement range 61a of the first CCD image sensor 61, that is, the hub bolts HB at the 3 o'clock position and the hub bolts HB at the 9 o'clock position. The position of the tip of each hub bolt HB can be arranged within the rectangular measurement range 62a of the second CCD image sensor 62 and is set on the extension area of the tip of each hub bolt HB.

(Step A9) When the teaching operation and the initial value setting work for the wheel hub H on the front wheel side at the second stop position S2 are completed, the measuring robot 20
Is appropriately moved along the X-axis direction to install the measuring device 60 so as to face the wheel hub H on the rear wheel side.

(Step A10) From this state, the above-mentioned steps A6 to A for the wheel hub H on the rear wheel side.
The same operation as that up to step A8 is performed, and each data is set and stored as a coordinate value having the work center point C of the corresponding wheel hub H as the origin.

(Step A11) The measuring robot 20
Is again moved along the X-axis direction, and the measuring robot 20
The work for returning to the initial state position described above is set and stored.

When the teaching operation of the measuring work and the initial value setting work described above are completed, in the wheel mounting step, next, the teaching of the wheel mounting work is performed with the vehicle CV being positioned and arranged at the second stop position S2. The operation and the initial value setting work are performed, and the teaching data and the initial value data obtained at that time are sequentially set and stored in an attachment control unit (not shown). It should be noted that each data obtained by the teaching operation and the initial value setting work shown below are similar to those in the case of the above measuring work and are shown in FIG.
As shown in (c), the working center point C of each corresponding wheel hub H is set and stored as a coordinate value with the origin.

(Step B1) First, the wheel mounting robot 50 in an arbitrary state is operated to move the nut supply line 4
The work for storing and holding the four nuts (not shown) positioned and arranged at the terminal end of No. 1 in the socket 74 of the nut runner 72 is set and stored.

(Step B2) Next, the wheel mounting robot 50 is operated to set and store the work until the wheel W positioned at the end of the wheel supply line 31 is held between the wheel holding claws 71.

(Step B3) Further, by operating the wheel mounting robot 50, the wheels W held between the wheel holding claws 71 are mutually moved to the mounting start positions separated by a predetermined distance from the end surface of the wheel hub H on the front wheel side. The work up to the opposite installation is set and stored in such a manner that the central axes of the two match.

During this time, by appropriately driving the rotation servomotor 80, the wheel W held between the wheel holding pawls 71 via the drive gear 79 and the driven gear 77 and the nut runner 72 are rotated, respectively, and the wheel W concerned.
Each hub bolt insertion hole (not shown) is arranged on an extension of the hub bolt HB.

(Step B4) By bringing the wheel mounting device 70 close to the wheel hub H from the above state, the hub bolts HB are inserted through the hub bolt insertion holes (not shown) of the wheel W, and the wheel W is wheel hub. The work up to mounting on H is set and stored.

(Step B5) Wheel W on wheel hub H
After mounting the nuts, the fastening actuators 75 of the nut runner 72 are driven, and the nuts (not shown) housed and held in the sockets 74 are respectively tightened to the hub bolts HB with specified torques.
Setting work is stored until the work is completed.

(Step B6) After fastening all four nuts (not shown) to the hub bolt HB, the wheel holding claws 71 are opened to each other until the wheel mounting device 70 is returned to the above-mentioned mounting work starting position. The work of is set and memorized.

(Step B7) When the teaching operation and the initial value setting work for the wheel hub H on the front wheel side are completed, the same operation as the above-described steps B1 to B6 for the wheel hub H on the rear wheel side is completed. And set and store each data.

When the teaching operation and the initial value setting operation of the measurement work and the teaching operation and the initial value setting work of the mounting work described above are all completed, the assembly line is actually operated and the vehicle CV conveyed to the wheel mounting process.
The wheels W are sequentially attached to the wheel hub H of the.

The wheel mounting work in the wheel mounting step during operation of the assembly line will be described below with reference to FIGS. 1 and 9.

First, when it is confirmed by a positioning sensor (not shown) that the vehicle CV conveyed on the assembly line has been positioned and arranged at the first stop position S1 in the wheel mounting process (step 100), it is not shown in the drawings. The measurement control unit actuates the X-axis direction measurement sensor 10 to measure the X-axis direction displacement amount of the vehicle CV with respect to the first stop position S1 (step 101).

A measurement control unit (not shown) that has measured the X-axis position shift amount of the vehicle CV corrects the preset position of the Z-axis direction measurement sensor 11 according to the X-axis direction position shift amount. Based on the corrected occupied position, the Z-axis direction measurement sensors 11 are arranged to face the corresponding wheel hubs H of the vehicle CV (step 102).

A measurement control unit (not shown) in which each Z-axis direction measurement sensor 11 is arranged to face the corresponding wheel hub H immediately activates these Z-axis direction measurement sensors 11 and the vehicle CV for the first stop position S1. Of the wheel hub H on the front side of the vehicle CV while measuring the amount of positional deviation in the Z axis direction.
The steering state is corrected within a range of about 10 ° (step 103).

When the measurement work at the first stop position S1 is completed, the vehicle CV is carried out to the second stop position S2 by driving the assembly line (step 104), and positioned and arranged at the second stop position S2. It

When it is confirmed that the vehicle CV has been positioned and arranged at the second stop position S2 by a positioning sensor (not shown) (step 105), the measurement control unit (not shown) described above first moves the position in the X-axis direction. The two preset first measurement positions MC11 and MC12 of each wheel hub H are respectively corrected according to the amount of deviation and the amount of positional deviation in the Z-axis direction (step 106).

When it is confirmed that the vehicle CV is positioned and arranged at the second stop position S2 by a positioning sensor (not shown) (step 105), the above-mentioned mounting controller (not shown) controls the wheel mounting robot 50. Step B1 to step B described above by operating appropriately
2 is played back, and four nuts (not shown) positioned and arranged at the end portion of the nut supply line 41 are respectively housed and held in the sockets 74 of the nut runner 72 (step 200), and the end portion of the wheel supply line 31 is also held. With the wheel W positioned and positioned between the wheel holding claws 71 being held (step 201), input of correction data from a measurement control unit (not shown) described later is waited for (step 202).

The first measurement position MC11 of each wheel hub H,
A measurement control unit (not shown) in which MC12 is corrected, first operates the measurement robot 20 to appropriately install the measurement device 60 so as to face the wheel hub H on the front wheel side, and further, as shown in FIG. The corrected first measurement position 2
By driving the first CCD image sensor 61 from each of the points MC11 'and MC12', the positions of the tips of the two hub bolts HB located diagonally to each other are roughly measured (step 107).

A measurement control unit (not shown) that has measured the positions of the hub bolts HB at the tip positions determines a temporary working center point C'of the wheel hub H from the positions of the hub bolts HB at the tip positions.
Is calculated (step 108), and three distance measurement positions ML1 and ML are preset according to the calculated work center point C '.
2 and ML3 are respectively corrected (step 109).

As shown in FIG. 3, the measurement control unit (not shown) in which the distance measurement positions ML1, ML2, ML3 are corrected has three corrected distance measurement positions ML1 ', ML2.
By driving the distance measuring sensor 63 respectively from ′ and ML3 ′, corresponding points P1, P2 and P3 on the brake disc surface BD of the wheel hub H on the front wheel side.
The distance to (step 110), and the measured 3
The deviation of the posture of the wheel hub H with respect to the reference plane β'is calculated from the two distances (step 111).

The measurement control unit (not shown) that calculates the deviation of the attitude of the wheel hub H presets the wheel hub H on the front wheel side according to the calculated deviation of the attitude and the temporary work center point C '. 2nd measurement position 2 points MC21,
Each MC22 is corrected (step 112).

Second measurement position MC21, M of the wheel hub H
As shown in FIG. 4, the measurement control unit (not shown) that corrects C22 operates the measurement robot 20 as appropriate, and as shown in FIG. 4, the corrected second measurement positions 2 points MC21 ′ and MC22 ′.
Driving the second CCD image sensor 62 respectively, the two hub bolts H located diagonally to each other.
The tip position of B is accurately measured from directly above each (step 113).

As shown in FIG. 5, the measurement control unit (not shown) that has measured the tip occupying position of the hub bolt HB determines the actual working center point C ″ of the wheel hub H from the tip occupying position of these hub bolts HB. The calculation is performed (step 114), and the phase shift θ of the plurality of hub bolts HB with respect to the reference state is calculated (step 115).

Further, the measurement control unit (not shown) has described the calculated deviation of the posture, the calculated work center point C ″ and the calculated phase shift θ of the hub bolt HB as the correction data of the wheel hub H on the front wheel side. It is transmitted to an attachment control unit (not shown) (step 116).

The measurement control unit (not shown), which has transmitted the correction data regarding the wheel hub H on the front wheel side to the attachment control unit (not shown), activates the measurement robot 20 as needed, and then the measurement device 60 is activated. It is installed opposite to the wheel hub H on the rear wheel side (step 117, step 11
8) Hereinafter, by repeating the above-described operations from step 107 to step 116 for the wheel hub H on the rear wheel side, correction data for the wheel hub H on the rear wheel side is not shown in the mounting controller. To end the procedure.

On the other hand, the attachment control unit (not shown) that has received the correction data from the measurement control unit (not shown) sets the teaching data set in steps B3 to B6 as the origin of the work center point C "calculated above. age,
Further, the wheel W is attached to the wheel hub H on the front wheel side by converting the coordinate system data having a phase shift of θ (step 203) and playing back the wheel mounting robot 50 based on the converted data. (Step 204).

The attachment control unit (not shown) in which the wheel W is attached to the wheel hub H on the front wheel side is provided while the measurement control unit (not shown) measures the rear wheel W.
By appropriately operating the wheel mounting robot 50 again, the above steps B1 and B2 are played back, and four nuts (not shown) are respectively housed and held in the sockets 74 of the nut runner 72, and the wheels W are held by the wheel holding claws. In the state of being held between 71, waiting for the input of the correction data from a measurement control unit (not shown) described later, after the correction data is input from the measurement control unit, the above-described steps 203 to 204 are performed. By repeating the above, the wheel W is attached to the wheel hub H on the rear wheel side.

Hereinafter, by sequentially repeating the above-described operation, the wheels are sequentially attached to the wheel hub of the vehicle conveyed on the assembly line.

As described above, according to the above wheel mounting step, the posture of the wheel hub H and the hub bolt are driven by the operation of the first and second CCD image sensors 61, 62 and the laser distance measuring sensor 63 without the operation of the actuator. Since each tip position of HB can be measured,
The wheels W can be reliably attached to the wheel hub H without lowering productivity. Moreover, at the first stop position S1 on the upstream side of the second stop position S2 to which the wheel W is attached, the vehicle C with respect to the assembly line
Since the amount of displacement of V is measured, it is possible to perform the measurement by the first CCD image sensor 61 more accurately and surely without causing a decrease in productivity.

[0069]

As described above, according to the present invention,
Since the posture of the wheel hub and the positions of the hub bolts at the respective tips can be measured without operating the actuator, the wheels can be securely attached without causing a decrease in productivity.

[Brief description of drawings]

FIG. 1 is a flowchart showing an example of a wheel mounting position detecting method according to the present invention.

FIG. 2 shows a measurement state of a wheel hub by a first visual sensor, (a) is a perspective view of the wheel hub,
(B) is a front view of the wheel hub, and (c) is a plan view of the wheel hub.

3A and 3B show measurement states of a wheel hub by a distance measuring sensor, FIG. 3A is a perspective view of the wheel hub, FIG. 3B is a front view of the wheel hub, and FIG. 3C is a plan view of the wheel hub. .

FIG. 4 shows a measurement state of a wheel hub by a second visual sensor, (a) is a perspective view of the wheel hub,
(B) is a front view of the wheel hub, and (c) is a plan view of the wheel hub.

FIG. 5 is a diagram showing a state of creation of correction data to be transmitted to a mounting robot, (a) is a perspective view of a wheel hub,
(B) is a front view of the wheel hub, and (c) is a plan view of the wheel hub.

FIG. 6 shows a measurement state of the wheel hub at the time of teaching operation, (a) is a perspective view of the wheel hub,
(B) is a front view of the wheel hub, and (c) is a plan view of the wheel hub.

FIG. 7 is a plan view conceptually showing an assembly line to which the wheel mounting position detecting method according to the present invention is applied.

8 is a side view of the assembly line shown in FIG.

FIG. 9 is a flowchart showing the content of a wheel mounting operation by the mounting robot.

10 is a perspective view conceptually showing a main part of a measuring robot applied to the assembly line shown in FIG.

11A and 11B conceptually show a main part of a wheel mounting robot applied to the assembly line shown in FIG. 7, where FIG. 11A is a side view and FIG. 11B is a sectional side view.

[Explanation of symbols]

 61 ... First CCD image sensor 62 ... Second CCD image sensor CV ... Vehicle H ... Wheel hub HB ... Hub bolt MC11, MC12 ... First measurement position MC21, MC22 ... Second measurement position MC21 ', MC22' ... Corrected second measurement position ML1, ML2, ML3 ... Distance measurement position ML1 ', ML2', ML3 '... Corrected distance measurement position S1 ... First stop position S2 ... Second stop position W ... Wheel

Claims (1)

[Claims] 1. A method for detecting a wheel mounting position for mounting a wheel on a wheel hub of a vehicle occupying a predetermined working position, wherein each of the plurality of preset first tip measurement positions has a relatively long focal length. Measuring the tip occupancy position of the hub bolt projecting from the wheel hub with a short first visual sensor, and at least three distance measurement positions preset based on the measured tip occupancy position of the hub bolt, respectively. A step of correcting and measuring a distance from the corrected distance measurement position to the wheel hub, a step of calculating the attitude of the wheel hub based on the measured distance, and a step of calculating the attitude of the wheel hub Each of the plurality of preset second tip measurement positions is corrected, and each of the plurality of corrected second tip measurement positions has a relatively long focal length. Wheel mounting position detecting method characterized by comprising the step of measuring the tip occupied position position of the hub bolts by a second visual sensor are.