DE102020204817B4 - Method for automated disassembly and assembly of a vehicle wheel on a wheel flange and device therefor - Google Patents

Abstract

Method for the automated disassembly and assembly of a vehicle wheel (1) on a wheel flange (2), in which fastening elements (4) for securing the vehicle wheel (1) on the wheel flange (2) are actuated by means of an automatically controllable screwing tool (3) in order to release the vehicle wheel (1) from the wheel flange (2) by loosening the fastening elements (4) or to secure the vehicle wheel (1) on the wheel flange (2) by tightening the fastening elements (4), wherein the loosening and tightening process of the fastening elements (4) is monitored with regard to a course of the torque and/or angle of rotation applied by the screwing tool (3), characterized in that the course (6) of the torque and/or angle of rotation is recorded during the loosening of the fastening elements (4) and this course (6) is related to at least one comparison course (9) in order to diagnose any damage pattern (10) of the wheel fastening therefrom, wherein the diagnosis is categorized according to various Damage patterns (10) are carried out.

Description

The invention relates to a method for the automated disassembly and assembly of a vehicle wheel on a wheel flange, in which fastening elements for securing the vehicle wheel to the wheel flange are actuated by means of an automatically controllable screwing tool in order to release the vehicle wheel from the wheel flange by loosening the fastening elements or to secure the vehicle wheel to the wheel flange by tightening the fastening elements, wherein the loosening and tightening process of the fastening elements is monitored with regard to the torque and/or angle of rotation applied by the screwing tool.

Changing wheels on motor vehicles is usually done manually, if necessary using electric or pneumatic hand tools. Any damage is identified by the person changing the wheel by visual inspection. The invention aims to automate such a process.

WO 2009/ 127 277 A1 discloses a method for vehicle assembly in which a vehicle wheel is attached to a wheel flange using an industrial robot. For this purpose, a screwing tool is automatically fitted with the appropriate wheel bolts. The wheel bolts are tightened using torque and/or angle control in order to maintain a defined tightening torque. However, an inspection for any damage is not relevant during initial assembly.

EN 10 2015 009 395 A1 discloses a method for controlling a screwing process with the aim of aborting the screwing process if an error is already detected during screwing. For this purpose, an actual course for a screwing parameter is compared over time with error patterns in order to predict a possible error and prevent it by aborting the screwing process at an early stage.

EN 10 2006 047 683 B3 discloses a method for detecting faulty screw connections. For this purpose, a breakaway torque and a screwing parameter are recorded over time while a screw connection is being unloaded. The breakaway torque is compared with a target threshold value and the gradient of the parameter curve with a target gradient. A fault-free connection is concluded if both target values are undershot.

EN 10 2015 111 316 A1 discloses a method for evaluating screw connections immediately after they have been created. Relevant control parameters for this are the pump pressure, the torque, the angle of rotation, the pitch, the preload force and/or the screw elongation. If an end value of the control parameters is within a corresponding acceptance range, the tightening is rated as "OK". If the tightening is faulty, ie the end value of the control parameters is not within the corresponding acceptance range, the tightening is rated as "Not OK". It is therefore only checked whether a target parameter range was reached at the end of the tightening or not.

The invention is based on the object of facilitating a wheel change on a motor vehicle.

This object is achieved by a method according to patent claim 1. This is characterized in that the course of the torque and/or angle of rotation is recorded during the loosening of the fastening means and this course is related to at least one comparison course in order to diagnose any damage to the wheel fastening.

For example, when changing a wheel, it can be automatically determined whether a wheel attachment is heavily corroded.

The diagnosis is categorized according to different types of damage in order to facilitate the selection of appropriate remedial measures.

Particular embodiments of the invention are the subject of further patent claims.

In a first special embodiment, the diagnosis is made on the basis of a model comparison with a comparison curve for a damage-free wheel attachment.

In particular, the damage pattern categorization can be carried out by evaluating the deviation of the recorded actual curve of the torque and/or angle of rotation from a target curve.

For this purpose, corresponding evaluation criteria can be made available, for example, in a diagnostic module of a control device for the wheel change or also in software in an external computing device which is connected in terms of information technology to a device which carries out the wheel change automatically.

In another special embodiment, the damage pattern is categorised by a Comparison of the recorded actual history with the history of model damage patterns.

Damage pattern categorization can also be carried out using machine learning algorithms. By taking a large number of histories into account, the process can be continuously improved.

While loosening or tightening a wheel fastening, the course of the torque and/or angle of rotation over time can be recorded, which forms the basis for damage diagnosis.

However, it is also possible to record the course of the torque as a function of the angle of rotation. If necessary, such a course can also be determined from the temporal courses of the torque and the angle of rotation.

The torque and angle of rotation can be measured using dedicated sensors. However, it is also possible to derive them indirectly from other quantities, such as a motor current or step angle of the screwing tool.

The damage patterns may contain categories selected from the group containing corrosion, damage to a thread of the fastener, damage to a thread of the wheel flange, damage to the wheel disc of the vehicle wheel, or a subcombination thereof.

Alternatively, damage patterns can be categorized by numerical quality classes for the wheel attachment. For this purpose, during diagnosis, evaluation factors or damage contributions can be generated from the actual history, for example, which allow a statement to be made about the degree of damage to a wheel attachment.

Furthermore, a device for the automated disassembly and assembly of a vehicle wheel on a wheel flange is proposed here, which in particular comprises a screwing tool that can be controlled automatically, as well as a control device for controlling the screwing tool for loosening and tightening fastening elements, via which the vehicle wheel can be fixed to the wheel flange. The control device is configured in such a way to process the course of the torque and/or angle of rotation applied by the screwing tool during the loosening or tightening of at least one of the fastening elements of a wheel fastening and in particular to record it optionally. Furthermore, it comprises a diagnostic module or is coupled to one that is configured in such a way to diagnose any damage to the wheel fastening based on the recorded course.

The diagnosis can be carried out in particular in the manner described above.

The diagnostic result can be communicated to a person in a conventional manner, for example via a visual display device.

In one embodiment, a measuring device is provided for measuring the torque and/or angle of rotation applied by the screwing tool, which is connected to the control device for transmitting the measurement results and optionally comprises dedicated sensors for measuring the torque and/or angle of rotation.

• 1 eine schematische Darstellung eines Verfahrens sowie einer Vorrichtung zur automatisierten Demontage und Montage eines Fahrzeugrads an einem Radflansch nach einem Ausführungsbeispiel der Erfindung.

The invention is explained in more detail below using an embodiment shown in the drawing. The drawing shows:

• 1 a schematic representation of a method and a device for the automated disassembly and assembly of a vehicle wheel on a wheel flange according to an embodiment of the invention.

The embodiment serves to show a possible way of carrying out the invention, without limiting the invention solely thereto.

1 shows a schematic representation of a device for the automated disassembly and assembly of a vehicle wheel 1 on a wheel flange 2.

This device comprises at least one screwing tool 3, which can be controlled automatically in order to rotate a fastening element 4, which serves to fix a vehicle wheel 1 to a wheel flange 2. The fastening element 4 is, for example, a wheel bolt or a wheel nut.

In addition, the screwing tool 3 can contain a gripping function for the fastening element 4 in order to remove a loosened fastening element 4 in a controlled manner after it has been loosened or to feed it in a controlled manner during tightening.

The screwing tool 3 can be designed to dismantle and assemble several fastening elements 4 one after the other or to operate all fastening elements 4 of a vehicle wheel 1 simultaneously.

Furthermore, means not shown in detail can be assigned to the screwing tool 3, which are able to move the screwing tool 3 into a disassembly/assembly position and move it away from this position again.

For example, the screwing tool 3 can be used as in WO 2009/127277 A described and optionally be carried out using the means described therein. The relevant disclosure content of WO 2009/127277 A is hereby expressly included in the present disclosure. However, other screwing tools 3 and displacement means can also be used, which allow automated loosening and tightening of a wheel fastening.

The device according to the invention further comprises a control device 5 for controlling the screwing tool 3 for loosening and tightening the fastening elements 4. This allows, for example, the fastening elements 4 to be excited with different force/speed curves in order to facilitate state categorization. This can be done, for example, depending on the vehicle type, age, etc.

The control device 5 is further configured to process the course 6 of the torque and/or angle of rotation applied by the screwing tool 3 during the loosening of at least one of the fastening elements 4 of the wheel fastening.

The control device 5 thus comprises two components, namely a first component for controlling the screwing tool 3 and a second component for processing the measurement curve. Both components can be combined into one unit, but can also form separate units that can be spatially separated from one another if necessary.

The curve 6 is also referred to below as the actual curve. It represents the curve of the torque M (t) and/or the curve of the angle of rotation φ (t) over time during the loosening or tightening of a wheel fastening. Alternatively, the actual curve can be recorded as the curve of the torque M (φ) depending on the angle of rotation φ. The curve M (φ) can also be determined in particular by simultaneously recording M (t) and φ (t).

To record the actual course, a measuring device 7 can be provided which measures the torque applied by the screwing tool 3 and/or the angle of rotation. Corresponding measurement data are transmitted to the control device 5 via information technology, wirelessly or with a cable.

As a variation of this, the torque M (t), M (φ) and the angle of rotation φ (t) can also be obtained indirectly from other variables that are generated when the screwing tool 3 is controlled. For example, if the screwing tool 3 is electrically driven, information about the current torque when loosening can be obtained from the current of an electric motor of the screwing tool 3. The angle of rotation can be determined using an angle sensor on the electric motor. An additional measuring device 7 with dedicated sensors can then be omitted.

The determined actual course is processed in the control device 5, as will be explained in more detail below. This can be done continuously during the recording. It is also possible to record the actual course for a release process alternatively or in addition.

Furthermore, a diagnostic module 8 is provided, which is configured in such a way that it can diagnose any damage 10 to the wheel fastening based on the recorded course 6 of the torque and/or angle of rotation during the release of the fastening means 4. The diagnostic module 8 can be implemented in the control device 5. However, it can also be provided as a separate device or implemented in software in a computer which is temporarily or permanently connected to the control device 5 of the wheel changing device.

The method for the automated disassembly and assembly of the vehicle wheel 1 on a wheel flange 2 is as explained below. In this case, the fastening elements 4 for securing the vehicle wheel 1 of the screwing tool 3 are actuated, which is automatically controlled by the control device 5 for this purpose in order to release the vehicle wheel 1 from the wheel flange 2 by loosening the fastening elements 4 or to secure the vehicle wheel 1 to the wheel flange 2 by tightening the fastening elements 4.

While the fastening means 4 are being loosened, the curve 6 of the torque M and/or angle of rotation φ is recorded and this curve 6 is related to at least one comparison curve 9 in order to diagnose any damage 10 to the wheel fastening. This allows the automatic detection of possible problems with the wheel mount without the need for a visual inspection by a person.

This diagnosis can preferably be categorised according to different types of damage 10.

Possible categories for damage patterns 10 are, for example, corrosion, damage to a thread of the fastening element 4, damage to a thread of the wheel flange 2, damage to the wheel disc of the vehicle wheel 1.

Furthermore, damage patterns can be categorized, for example, using numerical quality classes for the wheel attachment.

The diagnosis can be made on the basis of a model comparison with a comparison curve 9 for a damage-free wheel attachment. For this purpose, the actual torque M (t), M (φ) and the actual angle of rotation φ (t) are related, for example, to an actual torque Msoll (t), Msoll (φ) and the actual angle of rotation φsoll (t).

In such a comparison it is possible, for example, to evaluate the deviation of the recorded actual trend from a target trend.

Appropriate evaluation criteria can be provided, for example, in the diagnostic module 8.

Instead of comparing the actual course with an ideal state, this can also be done with predefined damage patterns. In other words, damage patterns can be categorized by comparing the recorded actual course with patterns for model damage patterns, for example.

For this purpose, for example, a correlation can be determined between an actual torque M (t), M (φ) and the actual angle of rotation φ (t) on the one hand and various torque and angle of rotation curves for model damage patterns MSchadeni (t), MSchaden _i (φ) φSchaden _i (t), where for the index i i= 1... n applies.

Categorization can also be carried out using machine learning algorithms. By taking a large number of histories into account, the process can be continuously improved.

The damage pattern identified can be displayed visually to a person, for example. For this purpose, a corresponding display device 11 can be provided on the control device 5. However, the output can also be made at another location and in another way.

The invention was explained in more detail above using an embodiment and further modifications. The embodiment and the modifications serve to demonstrate the feasibility of the invention. Individual technical features which were explained above in the context of further individual features can also be implemented independently of these and in combination with further individual features, even if this is not expressly described, as long as this is technically possible. The invention is therefore expressly not limited to the specifically described embodiment, but encompasses all configurations defined by the patent claims.

List of reference symbols

1

Vehicle wheel

2

Wheel flange

3

Screwing tool

4

Fastener

5

Control device

6

recorded history (actual history)

7

Measuring device

8th

Diagnostic module

9

Comparison history

10

Damage pattern

11

Display device

Claims (10)

Method for the automated disassembly and assembly of a vehicle wheel (1) on a wheel flange (2), in which fastening elements (4) for securing the vehicle wheel (1) on the wheel flange (2) are actuated by means of an automatically controllable screwing tool (3) in order to release the vehicle wheel (1) from the wheel flange (2) by loosening the fastening elements (4) or to secure the vehicle wheel (1) on the wheel flange (2) by tightening the fastening elements (4), wherein the loosening and tightening process of the fastening elements (4) is monitored with regard to a course of the torque and/or angle of rotation applied by the screwing tool (3), characterized in that the course (6) of the torque and/or angle of rotation is recorded during the loosening of the fastening elements (4) and this course (6) is related to at least one comparison course (9) in order to diagnose any damage pattern (10) of the wheel fastening therefrom, wherein the diagnosis is categorized according to various Damage patterns (10) are carried out. Procedure according to Claim 1 , characterized in that the diagnosis is made on the basis of a model comparison with a comparison curve (9) for a damage-free wheel attachment. Method according to one of the Claims 1 or 2 , characterized in that a damage pattern categorization is carried out by evaluating the deviation of the recorded actual curve of the torque and/or angle of rotation from a target curve. Procedure according to Claim 1 , characterized in that the damage pattern categorisation is carried out by comparing the recorded actual curve of the torque and/or angle of rotation with curves for model damage patterns. Method according to one of the Claims 1 until 4 , characterized in that damage pattern categorization is carried out using machine learning algorithms. Method according to one of the Claims 1 until 5 , characterized in that the course of the torque and/or angle of rotation is recorded over time. Method according to one of the Claims 1 until 6 , characterized in that the course of the torque is recorded as a function of the angle of rotation. Method according to one of the Claims 1 until 7 , characterized in that the damage patterns (10) contain categories which are selected from the group comprising corrosion, damage to a thread of the fastening element, damage to a thread of the wheel flange, damage to the wheel disc of the vehicle wheel, or a subcombination thereof. Method according to one of the Claims 1 until 7 , characterized in that damage patterns (10) are categorized by numerical quality classes for the wheel attachment. Device for the automated disassembly and assembly of a vehicle wheel (1) on a wheel flange (2), comprising: a screwing tool (3) which can be controlled automatically, a control device (5) for controlling the screwing tool (3) for loosening and tightening fastening elements (4) via which the vehicle wheel (1) can be fixed to the wheel flange (2), characterized in that the control device (3) is configured in such a way to process the course (6) of the torque and/or angle of rotation applied by the screwing tool (3) during the loosening or tightening of at least one of the fastening elements (4) of a wheel fastening and, in particular, optionally to record it, wherein the control device (3) comprises a diagnostic module (8) or is coupled to such a module, which is configured in such a way to diagnose any damage pattern (10) of the wheel fastening based on the recorded course (6), wherein the diagnosis is categorized according to various damage patterns (10), and in particular optionally according to one of the Claims 1 until 9 to carry out.

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