JP5233703B2 - Automatic toe angle adjusting device and control method thereof - Google Patents

Description

  The present invention relates to a toe angle automatic adjusting device and a control method thereof.

Conventionally, the technology of an automatic toe angle adjusting device that automatically adjusts the toe angle of a vehicle has been publicly known, and is disclosed, for example, in Patent Document 1 shown below.
In the related art described in Patent Document 1, the toe angle automatic adjusting device adjusts the toe angle measuring means for measuring the toe angle of the wheel (tire) provided in the vehicle, and the toe angle of the tire to the target toe angle. Toe angle adjusting means is provided. The toe angle adjusting means includes control means.

  When the toe angle measured by the toe angle measuring unit is different from the predetermined target toe angle, the control unit instructs the adjustment amount to be instructed to the toe angle adjusting unit according to the difference, and the measurement is performed. The adjustment work by the toe angle adjusting means is repeatedly executed while updating the adjustment amount as needed until the toe angle thus made matches the target toe angle.

  Since the toe angle varies with a certain regularity according to the rotation phase of the tire, just because the toe angle measured when the tire is in an arbitrary rotation phase matches the target toe angle, It has the property that it cannot be determined that the toe angle matches the target toe angle.

For this reason, conventionally, the determination as to whether or not the measured toe angle matches the target toe angle is performed in the following procedure.
First, the tire is rotated once. Then, at least a plurality of rotation phases are selected from the rotation phases during one rotation of the tire, and the toe angle is measured at the selected rotation phases. Then, an average value of each toe angle obtained by measurement in each rotational phase is obtained, and whether or not the average value coincides with the target toe angle (or a certain threshold value based on the target toe angle) Depending on whether or not it is within.

  As described above, conventionally, in order to determine the adjustment result of the toe angle (that is, to determine whether the toe angle matches the target toe angle (or falls within the threshold)), the toe angle is adjusted. The tire must be rotated once every time, which causes a long time for automatic adjustment of the toe angle.

JP-A-1-145212

  The present invention has been made in view of the present situation, and accurately determines whether or not the adjusted toe angle matches the target value of the toe angle in a short time without rotating the tire once. It is an object of the present invention to provide an automatic toe angle adjusting device and a control method thereof.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1, a toe angle measuring device that measures a toe angle of a tire provided in a vehicle, a toe angle adjusting device that adjusts the toe angle, and a measurement result of the toe angle by the toe angle measuring device. And a control device for calculating an adjustment amount of the toe angle by the toe angle adjusting device and outputting a calculation result of the adjustment amount to the toe angle adjusting device, and a rotation phase for detecting a rotation phase of the tire. A toe angle automatic adjustment device comprising: a detection device, wherein the control device rotates the tire continuously, and the tire rotates once based on a measurement result of the toe angle measured by the toe angle measurement device. A reference waveform indicating a transition of the change amount of the toe angle in each rotation phase during the same period, and an average value of the toe angle in the reference waveform is matched with a preset target value of the toe angle. A target waveform indicating a target value of the toe angle in each rotational phase, and the toe angle measurement result by the toe angle measuring device when the tire is in an arbitrary rotational phase is the target waveform It is determined that the toe angle has reached the target value when it matches the waveform at an arbitrary rotational phase.

According to claim 2, a toe angle measuring device that measures a toe angle of a tire provided in a vehicle, a toe angle adjusting device that adjusts the toe angle, and a measurement result of the toe angle by the toe angle measuring device. A control device for calculating an adjustment amount of the toe angle by the toe angle adjustment device and outputting a calculation result of the adjustment amount to the toe angle adjustment device; and a rotation phase detection device for detecting the rotation phase of the tire And a control method for a toe angle automatic adjusting device comprising: the control device, based on a measurement result of the toe angle by the toe angle measuring device, at each rotational phase during one revolution of the tire. A reference waveform setting step for setting a reference waveform indicating a transition of a change amount of the toe angle, and an average value of the toe angles in the reference waveform by the control device A target waveform setting step for setting a target waveform indicating the target value of the toe angle in each rotational phase in accordance with the standard value, and the toe angle measurement when the tire is in an arbitrary rotational phase by the control device A toe angle determination step for determining whether a measurement result of the toe angle by a device matches a waveform at the arbitrary rotation phase of the target waveform, and continuously rotating the tire, the reference A waveform setting step, the target waveform setting step, and the toe angle determination step are performed .

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, whether or not the adjusted toe angle measured value matches the toe angle target value can be accurately determined in a short time without rotating the tire once.

  In the second aspect, it is possible to accurately determine whether or not the adjusted toe angle measurement value matches the toe angle target value in a short time without rotating the tire once.

1 is a block diagram illustrating an overall configuration of a toe angle automatic adjusting device according to an embodiment of the present invention. (A) Schematic diagram of the left side showing the setting condition of the measurement range in the toe angle measuring device according to one embodiment of the present invention, (b) Left side showing the overall configuration of the toe angle measuring device according to one embodiment of the present invention. Pattern diagram. (A) Schematic diagram of the right side surface showing the setting condition of the measurement range in the toe angle measuring device according to one embodiment of the present invention, (b) Right side surface showing the overall configuration of the toe angle measuring device according to one embodiment of the present invention. Pattern diagram. The plane schematic diagram which shows the whole structure of the toe angle measuring apparatus which concerns on one Example of this invention. The perspective view which shows the measurement condition of the toe angle by the toe angle measuring apparatus which concerns on one Example of this invention. Explanatory drawing which shows the calculation method of the toe angle which concerns on one Example of this invention. Explanatory drawing which shows the toe angle in each tire. The side surface schematic diagram which shows the adjustment condition (before adjustment) of the toe angle by the toe angle adjusting device which concerns on one Example of this invention. The side surface schematic diagram which shows the adjustment condition (during adjustment) of the toe angle by the toe angle adjusting device which concerns on one Example of this invention. (A) Explanatory drawing which shows the production | generation method of the reference waveform which concerns on one Example of this invention, (b) Explanatory drawing which shows the production | generation method of the target waveform which concerns on one Example of this invention. The logic figure which shows the control action by the control device which relates to one execution example of this invention. (A) Explanatory drawing which shows the control method by the control apparatus which concerns on one Example of this invention, (b) Explanatory drawing which shows the conventional control method. The side surface schematic diagram which shows the whole structure of the toe angle automatic adjustment apparatus which concerns on one Example of this invention. The work flow figure showing the automatic adjustment work of the toe angle by the automatic toe angle adjustment device concerning one example of the present invention.

Next, embodiments of the invention will be described.
First, an automatic toe angle adjusting device according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing the overall configuration of a toe angle automatic adjusting apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, a toe angle automatic adjusting device 20 according to an embodiment of the present invention includes a toe angle measuring device 1, a control device 21, a toe angle adjusting device 22, a monitor 23, an operation switch 24, a rotating roller 25, and the like. It is configured.

  The toe angle measuring device 1 is a device having a function of measuring a toe angle of a tire provided in the vehicle, and is connected to the control device 21. Further, the toe angle adjusting device 22 is a device having a function of applying a mechanical action (for example, tightening or loosening a bolt or nut) to a toe angle adjusting portion (such as a tie rod 27 described later) in the vehicle, It is connected to the control device 21. The rotating roller 25 is a device that has a function of rotating the tire and a function of detecting a rotational phase of the tire that is driven to rotate in cooperation with the encoder 26, and is connected to the control device 21 via the encoder 26. Has been. The control device 21 has a function of outputting a command signal for controlling the operation of each part of the toe angle automatic adjusting device 20 (toe angle measuring device 1, toe angle adjusting device 22, rotating roller 25, etc.). It is an apparatus which has a function which determines the pass / fail of the toe angle adjusted based on the information input from.

  The monitor 23 is a display device connected to the control device 21. The monitor 23 displays a toe angle measurement result by the toe angle measuring device 1 input to the control device 21 and adjusts the toe angle (so-called alignment). An operator who performs adjustment work) is notified of the state of the vehicle and the like.

  The operation switch 24 is a switch connected to the control device 21, and includes an operation unit 24 a that can be operated by an operator near the vehicle 100. Then, after confirming the arrangement state of the vehicle and the like, the operator operates the operation switch 24 (such as pulling the operation unit 24a), so that the control by the control device 21 is started from that point. Yes.

  Here, the toe angle measuring apparatus 1 will be described with reference to FIGS. 2A is a schematic diagram of a left side view showing a setting state of a measurement range in a toe angle measuring apparatus according to an embodiment of the present invention, and FIG. 2B is an overall configuration of the toe angle measuring apparatus according to an embodiment of the present invention. 3 is a schematic left side view, and FIG. 3A is a schematic right side view showing a setting state of a measurement range in a toe angle measuring apparatus according to one embodiment of the present invention. FIG. 3B is a toe angle according to one embodiment of the present invention. FIG. 4 is a schematic right side view showing the overall configuration of the measuring apparatus, and FIG. 4 is a schematic plan view showing the overall configuration of the toe angle measuring apparatus according to one embodiment of the present invention.

As shown in FIG. 1, the toe angle measuring device 1 includes a detection unit 2, a controller 7, an arithmetic device 8, and the like.
The detection unit 2 is a part for directly detecting the state of a tire that is a detection target, and includes a plurality of distance sensor groups 3, 4, 5, and 6. Each of the distance sensor groups 3, 4, 5 and 6 includes a front distance sensor 3a, 4a, 5a and 6a, a rear distance sensor 3b, 4b, 5b and 6b, and an upper distance sensor 3c, 4c and 5c and 6c are provided.

The controller 7 includes the above-described distance sensors (that is, the front distance sensors 3a, 4a, 5a, and 6a, the rear distance sensors 3b, 4b, 5b, and 6b, and the upper distance sensors 3c, 4c, 5c, and 6c). The distance signals are all connected to the controller 7, which is a device that can aggregate the detected signals and perform synchronization processing of the signals.
Further, the controller 7 is connected to an arithmetic device 8 constituted by a PC.

  The calculation device 8 incorporates a calculation program for calculating the tire condition based on each signal input from the controller 7, and also includes basic data (i.e., necessary for calculating the tire condition). Tire shape data and the like) are stored in advance.

  As shown in FIGS. 2 (a) and 3 (a), the vehicle 100 that is the target of the toe angle measurement by the toe angle measuring device 1 is the front left of the vehicle 100 with respect to the forward direction (the negative direction of the X axis). A left front tire 11 disposed on the right front side of the vehicle 100, a left rear tire 13 disposed on the left rear side of the vehicle 100, and a right rear tire on the vehicle 100. A right rear tire 14 and a body 10 supported by each of these tires 11, 12, 13, 14.

  In the toe angle measuring method by the toe angle measuring device 1, the front portions 11a, 12a, 13a, 14a, the rear portions 11b, 12b, 13b, 14b, The range called upper part 11c * 12c * 13c * 14c is set.

  In this embodiment, two horizontal tangent lines and two vertical tangent lines are set on the inner circumference of each tire 11, 12, 13, and 14, and each tire 11, 12, 13 is set. The range of the outer surface surrounded by the arc on the front side of the vehicle, the two upper and lower horizontal tangents, and the front vertical tangent of the outer circumferential circle of 14 13a and 14a.

  Also, the outer surface surrounded by the rear arc of the vehicle, the upper and lower two horizontal tangents, and the rear vertical tangent of the outer circumference circle of each tire 11, 12, 13, and 14 Are defined as rear parts 11b, 12b, 13b, and 14b, respectively, and further, an arc on the vehicle upper side of the outer circumference circle of each tire 11, 12, 13, and 14 and the two front and rear vertical tangents. The upper surface 11c, 12c, 13c, and 14c are defined as the ranges of the outer surfaces surrounded by the upper horizontal tangent line.

  Further, by predicting in advance the range in which detection points can be obtained from tire shape data, etc., each range (ie, each front part 11a, 12a, 13a, 14a, each rear part 11b, 12b, 13b, 14b and each upper part) 11c, 12c, 13c, and 14c) can be set narrower. In this case, detection accuracy and detection speed (calculation speed) of detection points can be improved.

  2 (b), FIG. 3 (b), and FIG. 4, in the toe angle measuring apparatus 1, each distance sensor (ie, each of the tires 11, 12, 13, 14) Front distance sensors 3a, 4a, 5a and 6a, rear distance sensors 3b, 4b, 5b and 6b and upper distance sensors 3c, 4c, 5c and 6c) are arranged.

That is, as shown in FIGS. 2 (a) and 2 (b), the distance sensor group 3 is disposed in the peripheral portion of the left front tire 11 so as to correspond to the left front tire 11, and the front portion of the outer surface of the left front tire 11. A front distance sensor 3a is arranged corresponding to 11a, a rear distance sensor 3b is arranged corresponding to the rear part 11b, and an upper distance sensor 3c is arranged corresponding to the upper part 11c.
The distance sensors 3a, 3b, and 3c can scan the corresponding ranges (that is, the front part 11a, the rear part 11b, and the upper part 11c).

Further, as shown in FIGS. 3A and 3B, a distance sensor group 4 is disposed around the right front tire 12 so as to correspond to the right front tire 12, and the front portion of the outer surface of the right front tire 12 is disposed. A front distance sensor 4a is arranged corresponding to 12a, a rear distance sensor 4b is arranged corresponding to the rear part 12b, and an upper distance sensor 4c is arranged corresponding to the upper part 12c.
The distance sensors 4a, 4b, and 4c can scan the corresponding ranges (that is, the front portion 12a, the rear portion 12b, and the upper portion 12c).

Further, as shown in FIGS. 2A and 2B, a distance sensor group 5 is disposed around the left rear tire 13 so as to correspond to the left rear tire 13. The front distance sensor 5a is disposed corresponding to the front portion 13a, the rear distance sensor 5b is disposed corresponding to the rear portion 13b, and the upper distance sensor 5c is disposed corresponding to the upper portion 13c.
The distance sensors 5a, 5b, and 5c can scan the corresponding ranges (that is, the front portion 13a, the rear portion 13b, and the upper portion 13c).

Further, as shown in FIGS. 3A and 3B, a distance sensor group 6 is disposed in the peripheral portion of the right rear tire 14 so as to correspond to the right rear tire 14. A front distance sensor 6a is arranged corresponding to the front part 14a, a rear distance sensor 6b is arranged corresponding to the rear part 14b, and an upper distance sensor 6c is arranged corresponding to the upper part 14c.
The distance sensors 6a, 6b, and 6c can scan the corresponding ranges (that is, the front part 14a, the rear part 14b, and the upper part 14c).

  Further, each distance sensor (that is, each front distance sensor 3a, 4a, 5a, 6a, each rear distance sensor 3b, 4b, 5b, 6b and each upper distance sensor 3c, 4c, 5c, 6c) is not contacted. The distance sensor of the type is employed, and is arranged at a position spaced apart from each tire 11, 12, 13, 14 by a predetermined distance.

  Next, the toe angle measurement status by the toe angle measuring apparatus 1 will be described with reference to FIG. FIG. 5 is a perspective view showing a toe angle measurement situation by the toe angle measuring apparatus according to one embodiment of the present invention. In addition, here, the tires 11, 12, 13, and 14 will be described as an example of the toe angle measurement situation in the periphery of the left front tire 11, but the other tires 12, 13, and 14 Since the toe angle measurement situation at the part is the same as this, the description of the other tires 12, 13, and 14 is omitted.

As shown in FIG. 5, the front distance sensor 3a scans the entire front part 11a of the left front tire 11 and measures the distance from the front distance sensor 3a to the front part 11a. Then, the measurement result is input to the arithmetic device 8.
And based on the measurement result by the front part distance sensor 3a, the calculation by the calculating apparatus 8 is made and the surface shape of the front part 11a is detected.

  Furthermore, based on the detected surface shape of the front portion 11a, the arithmetic device 8 bulges most in the outer surface direction (the negative direction of the Y axis) of the left front tire 11 in the front portion 11a (in other words, A point A) that is closest to the front distance sensor 3a in the front portion 11a is detected. In addition, in order to distinguish which tire the point A is detected for, what is detected for the front portion 11a of the left front tire 11 is hereinafter referred to as a point A (11). To do. Similarly, what is detected for the front portion 12a of the right front tire 12 is described as point A (12), and what is detected for the front portion 13a of the left rear tire 13 is described as point A (13). And what was detected with respect to the front part 14a of the right rear tire 14 is described as a point A (14).

Simultaneously with the measurement by the front distance sensor 3a, the rear distance sensor 3b scans the entire rear part 11b of the left front tire 11 and measures the distance from the rear distance sensor 3b to the rear part 11b. Then, the measurement result is input to the arithmetic device 8.
And based on the measurement result by the rear part distance sensor 3b, the calculation by the calculating apparatus 8 is made and the surface shape of the rear part 11b is detected.

  Further, based on the detected surface shape of the rear portion 11b, the arithmetic device 8 causes the rear portion 11b to bulge most in the outer surface direction (the negative direction of the Y axis) of the left front tire 11 (in other words, the rear portion 11b). The point B) closest to the rear distance sensor 3b is detected. In addition, in order to distinguish which tire the point B is detected for, what is detected for the rear portion 11b of the left front tire 11 is hereinafter referred to as a point B (11). . Similarly, what is detected for the rear portion 12b of the right front tire 12 is described as a point B (12), and what is detected for the rear portion 13b of the left rear tire 13 is described as a point B (13). What is detected with respect to the rear portion 14b of the right rear tire 14 is referred to as a point B (14).

Further, simultaneously with the measurement by the front distance sensor 3a and the rear distance sensor 3b, the upper distance sensor 3c scans the entire upper part 11c of the left front tire 11 and measures the distance from the upper distance sensor 3c to the upper part 11c. . Then, the measurement result is input to the arithmetic device 8.
And based on the measurement result of the upper part 11c by the upper distance sensor 3c, the calculation by the arithmetic unit 8 is made and the surface shape of the upper part 11c is detected.

  Furthermore, based on the detected surface shape of the upper portion 11c, the arithmetic device 8 causes the upper portion 11c to bulge the most in the outer surface direction of the left front tire 11 (the negative direction of the Y axis) (in other words, the upper portion 11c). The point C) closest to the upper distance sensor 3c is detected. In addition, in order to distinguish which tire the point C is detected for, what is detected for the upper part 11c of the left front tire 11 is hereinafter referred to as a point C (11). . Similarly, what is detected for the upper portion 12c of the right front tire 12 is described as a point C (12), and what is detected for the upper portion 13c of the left rear tire 13 is described as a point C (13). What is detected with respect to the upper portion 14c of the right rear tire 14 is referred to as a point C (14).

  In this embodiment, each distance sensor (that is, each front distance sensor 3a, 4a, 5a, 6a, each rear distance sensor 3b, 4b, 5b, 6b and each upper distance sensor 3c, 4c, 5c, 6c) is a laser. The sensor is adopted. Thereby, in order to detect a minute shape change appearing in each range (that is, each front part 11a, 12a, 13a, 14a, each rear part 11b, 12b, 13b, 14b and each upper part 11c, 12c, 13c, 14c) Necessary detection accuracy is secured.

Next, a toe angle detection method will be described with reference to FIGS. FIG. 6 is an explanatory view showing a toe angle calculation method according to one embodiment of the present invention, and FIG. 7 is an explanatory view showing a toe angle in each tire.
As shown in FIG. 6, for the left front tire 11, the triangle S <b> 1 is measured using the points A (11), B (11), and C (11) measured by the distance sensor group 3 and detected by the calculation device 8. It is formed.

In the toe angle measuring method by the toe angle measuring device 1, the computing device 8 calculates the angle θ ₁ with respect to the XZ plane in the XY plan view of the triangle S ₁ , and this angle is set as the toe angle θ ₁ of the left front tire 11. (See FIG. 7).

Similarly, for the right front tire 12, a triangle S2 is formed using the points A (13), B (13), and C (13) measured by the distance sensor group 4 and detected by the arithmetic unit 8. The calculation device 8 calculates an angle θ ₂ with respect to the XZ plane in the XY plan view of the triangle S2, and sets this angle as the toe angle θ ₂ of the right front tire 12 (see FIG. 7).

Similarly, for the left rear tire 13, a triangle S3 is formed by using the points A (13), B (13), and C (13) measured by the distance sensor group 5 and detected by the arithmetic unit 8. Then, the calculation device 8 calculates an angle θ ₃ with respect to the XZ plane in the XY plan view of the triangle S3, and sets this angle as the toe angle θ ₃ of the left rear tire 13 (see FIG. 7).

Similarly, with respect to the right rear tire 14, a triangle S4 is formed by using the points A (14), B (14), and C (14) measured by the distance sensor group 6 and detected by the arithmetic unit 8. Then, the calculation device 8 calculates an angle θ ₄ with respect to the XZ plane in the XY plan view of the triangle S4, and sets this angle as the toe angle θ ₄ of the right rear tire 14 (see FIG. 7).

  As shown in the present embodiment, the present invention is applied to a general vehicle having four wheels. However, if the toe angle measuring device 1 is applied, the number of tires is other than four wheels. The toe angle can also be measured for these vehicles.

  In the present embodiment, a non-contact type toe angle measuring device using a laser sensor is illustrated as a toe angle measuring device applied to the automatic toe angle adjusting device according to one embodiment of the present invention. The toe angle measuring device applied to the automatic toe angle adjusting device according to the invention is not limited, and various types of toe angle measuring devices can be adopted as long as the toe angle measuring device can accurately measure the toe angle in real time. It is possible.

Next, the toe angle adjusting device 22 will be described with reference to FIGS. 1, 8, and 9. FIG. 8 is a schematic side view showing a toe angle adjustment state (before adjustment) by the toe angle adjusting device according to one embodiment of the present invention, and FIG. 9 is a diagram of the toe angle by the toe angle adjusting device according to one embodiment of the present invention. It is a side surface schematic diagram which shows an adjustment condition (during adjustment).
As shown in FIG. 1, a toe angle adjusting device 22 according to an embodiment of the present invention is a device that is controlled based on a command signal output from a control device 21.

  Further, as shown in FIG. 8, the toe angle adjusting device 22 includes a slide portion 22a including a tool portion 22c that functions as a tool capable of tightening or loosening a bolt, a nut, or the like, and the tool portion 22c. A robot unit 22b that exhibits a function as a robot that leads to a desired position is provided, and is controlled based on an adjustment amount instructed by the control device 21 to tighten bolts, nuts, and the like existing at arbitrary positions. It is configured as a device that can be adjusted.

  9, the slide portion 22a of the toe angle adjusting device 22 can be inserted into the recess 28 without contacting the body 10 or the like, and is disposed deep inside the recess 28. The tool portion 22c formed at the tip of the slide portion 22a can be accurately applied to the tie rod 27. Thereby, the tie rod 27 can be tightened or loosened by the toe angle adjusting device 22 regardless of the operator.

Then, while the toe angle measuring device 1 detects the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ of the tires 11, 12, 13, and 14 of the vehicle 100 in real time, the control device 21 adjusts the toe angle. It is possible to adjust the tightness of the tie rods 27, 27,... Corresponding to the tires 11, 12, 13, 14 by controlling the operation of the device 22. That is, by making the toe angle measuring device 1, the toe angle adjusting device 22 and the control device 21 cooperate with each other, the toe angles θ ₁ , θ ₂ , θ ₃ , θ of the tires 11, 12, 13, and 14 of the vehicle 100 are combined. The adjustment work of ₄ is automatically executed.

  Further, in this embodiment, as a toe angle adjusting device applied to the automatic toe angle adjusting device according to one embodiment of the present invention, a simple mechanism provided with a mechanism for sliding the slide portion 22a along the guide 22d of the robot portion 22b. The toe angle adjusting device 22 having a simple mechanism is illustrated, but the toe angle adjusting device applied to the automatic toe angle adjusting device according to the present invention is not limited. For example, the robot unit 22b is an articulated robot. It is also possible to use an arm, and it is also possible to provide a tool part on the hand portion of the robot arm.

Next, the control device 21 will be described with reference to FIG.
As shown in FIG. 1, the control device 21 is a device for controlling each part of the automatic toe angle adjusting device 20 (toe angle measuring device 1, toe angle adjusting device 22, rotating roller 25, etc.). It is connected. Then, from the arithmetic device 8, the measurement results of the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ of the tires 11, 12, 13, and 14 by the toe angle measuring device 1 are input to the control device 21. .

  Further, the control device 21 is connected to rotating rollers 25, 25,... Via encoders 26, 26,. And the detection results of the rotational phases of the tires 11, 12, 13, 14 are input to the control device 21 from the encoders 26, 26.

  Here, the relationship between the rotational phase of the tire and the toe angle will be described with reference to FIG. 10A is an explanatory diagram illustrating a method for generating a reference waveform according to an embodiment of the present invention, and FIG. 10B is an explanatory diagram illustrating a method for generating a target waveform according to an embodiment of the present invention.

For example, a change in the toe angle θ ₁ when the left front tire 11 rotates is represented by a graph as shown in FIG. When the front left tire 11 rotates one (i.e., while the rotational phase of the front left tire 11 is changed to 0～2Pai) focused on the change of the toe angle theta ₁ of the change of the toe angle theta ₁ of one rotation A waveform obtained by cutting out only the waveform shown (the waveform in the elliptical box) is set as the reference waveform P ₁ .

It has been found that the shape of the reference waveform P ₁ repeatedly appears as the left tire 11 rotates even if the adjustment of the toe angle θ ₁ proceeds as shown in FIG. That is, even if the toe angle θ ₁ is adjusted, the change state of the toe angle θ ₁ during the one rotation of the left front tire 11 is constant, and the change state corresponds to the rotation phase of the left front tire 11. It is. The same applies to the other tires 12, 13, and 14. In all the general tires, there is a unique characteristic in the change state of the toe angle.

Next, a target waveform setting method will be described with reference to FIG.
As shown in FIG. 10A, the average value θ _1a can be obtained for the reference waveform P ₁ .
Then, when the reference waveform P ₁ is continuously arranged on the graph so that the average value θ _1a matches the preset target value θ _set of the toe angle θ ₁ , it is shown in FIG. Such a waveform (a waveform in an elliptical box) is generated. This waveform is set as the target waveform Q ₁ . The target waveform Q ₁ set in this way is stored in the control device 21.
Alternatively, the upper and lower thresholds parallel to the target waveform Q ₁ can be set with the target waveform Q ₁ as a reference, and the range between the upper and lower thresholds can be set as the target value.

The other applies to each tire 12, 13 and 14 of, in the same manner, sets the respective reference waveform P ₂ · P ₃ · P ₄ corresponding to each of the tires 12, 13 and 14, each target waveform Q ₂ • set the Q ₃ · Q _4. The target waveforms Q ₂ , Q _3, and Q ₄ set in this way are also stored in the control device 21.

  Next, the control method by the control apparatus 21 is demonstrated using FIG. FIG. 11 is a logic diagram showing a control operation by the control device according to the embodiment of the present invention. Here, the left front tire 11 is described as an example, but the same control method is applied to the other tires 12, 13, and 14.

  As shown in FIG. 11, the control logic of the control device 21 (not shown) includes a feedforward control unit FF and a feedback control unit FB.

The feedback control unit FB, based on the current measured value of the toe angle theta ₁ by the toe angle measuring apparatus 1 (toe angle actual value) .theta.n ₁ detection result, rotation of the toe angle current value .theta.n ₁ and the current of the left front tire 11 Based on the difference between the data of the phase R ₁ and the target waveform Q ₁ , the adjustment amount D ₁ to be instructed to the toe angle adjusting device 22 is calculated.

Further, in the feedforward control unit FF, the toe angle target value θm based on the detection result of the rotational phase R ₁ of the rotating roller 25 (ie, the left front tire 11) input from the encoder 26 and the data of the target waveform Q _{1. 1} is calculated.

That is, the control unit 21, by the adjustment amount D ₁ presented by the feedback control unit FB, while adjusting the toe angle theta ₁ by controlling the toe angle adjusting apparatus 22, the toe angle current value .theta.n ₁ after the adjustment The measurement result (toe angle current value θn ₁ ) is measured in real time by the toe angle measuring device 1, and the adjustment result of the toe angle θ ₁ based on the toe angle target value θm ₁ presented by the feedforward control unit FF. Pass / fail is determined in real time.

  Next, a more specific control method by the control device 21 will be described with reference to FIG. 12A is an explanatory diagram showing a control method by a control device according to an embodiment of the present invention, and FIG. 12B is an explanatory diagram showing a conventional control method. Here, the left front tire 11 is illustrated and described here, but the same control method can be applied to the other tires 12, 13, and 14.

(Reference waveform setting process)
As shown in FIG. 12A, the rotary roller 25 is rotationally driven from time 0, and the rotational driving of the left front tire 11 is started accordingly. The toe angle measuring device 1 continuously measures the toe angle θ ₁ from the time T1 to the time T2 when the left front tire 11 makes one rotation, and the control device 21 uses the reference waveform based on the measurement result. setting the P _1.

(Target waveform setting process)
Further, an average value θ _1b of the toe angle θ ₁ is calculated from the waveform measured at this time, and the toe angle adjusting device 22 is determined based on the difference Δθ ₁ between the average value θ _1b and the target value θ _set . An adjustment amount D ₁ to be instructed is calculated.
Further, a target waveform Q ₁ is set using the generated reference waveform P ₁ .

Next, for example, the adjustment of the toe angle θ ₁ by the toe angle adjusting device 22 is started from the time T3 when the start point of the waveform having the same phase as the reference waveform P ₁ (at the time of phase 0) comes around. It is not always necessary to wait for the time when the phase becomes zero.

(Toe angle determination process)
After the time T3, the toe angle current value θn ₁ , which is the result of the adjustment of the toe angle θ ₁ by the toe angle adjusting device 22, is measured in real time by the toe angle measuring device 1, and the toe angle current value θn. Whether or not ₁ and the target waveform Q ₁ coincide with each other in the rotational phase R _{1 at} that time is determined by the control device 21 in real time.

Further, the current toe angle value θn ₁ is compared with the target waveform Q _1, and an adjustment amount D ₁ to be instructed to the toe angle adjusting device 22 is calculated in real time by the control device 21 from the difference.

These control operations are continued until the target waveform Q _{1 at} an arbitrary rotational phase R ₁ matches the current toe angle value θn _{1 at} that time. In the present embodiment, an example is shown in which the target waveform Q ₁ at an arbitrary rotational phase R ₁ and the current toe angle value θn _{1 at} that time coincide at the time Te.

When the target waveform Q _{1 at} an arbitrary rotational phase R ₁ matches the current toe angle value θn _{1 at} that time, it is determined that the toe angle θ ₁ has reached a predetermined target value θ _set , and the control device The input of the adjustment amount D ₁ to the toe angle adjusting device 22 from 21 is stopped, and the adjustment operation of the toe angle θ ₁ is completed.
The above is a series of control methods by the control device 21 in the automatic toe angle adjusting device 20.

Here, as compared with the conventional control method, as shown in FIG. 12B, in the conventional control method, even if the adjustment of the toe angle θ ₁ is started from time T3 and the adjustment is completed at time T4, In order to determine the result, a process of calculating the average value θ _1c of the toe angle θ ₁ for one rotation is awaited while the left front tire 11 makes one rotation (that is, times T4 to T5). As a result, the timing at which it can be determined that the adjustment result of the toe angle θ ₁ is acceptable is at time T5 at the earliest.

On the other hand, in the control method according to one embodiment of the present invention, as shown in FIG. 12A, the adjustment of the toe angle θ ₁ is similarly started from time T3, and the time that is later than time T4. Even when the adjustment is completed at Te, the adjustment result of the toe angle θ ₁ is acceptable at the same time (time Te) (that is, without waiting for one rotation of the left front tire 11). This makes it possible to complete the adjustment work of the toe angle θ _{1 at} an earlier time than in the prior art. That is, in the present embodiment, the time required for the adjustment work of the toe angle θ ₁ is shortened by a time corresponding to (T5-Te) as compared with the conventional case.

  Next, the automatic toe angle adjusting operation by the toe angle automatic adjusting device 20 will be described with reference to FIGS. 13 and 14. FIG. 13 is a schematic side view showing the overall configuration of the automatic toe angle adjusting device according to one embodiment of the present invention, and FIG. 14 shows automatic toe angle adjusting work by the automatic toe angle adjusting device according to one embodiment of the present invention. FIG.

As shown in FIGS. 13 and 14, first, the vehicle 100 to be adjusted for the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ is carried into the toe angle automatic adjusting device 20 (STEP-1). .

Next, the operator operates the operation switch 24 (operation unit 24a) after confirming the arrangement state of the vehicle 100 (STEP-2). By this operation, the control device 21 controls each part (toe angle measuring device 1, toe angle adjusting device 22, rotating roller 25, etc.) for automatically adjusting the toe angles θ ₁ , θ ₂ , θ ₃ , θ _4. Is started.

When the control by the control device 21 is started, first, the rotational driving of the rotating rollers 25, 25,... Is started, and accordingly, the tires 11, 12 in contact with the rotating rollers 25, 25,.・ 13 and 14 are driven to rotate. Then, the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ are measured by the toe angle measuring device 1 in a state where the tires 11, 12, 13, and 14 are rotationally driven.

Based on the measurement results of the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ acquired while the tires 11, 12, 13, and 14 make one revolution, the control device 21 controls the reference waveforms P _{1. · P 2 · P 3 · P} 4 is set. Further, based on the reference waveforms P ₁ , P ₂ , P _3, and P ₄ , the target waveforms Q ₁ , Q ₂ , Q _3, and Q ₄ are set by the control device 21 (STEP-3). In this embodiment, the time required for each rotation of the tires 11, 12, 13, 14 is set to about 5 seconds.

Next, the toe angle adjustment is performed by the control device 21 from each difference Δθ ₁ , Δθ ₂ , Δθ ₃ , Δθ ₄ between the average values θ _1b , θ _2b , θ _3b , θ _{4b of} each waveform and the target value θ _set. each adjustment amount _{D 1 · D 2 · D 3} · D 4 to be indicated is calculated with respect to the apparatus 22 (STEP-4).

Next, the adjustment amounts D ₁ , D ₂ , D _3, and D ₄ are input from the control device 21 to the toe angle adjusting device 22, and the toe angles θ ₁ , θ ₂ , θ ₃ , θ by the toe angle adjusting device 22 are input. Adjustment ₄ is executed (STEP-5).

Then, when the toe angles θ ₁ , θ ₂ , θ ₃ , θ ₄ are adjusted by the toe angle adjusting device 22, the adjusted toe angles θ ₁ , θ ₂ , θ ₃ , θ ₄ (that is, The toe angle current values θn ₁ , θn ₂ , θn _3, and θn ₄ ) are measured in real time by the toe angle measuring device 1 (STEP-6). Then, this measurement result (each toe angle current value θn ₁ , θn ₂ , θn ₃ , θn ₄ ) is input to the control device 21.

Further, based on the rotational phases R ₁ , R ₂ , R ₃ , R _{4 of the} tires 11, 12, 13, 14 detected by the encoder 26 and the target waveforms Q ₁ , Q ₂ , Q ₃ , Q ₄ , The toe angle target values θm ₁ , θm ₂ , θm _3, and θm ₄ are calculated by the control device 21 (STEP-7).

Then, the measurement results of the current toe angle values θn ₁ , θn ₂ , θn ₃ , θn ₄ performed in real time by the toe angle measuring device 1, and the toe angle target values θm ₁ , calculated in real time by the control device 21. Based on θm ₂ , θm _3, and θm ₄ , pass / fail judgment of each toe angle θ ₁ , θ ₂ , θ ₃ , θ ₄ (that is, each toe angle current value θn ₁ , θn ₂ , θn ₃ , θn ₄ and each The toe angle target values θm ₁ , θm ₂ , θm _3, and θm ₄ are matched in real time by the control device 21 (STEP-8).

Here, among the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ , those that have not been determined to pass are returned to (STEP-4), and each toe angle current value θn ₁ , θn ₂ , θn is returned. _3. · θn ₄ is fed back, and the adjustment amounts D ₁ , D ₂ , D _3, and D ₄ for the toe angle adjusting device 22 are calculated again, and the following (STEP-5) to (STEP-8) are determined to be acceptable. It is executed repeatedly until it is done.

On the other hand, among the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ that have been determined to be acceptable, it is determined that the adjustment has been made so as to satisfy the predetermined target value θ _set , and the control device 21. The operation proceeds to the operation for completing the control operation, such as stopping the output of the corresponding adjustment amount to the toe angle adjusting device 22 from (STEP-9).

Thereafter, after all the toe angles θ ₁ , θ ₂ , θ _3, and θ ₄ are determined to pass, the vehicle 100 is unloaded from the toe angle automatic adjusting device 20 (STEP-10), and the toe angle automatic adjusting device is used. The series of toe angles θ ₁ , θ ₂ , θ _3, and θ _{4 according to 20} is automatically adjusted.
The above is a series of automatic toe angle adjusting operations by the toe angle automatic adjusting device 20.

That is, the automatic toe angle adjusting device 20 according to one embodiment of the present invention measures the toe angle θ _{1 to} θ ₄ of each tire 11, 12, 13, 14 provided in the vehicle 100. And the toe angle adjusting device 22 for adjusting the toe angles θ _{1 to} θ _4, and the toe angles by the toe angle adjusting device 22 based on the measurement results of the toe angles θ _{1 to} θ ₄ by the toe angle measuring device 1. It calculates the adjustment amount D ₁ to D ₄ of theta ₁ through? _4, a control unit 21 for outputting the calculation result of the respective adjustment amounts D ₁ to D ₄ in the toe angle adjusting device 22, 11, 12 and each tire The toe angle automatic adjusting device 20 includes an encoder 26 that is a rotational phase detection device that detects the rotational phases R _{1 to} R ₄ of the 13 and 14, and the control device 21 controls the tires 11, 12, 13, and 14. while rotating at a continuous, measurement results of the respective toe angle theta ₁ through? ₄ by the toe angle measuring device 1 Based on, with each tire 11, 12, 13, 14 calculates the respective reference waveform P ₁ to P ₄ showing changes in the amount of change in the toe angle theta ₁ through? ₄ in the rotational phase between the one rotation , an average value theta _1a through? _4a of the toe angle theta ₁ through? ₄ in the respective reference waveform P ₁ to P _4, to match the target value theta _{the set} of the toe angle theta ₁ through? ₄ which is set in advance The target waveforms Q _{1 to} Q ₄ indicating the target values of the toe angles θ _{1 to} θ ₄ in the respective rotational phases are set, and the tires 11, 12, 13, and 14 are set at arbitrary rotational phases R _{1 to} R ₄ . A measurement result of each toe angle θ _{1 to} θ ₄ (that is, each toe angle current value θn _{1 to} θn ₄ ) by a toe angle measuring device 1 at a certain time is an arbitrary rotational phase R of each target waveform Q _{1 to} Q _4. When the waveforms in _{1 to} R ₄ coincide with each other, it is determined that each toe angle θ _{1 to} θ ₄ (that is, each toe angle current value θn _{1 to} θn ₄ ) has reached the target value θ _set. It is.

Moreover, the control method of the toe angle automatic adjusting apparatus 20 according to one embodiment of the present invention is a toe angle that measures the toe angles θ _{1 to} θ ₄ of the tires 11, 12, 13, and 14 provided in the vehicle 100. a measuring device 1, a toe angle adjusting apparatus 22 for adjusting the toe angle theta ₁ through? _4, based on measurement results of the individual toe angle theta ₁ through? ₄ by the toe angle measuring apparatus 1, according to the toe angle adjusting apparatus 22 calculates the adjustment amount D ₁ to D ₄ each toe angle theta ₁ through? _4, a control unit 21 for outputting the calculation result of the respective adjustment amounts D ₁ to D ₄ in the toe angle adjusting device 22, each tire 11 A control method of a toe angle automatic adjusting device 20 including an encoder 26 that is a rotational phase detecting device that detects each of the rotational phases R _{1 to} R ₄ of 12, 13, and 14, and the control device 21 measures the toe angle. based by the device 1 to the measurement results of the respective toe angle theta ₁ through? _4, each tire 1 A reference waveform setting step of setting the reference waveform P ₁ to P ₄ showing changes in the amount of change in the toe angle theta ₁ through? ₄ in the rotational phase between the, 12, 13, 14 makes one rotation, the control device by 21, the average value theta _1a through? _4a of the toe angle theta ₁ through? ₄ in the reference waveform P ₁ to P _4, is equal to the target value theta _{the set} of the toe angle theta ₁ through? ₄ which is set in advance Te, a target waveform setting step of setting each target waveform Q ₁ to Q ₄ indicating a target value theta _{the set} of the toe angle theta ₁ through? ₄ in the rotational phase, the control device 21, each tire 11, 12, and 13 A measurement result of each toe angle θ _{1 to} θ ₄ by the toe angle measuring device 1 when 14 is an arbitrary rotational phase R _{1 to} R ₄ (that is, each toe angle current value θn _{1 to} θn ₄ ) is Bei toe angle determining step determines whether or not to match the waveform at any rotational phase R ₁ to R ₄ of the target waveform Q ₁ to Q _4, the , Is performed while rotating the tire 11, 12, 13, 14 on a continuous, and the reference waveform setting step, a target waveform setting step, the toe angle determining step.

With such a configuration, whether or not the adjusted toe angles θ _{1 to} θ ₄ (that is, the respective toe angle current values θn _{1 to} θn ₄ ) coincide with the toe angle target values θm _{1 to} θm ₄ is determined. Can be accurately determined in a short time without rotating each of the tires 11, 12, 13, and 14.

DESCRIPTION OF SYMBOLS 1 Toe angle measuring device 11 Left front tire 12 Right front tire 13 Left rear tire 14 Right rear tire 20 Toe angle automatic adjustment device 21 Control device 22 Toe angle adjustment device 25 Rotating roller 26 Encoder 100 Vehicle

Claims (2)

A toe angle measuring device for measuring a toe angle of a tire provided in a vehicle;
A toe angle adjusting device for adjusting the toe angle;
A control device that calculates an adjustment amount of the toe angle by the toe angle adjustment device based on a measurement result of the toe angle by the toe angle measurement device and outputs the calculation result of the adjustment amount to the toe angle adjustment device When,
A rotational phase detector for detecting the rotational phase of the tire;
A toe angle automatic adjustment device comprising:
The controller is
Based on the measurement result of the toe angle by the toe angle measuring device while continuously rotating the tire, a reference waveform indicating a transition of the change amount of the toe angle in each rotation phase during one rotation of the tire As well as calculating
An average value of the toe angle in the reference waveform is matched with a preset target value of the toe angle, and a target waveform indicating the target value of the toe angle in each rotation phase is set.
When the toe angle measurement result by the toe angle measuring device when the tire is in an arbitrary rotational phase matches the waveform at the arbitrary rotational phase of the target waveform, the toe angle reaches the target value. It is determined that
A toe angle automatic adjusting device characterized by that. A toe angle measuring device for measuring a toe angle of a tire provided in a vehicle;
A toe angle adjusting device for adjusting the toe angle;
A control device that calculates an adjustment amount of the toe angle by the toe angle adjustment device based on a measurement result of the toe angle by the toe angle measurement device and outputs the calculation result of the adjustment amount to the toe angle adjustment device When,
A rotational phase detector for detecting the rotational phase of the tire;
A toe angle automatic adjustment device control method comprising:
A reference waveform for setting, by the control device, a reference waveform indicating a transition of the change amount of the toe angle at each rotation phase during one rotation of the tire based on the measurement result of the toe angle by the toe angle measuring device. A setting process;
A target waveform for setting a target waveform indicating the target value of the toe angle in each rotational phase by causing the control device to match an average value of the toe angle in the reference waveform with a preset target value of the toe angle. A setting process;
The control device determines whether a measurement result of the toe angle measured by the toe angle measuring device when the tire is in an arbitrary rotational phase matches a waveform of the target waveform at the arbitrary rotational phase. Toe angle determination process;
Equipped with a,
The reference waveform setting step, the target waveform setting step, and the toe angle determination step are performed while continuously rotating the tire.
A control method for an automatic toe angle adjusting device.

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