JPH0263902A - Tire rotational angular position aligning device - Google Patents

Abstract

PURPOSE:To provide possibility of locational alignment of the rotational angles of different types of tires by furnishing a photo-sensor on each type of tire, and arranging each photo-sensor so as to be in specific locational relationship with a hub pin to make location of the rotational angle of tire. CONSTITUTION:With possibility of being driven in the direction fore and aft, a center pin 97 fitted with a hub pin 95 is incorporated in the central part of the facade of a body frame 45 of a tire supply device, and four photo-sensors 125, 127, 129, 131 for sensing of bolt hole in wheel and an approach switch 133 for sensing whether there is any wheel are mounted on the periphery of a bearing to bear this center pin 97. At the front of the body frame 45, on the other hand, light emitting apparatus 137, 139, 141, 143 are mounted, which support a sensing arm 135 rotatably and work in cooperation with the photo- sensors. When any bolt hole is sensed by photo-sensor corresponding to the tire type during the tire is in rotation, the tire is stopped, and the hub pin 95 is fitted in another bolt hole to make location of the tire.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a device for adjusting the rotation angle position of a mounted tire to a predetermined position in a device for automatically mounting tires in an automobile assembly process.

<Problems to be resolved by the prior art and the invention> In order to automate the assembly of automobiles, a device is required to automatically pick up tires from the hub of the automobile.

This type of tire self-blade mounting device is equipped with a robot that positions the tire on the hub of a car and attaches a nut, a nut supply device that supplies the nut to the robot, and a tire supply device that supplies the tire. There is. In this case, in order for the robot to position the tire on the hub and insert the hub bolt into the bolt hole of the tire wheel, the rotational phases of the hub bolt and the bolt hole of the tire wheel must be dispersed.

However, in general, tires fed by a tire feeding device are not fed with their circumferential orientation regulated, so when they are fed to a predetermined position, their phase is naturally different from the phase of the hub. It's different. Therefore, in order to automate tire mounting, it is necessary to align the tire with the hub and orient it in a predetermined orientation before the robot grasps the tire.

The present invention has been made in view of these points,
It is an object of the present invention to provide a device that can adjust the rotation angle position of a plurality of types of tires to a predetermined position with a simple configuration.

<Means for Solving the Problems> A tire rotation angle positioning device according to the present invention that achieves this object is a tire automatic tire rotation angle positioning device in which a robot positions a tire supplied from a tire supply device to a hub of a vehicle and tightens a nut. The mounting device is provided in the tire supply device, and includes a tire rotation drive device for rotating the tire carried into the tire supply device, and a bolt hole in the wheel when the tire is at a desired rotation angle position. a hub pin that is inserted into the tire to regulate the rotation angle position of the tire; and a plurality of hub pins that are provided according to the type of tire of Ma and are arranged in a predetermined positional relationship with respect to the hub pin, and each corresponds to the tire. The vehicle is characterized by comprising an optical sensor that detects the bolt hole of the wheel.

Operation> The carried tire is rotated by a tire rotation drive device, and when a bolt hole is detected by an optical sensor corresponding to the type of tire during rotation, tire rotation is stopped.

Thereafter, the hub bin is inserted into a bolt hole that is out of phase with the detected bolt hole, and the tire is positioned at a predetermined rotation angle position.

Embodiment Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings.

First, an outline of an automatic tire mounting device according to an embodiment of the present invention will be explained with reference to FIG. 10 showing a plan view thereof. As shown in Figure 10, this device automatically attaches four tires to four tires on the front, rear, left and right sides of a car!
! 11, and these four automatic tire mounting devices [1'
1 is arranged so that the front old and rear left tires are mounted in a first pit 13 provided on the assembly line, and the front and rear right tires are mounted in a subsequent second pit 15.

The reason why the diagonally located tires are mounted at the same time is to avoid problems caused by interlocking of the left and right hubs during tire mounting.

Each tire automatic mounting device 11 includes a tire mounting robot 17
, a nut feeder 19, a nut loader 21, a nut robot 23, a tire supply device 125, and the like. The nut feeder 19 has six nut storage units 27 that store different types of nuts, respectively, to match the six types of nuts handled in this assembly line, and feeds these nuts to a predetermined delivery position 29.

The nut loader 21 supplies the tire mounting robot 17 with a plurality of nuts necessary for mounting one tire on a hub at once, and has a pedestal 31 having a plurality of nut supporting parts in the same relative positional relationship as the hub bolt. have.

This pedestal 31 has four nut support parts and one for five nuts.
There are two types, one for five nuts, each with two nut supports, and can be used depending on the vehicle model. Further, the nut robot 23 grabs the nuts at the delivery position @29 of the nut feeder 19 and places the required number of nuts on the pedestal 31 of the nut loader 21. On the other hand, the tire supply device 125 supplies tires carried in from a conveyor (not shown) to the tire mounting robot 17 in a predetermined direction using a rotation angle positioning device described later.

The tire mounting robot 17 moves in the horizontal XY axis direction and the vertical Z direction.
It has a head 33 that is movable in the axial direction and rotatable in the C-axis direction around the Z-axis, and this head 33 is provided with a hub bolt positioning part 35 and a tire mounting part 37.

The hub bolt positioning part 35 and the tire mounting part 37 are available in two types, one for four bolts and one for five bolts, and are arranged on opposite sides, similar to the above-mentioned pedestal 31. The tire mounting portion 37 has a plurality of nut runners (not shown) in the same relative position as the hub bolts at its center, and tire gripping claws 39 around its outer periphery.

In such a device, when installing a tire, the body of the automobile is positioned at a predetermined position by the positioning device e41, and the hub is positioned by pushing up the lower arm of the suspension vehicle by the lift device 43. Ru. Therefore, the tire mounting robot 17 is the Natsutroder 2.
After the nut is received by the nut runner of the tire mounting portion 37 from 1 to 1, the tire is gripped by the tire gripping claws 39 facing the tire supply device i25. Next, the hub bolt positioning part 35 is directly opposed to the hub to center the tire mounting robot 17 and to determine the rotational angle position of the hub bolt, and then the head 33 is rotated 90 degrees to align the tire mounting part 37 with the hub. The tire is installed by facing the tire directly, pressing the tire against the hub, inserting the hub bolt into the bolt hole of the tire wheel, and screwing the nut into the hub bolt.

Next, the tire supply device 25 will be explained in detail.

FIG. 1 is a front view of a tire feeding device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a plan view of the central portion thereof, and FIG. 4 is a lower four-wheel drive unit, Plan view of 5th
The figure is a plan view of the center bin drive unit, and Figure 6 is its side view.
FIG. 7 is a side view of the center bin section, FIG. 8 is a front view of the center bin showing an optical sensor, and FIG. 9 is a front view of the main parts of the tire supply device.

Here, this tire supply bag W125, as mentioned above,
Positioning the tire at a predetermined rotational angular position such that the position of the bolt hole matches the position of the nut runner attached to the head 33 of the tire mounting p-bot 17, After that, the tire is delivered to the robot 17. Thereby, the robot 17 that has received the nut and tire can position the bolt hole of the tire wheel and the nut coaxially with the hub bolt simply by directly facing the hub that has been positioned in advance.

A tire T is fed into the tire supply device 25 from a chute (not shown) located above it. As shown in Figures 1 and 2, the tire feeding device! 25 body frame 45
A roller table 47 connected to the chute is mounted on the top of the chute.
A horizontal lower slide frame 49 and an upper slide frame 51 are supported below the roller table 47 so as to be movable in the vertical direction. These lower and upper slide frames 49.51
are moved toward and away from each other by the same distance in the vertical direction with respect to the center of the frame by a synchronous drive device 53.

A pair of lower rollers 55 are pivotally supported on the lower slide frame 49 at intervals in the horizontal direction at positions equidistant from the frame center. These lower rollers 55 also serve as a tire rotation drive device, and as shown in FIG. 4, a driven pulley 59 is attached to the shaft 57 of each lower roller 55.
A variable speed motor 61 and its reduction gear 63 are mounted in the center of the motor 9, and a pair of drive pulleys 65 are attached to the output shaft of the reduction gear 63. A belt 67 is wound between the driven pulley 59 and the driving pulley 65, and each belt 67 is given a tension weight by a tension pulley 69. Therefore, motor 6
1, both four wall rollers 55 are driven to rotate in the same direction via the belt 67. Note that this motor 61 has a high speed,
It is capable of shifting at low speeds and has great braking ability to stop instantly when stopped.

On the other hand, as shown in FIG. 2, on the upper slide frame 51, a pair of linear slide rails 71 are provided in the front-rear direction (left-right direction in FIG. 2) at the same distance as the lower four-ra 55. A roller support stand 73 is slidably mounted on each linear slide rail 71. An upper roller 75, which forms a pair with the lower roller 55, is pivotally supported at the front of the roller support base 73. Further, the left and right roller support stands 73 are connected to each other by a connecting frame 77, and an upper slide frame 51 is provided at the center thereof.
A cylinder 79 mounted in the center of the cylinder 79 is connected to the cylinder 79.

The upper roller 75 moves forward or backward by the operation of the cylinder 79, and at the forward limit it is located above the lower roller 55 as shown by the solid line in FIG. Pull inward from the front of the device,
This will prevent the tire T from getting in the way of lowering from above.

Further, a lifter cylinder 81 is attached to the main body frame 45 at a position between both lower rollers 55, and a tire seat 83 shaped like a 7 on the upper surface is attached to the lid cylinder 81.
A lifter 85 having a diameter is connected to the lifter 85. The lifter 85 is raised and lowered by the operation of the lifter cylinder 81, and at its rising end shown by the imaginary line in FIG. 1, it is located above the upper roller 75 so that the tire seat 83 can support the tire T from above. It has become.

Further, a guide shaft 87 is supported on both left and right sides of the main body frame 45 so as to be movable in the front and back direction, and as shown in FIG. presser foot cylinder 8
9. A rotary actuator 91 is attached to the tip of each of the left and right guide shafts 87, and a presser roller 93 is attached to the rotary shaft of the low reactuator 91 in a direction perpendicular thereto. Therefore, by the operation of the row reactuator 91, the presser roller 93 is rotationally driven from the starting position shown by the solid line in FIG. is reciprocated back and forth via the guide shaft 87 by the operation of the presser cylinder 89. This pressing roller 93 is pulled back in a horizontal state to press and hold the tire T on the lower roller 55 against the front side of the device, and allows the tire T to rotate while being held in the front side of the device. A ball table 94 is provided for this purpose.

The front central part of the main body frame 45, that is, the lower roller 55
As shown in FIG. 3, a center pin 97 including a hub pin 95 is installed at the intersection of the diagonal lines of the upper roller 75 and the upper roller 75 so as to be movable forward and backward. That is, Figures 5 and 6
As shown in the figure, the main body frame 45 has a support frame 9
9 is constructed, and a linear guide 101 is arranged in the front and back direction of this support frame 990.
A slide base 103 is mounted on 01 so as to be slidable in the front and rear directions. A connecting fitting 105 is provided protrudingly on the slide base 103, and the tip of the rod 111 of the center pin cylinder 109, which extends from the support frame 99 side and whose rear end is pivoted to the cylinder bracket 107, is connected to the connecting fitting. 105.

Therefore, the slide base 103 reciprocates on the linear guide 101 by the operation of the center pin cylinder 109.

A bracket 113 is fixed to the front end of the slide base 103, and the conical center pin 97 is rotatably supported on the front surface of the bracket 113 via a bearing portion 115. The center of this center pin 97 is the intersection of the diagonal lines of the lower roller 55 and the first wing roller 75,
In other words, the center pin 97 is aligned with the center of the frame, and the center pin 97 is aligned with the tire wheel W as shown in FIG.
Center the tire T by inserting it into the hub hole H.

On the other hand, a hub pin cylinder 117 is attached to the rear surface of the bracket 113 facing backward. As shown in FIG. 7, a connecting bracket 121 is attached to the tip of the rod 119 of the hub pin cylinder 117 so as to be tilted downward, and the rear end of the hub pin 95 parallel to the center pin 97 is attached to the connecting bracket 121. connected. Bearing part 1
15 is provided with a guide portion 123 that slidably guides the hub pin 95 in the front-back direction, and the hub pin 95 is moved to the center pin 9 by the operation of the hub pin cylinder 117
It is independently moved forward and backward relative to 7.

By fitting the hub pin 95 into one of the bolt holes drilled around the outer circumference of the hub hole H of the wheel W,
The rotation angle position of the tire T is regulated.

Furthermore, on the outer periphery of the bearing part 115 that pivotally supports the center pin 97, four optical sensors 125, 127, 129, 13 are installed to detect the bolt hole B of the wheel W, as shown in FIG.
1 and one proximity switch 133 for detecting the presence or absence of the wheel W is attached. On the other hand, as shown in FIG. 9, a detection arm 135 is rotatably supported at the front of the main body frame 45, and at the tip of this detection arm 135 cooperates with the optical sensors 125, 127, 129, and 131, respectively. Light emitters 137, 139, 141, and 143 are attached. The detection arm 135 is tilted and driven by a rotary actuator 145 from a horizontal position shown by a solid line in FIG. 9 to an inclined position shown by an imaginary line in FIG. .127. They face each other at 129 degrees and 131 degrees.

These optical sensors 125, 127, 129° 131 and light emitters 137, 139, 141, 143 are provided depending on the type of tire T, that is, the number of bolt holes and the size of the hole diameter. In this case, a total of four bolt holes are provided corresponding to four and five 2N type bolt holes and two types of hole diameters of φ15 and φ19, and each is arranged so as to have a predetermined positional relationship with the hub pin 95. . That is, as shown in FIG.
When the bolt hole 31 is in a position facing the edge of the corresponding bolt hole, the bolt hole that is out of phase with the edge of the corresponding bolt hole faces the hub pin 95. Specifically, the optical sensor 125 corresponds to a tire T having four bolt holes with a hole diameter of φ19, and is separated from the hub pin 95 by 90° - (an angle corresponding to the large radius of the hole). It is installed.

Similarly, the optical sensor 127 corresponds to the case where there are five bolt holes and the hole diameter is φ19, and the optical sensor 127 corresponds to the case where there are five bolt holes and the hole diameter is φ19.
The optical sensors 129 and 131 are installed at a distance of 4° - (an angle corresponding to the large radius of Holmo), and each of the optical sensors 129 and 131 has 4 bolt holes.
When there are 5 bolt holes and the hole diameter is φ15, and when there are 5 bolt holes and the hole diameter is φ
15, corresponding to 180 for each hub pink 5
”-(angle corresponding to the large radius of Holmo) and 216°-(
They are placed apart by an angle corresponding to the large radius of Holmo.

In such a tire supply device 35, first, the tire T carried in from above is supported by the lifter 85 in the raised position, and is transferred onto the lower roller 55 by the lowering of the lifter 85.

After that, the upper roller 75 moves forward to the upper side of the tire T,
Next, the synchronous drive device 53 causes the lower roller 55 and the upper roller 75 to approach each other, and the tire T on the lower roller 55 is gripped by the p-flow roller 55 and the upper roller 75. At this time, the lower roller 55 and the upper roller 75 move the same amount relative to each other around the center of the frame, so no matter what diameter the tire T has, both rollers 55 and 75 grip the tire T, and at this time the center of the tire T is This will match the center of the frame.

Next, the presser foot 4-ra 93 is laid down horizontally and pulled back to press the tire T against the ball table 94, while the center pin 97 is advanced and inserted into the hub hole H of the wheel W to center the tire T. . Next, the variable speed motor 6
The tire T is rotated counterclockwise in FIG. 8 by the rotation of the lower roller 55 driven by the optical sensor 125,12.
Bolt holes are detected by 7, 129, 131.

For detection, four optical sensors 125, 1 are used according to the type of tire T determined based on vehicle type information known in advance.
One operating optical sensor is selected from among 27, 129, and 131, and the bolt hole is detected by that optical sensor. For example, if the tire T has four bolt holes and the hole diameter is φ19, the optical sensor 125 is activated.

When the bolt hole faces the optical sensor 125 as the tire T rotates, the optical sensor 125 detects light from the light emitter 137, and the optical sensor 125 issues an ON signal.

In this embodiment, in order to stabilize the detection conditions and improve accuracy, when the second ON signal is issued after the start of detection, that is, when the second bolt hole faces the optical sensor 125, The variable speed motor 61 is slowed down by the signal, and when the edge of the second bolt hole faces the optical sensor 125 and the light is blocked, and the signal is turned off, the variable speed motor 61 is stopped. As shown in FIG. 8, in this state where the edge of one bolt hole B of the tire T faces the optical sensor 125, another bolt hole that is out of phase with this bolt hole B faces the hub bin 95. That will happen.

Subsequently, the hub bin 95 is advanced and fitted into this bolt hole, thereby positioning the tire T at a predetermined rotation angle position.

Note that if the type of tire T is different from this, other optical sensors 127, 129° 131 are used accordingly, and by similarly detecting bolt holes, other bolt holes with different phases are connected to the hub bin 95. You can face each other.

When the positioning is completed, the presser roller 93 is made to stand vertically, and the center bin 97 is advanced by the center bin cylinder 109 to push the positioned tire T forward, and the tire mounting robot 17
Pass the uke.

<Effects of the Invention> As described above in detail with reference to one embodiment, according to the present invention, optical sensors are provided for each of a plurality of types of tires, and these optical sensors are used to position the rotational angle position of the tire. Since they are arranged in a predetermined positional relationship with the hub bins that perform It is possible to align the rotation angle positions of several types of tires.

[Brief explanation of the drawing]

FIG. 1 is a front view of a tire feeding device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a plan view of the central portion thereof, and FIG. 4 is a plan view of a lower roller drive unit. Fig. 5 is a plan view of the center bin drive section, Fig. 6 is a side view thereof, Fig. 7 is a side view of the center bin section, Fig. 8 is a front view of the center bin showing the optical sensor, and Fig. 9 is a tire feeding device. A front view of the main parts, and FIG. 10 is a schematic plan view of the entire automatic tire mounting line. In the drawings, 11 is an automatic tire mounting device, 17 is a tire mounting robot, 19 is a nut feeder, 21 is a nut loader, 23 is a nut robot, 25 is a tire supply device, 55 is a lower roller, 61 is a variable speed motor, 75 is an upper roller, 95 is a hub bin, 97 is a center bin, 25°37°27°39°29°141°1 is a light sensor, and 3 is a light emitter. Agent for patent applicant Mitsubishi Motors Corporation

Claims (1)

[Claims] In an automatic tire mounting device in which a robot positions a tire supplied from a tire supply device to a hub of a car and tightens a nut, the device is installed in the tire supply device and rotates the tire carried into the tire supply device. a tire rotation drive device; a hub pin that fits into a bolt hole of the wheel to regulate the rotational angular position of the tire when the tire is at a desired rotational angular position; and an optical sensor that is arranged in a predetermined positional relationship with respect to the hub pin and detects a bolt hole in a wheel of each corresponding tire.