JPH05281076A - Balancing method for rotating body and attaching device based on above method for balancing weight to tire wheel - Google Patents

Abstract

PURPOSE:To provide a rotating body balancing method to perfectly balance a rotating body without increasing the kinds of balancing weights and the balancing weight for a balancing weight attaching device based on the above method to a tire wheel. CONSTITUTION:A balancing weight attaching device 10 is provided with a manipulator 20, and a tire wheel supporting base 30 to support a tire wheel 1 at a fixed position within the turning range of the arm of the manipulator 20. A balancing weight attaching position computing circuit 11 vector-composes the masses of the two balancing weights on unbalancing quantity obtained from a tire balancer 40 and its positional information to compute the attaching position of the balancing weight which can correct the unbalance of the tire, and a control device 12 drivingly controls the manipulator 20 and the tire wheel supporting base 30 on the information of the computed attaching position of the balancing weight to attach the balancing weight.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of balancing a rotating body by adding a counterweight to the rotating body to balance the rotating body and a device for mounting a balance weight on a tire wheel by the method.

[0002]

2. Description of the Related Art Rotating body is balanced by adding a correcting eccentric mass so that its center of gravity is on the axis of rotation. The dynamic balancing is performed by providing a correction surface perpendicular to the axis at any two points on the rotation axis and adding an eccentric mass for correction on this surface. (Two-sided balancing) For example, in a tire wheel of a vehicle such as an automobile, balance weights that correct the unbalance of the dynamic balance of the rotation (dynamic balance) are respectively provided at predetermined positions on the outer peripheral portions of the rims on both sides in the width direction of the tire. Fixed. The dynamic balance is measured by a balance measuring device (tire balancer). A tire balancer supports a tire wheel (in this case, a wheel in which tires are mounted) by a rotating shaft and rotates at a predetermined number of revolutions to measure vibration or dynamic load generated in a bearing by unbalanced centrifugal force, The unbalance amount and its angle (position in the circumferential direction) are calculated from the measurement result.

As for the balance weight, a weight having a corresponding weight is mounted at a corresponding position based on the measurement result by the tire balancer. Conventionally, the work of mounting such a balance weight is carried out from among a plurality of types of balance weights of different weights prepared by the operator at predetermined weight difference intervals (10 to 20 types for every 5g or 2.5g for passenger cars). This is done by selecting the balance weight with the weight closest to the unbalanced amount and driving with a hammer. Incidentally, not only in the tire wheel but also in a general rotating body, basically, similar to the tire wheel described above, it is prepared in advance based on the unbalance amount obtained by the balance measuring device and its angle information. It is performed that a corresponding one is selected from a plurality of types of counterweights having different weights and is welded or screwed by screws. In addition, a curable mass material in a plastic state is also injected and attached at a predetermined position.

[0004]

However, the balance weight having a weight closest to the unbalance amount is selected from a plurality of types of balance weights (balance weights) having different weights prepared in advance as in the prior art. The balance method has a problem in that it is impossible to equip a balance weight having a weight that completely matches the unbalance amount, and thus it is not possible to achieve perfect balance. Recently, especially in passenger cars and the like, it is desired to obtain more perfect balance to eliminate noise and vibration caused by imbalance, but if the weight difference of the balance weight is subdivided in order to correspond with higher accuracy. The types of balance weights will increase. As a result, it is necessary to select an appropriate one from among many types, which makes the work troublesome and increases the risk of mounting mistakes due to the operator's mistakes. There is a problem that they are connected and the possibility of heterogeneous mixing occurs.

Furthermore, the present applicant has previously proposed a tire wheel balance weight mounting device capable of automatically mounting a balance weight on a tire wheel. Inevitably, the sorting and supplying device becomes complicated, and even if it is supplied by the worker, the burden on the worker increases. In the case where the mass material is injected and adhered to a predetermined position, perfect balance can be achieved by adjusting the injection amount, but accurate control of the injection amount is required.

[0006]

SUMMARY OF THE INVENTION In view of the above circumstances, the present invention provides a method of balancing a rotating body that can achieve a perfect balance without increasing the number of types of counterweights, and a tire using the method. An object is to provide a device for attaching a balance weight to a wheel.

[0007]

Therefore, the method for balancing a rotating body according to the present invention is to add a balancing weight to the rotating body to make a balance. A plurality of balancing weights having a predetermined mass are provided. Is mounted at a position where the imbalance can be corrected by the vector synthesis. That is, the total mass is unbalanced based on the unbalance amount (mass) and its angle (position) information that can correct the unbalance by adding one eccentric mass measured and calculated by the balance measuring device. A plurality of counterweights set to be larger than the quantity are arranged in a position where they act in the same manner as when the counterweights equal to the unbalance amount are attached to the reference position by vector-synthesizing their masses.

[0008] predetermined position as shown in FIG. 1 (Y-axis on) to one eccentric mass: the may together fishing by mounting _{M, m 1 + m 2>} M of two of counterbalancing the weight: m _1, When correcting the imbalance using m ₂ , θ ₁ = θ ₂ = θ ₃ and θ ₃ = cos ⁻¹ [{M ² − (m ₁ ² + m ₂ ² )} / (2 × m ₁ · m ₂ )] Θ ₁ = tan ⁻¹ {m ₂ · sin θ ₃ / (m ₁ + m ₂ · cos θ ₃ )} θ ₂ = θ ₃ −θ ₁ That is, one eccentric mass: M is attached to m ₁ and m _2. From the position (Y axis) that can be balanced by
_By mounting at the positions of ₁ and θ ₂ , it becomes exactly the same as mounting one eccentric mass: M at the predetermined position, and the imbalance can be corrected.

That is, My = m ₁ · cos θ ₁ + m ₂ · cos θ ₂ Mx = m ₁ · sin θ ₁ −m ₂ · sin θ ₂ = 0 My ² = m ₁ ² · cos ² θ ₁ + m ₂ ² · cos ² θ ₂ ＋ 2 × m ₁・ m ₂・ cos θ ₁・ cos θ ₂ 0 = m ₁ ²・ sin ² θ ₁ ＋ m ₂ ²・ sin ² θ ₂ -2 × m ₁・ m ₂・ sin θ ₁・ sin θ ₂ to My ² = M ₁ ² + m ₂ ² -2 × m ₁ · m ₂ (cos θ ₁ · cos θ ₂ − sin θ ₁ · sin θ ₂ ) cos (θ ₁ + θ ₂ ) = {My ² − (m ₁ ² + m ₂ ² )} / (2 × m ₁ · m ₂ ) θ ₁ + θ ₂ = θ ₃ = cos ⁻¹ [{My ² − (m ₁ ² + m ₂ ² )} / (2 × m ₁ · m ₂ )] m ₁ · sin θ ₁ −m ₂ · sin (θ ₃ −θ ₁ ) = 0 m ₁ · sin θ ₁ −m ₂ {sin θ ₃ · cos θ ₁ −cos θ ₃ · sin θ ₁ } = 0 (m ₁ + m ₂ · cos θ ₃ ) sin θ ₁ − m ₂ · sin θ ₃ · cos θ ₁ = 0 tan θ ₁ = m ₂ · sin θ ₃ / (m ₁ + m ₂ · cos θ ₃ ) θ ₁ = tan ⁻¹ {m ₂ · sin θ ₃ / (m ₁ + m ₂ · cos θ ₃ )}

When two counterweights having the same mass are used, m ₁ = m ₂ = m and My = 2my = 2m · cos θ, and θ = cos ^-1 (M / 2m). That is, it is only necessary to mount one eccentric mass: M at a symmetrical position of θ in the circumferential direction with a position (Y axis) that can be balanced by being mounted. MX = m ₁ · sin θ ₁ + m ₂ · sin (−θ ₂ ) = 0 The above is for mounting two counterweights, but it is also possible to mount three or more counterweights. ..

A balance weight mounting device for mounting a balance weight on a tire wheel using the above method, a support table for rotatably supporting the tire wheel, and a drive means for rotationally driving the support table. And a balance wheel mounting means for mounting a balance weight on the tire wheel supported by the tire wheel supporting means, and an eccentricity capable of correcting the unbalance of the tire wheel measured by the balance measuring device. Based on the mass information and the masses of the plurality of balance weights to be mounted, a calculating means for calculating the mounting positions of the plurality of balance weights that can correct the imbalance by vector-synthesizing the masses of the plurality of balance weights, Based on the calculation result by the calculation means,
And a control means for controlling the operation of the balance weight mounting means while drivingly controlling the tire wheel supporting means.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a device 10 for mounting a balance weight on a tire wheel to which a method for balancing a rotating body according to the present invention is applied. The tire wheel referred to in the present embodiment is a state in which the tire is mounted on the wheel. The illustrated balance weight mounting device 10 has an unbalance amount (eccentric mass) measured and calculated by the tire balancer 40 and output. The balance weight mounting position is calculated based on the angle (circumferential position) information, and the predetermined position of the rim of the tire wheel 1 corresponding to the measurement information transferred from the tire balancer 40 (position obtained by calculation) In addition, the balance weight is attached. In this embodiment, two balance weights having the same mass are attached to one correction surface (to one surface of the tire wheel) for balancing.

The tire balancer 40 is a tire wheel 1.
Is rotated at a predetermined number of revolutions, a sensor detects vibration or dynamic load generated in the bearing due to the unbalanced centrifugal force of the tire wheel 1, and the unbalance amount and its angle (circumferential position) are calculated from the detection result. The rotation shaft 41 for holding the tire wheel 1 is rotatably supported by the bearing 42, and the sensors (load cells 43U, 43L) for detecting load fluctuations at two locations in the rotation axis direction of the bearing 42.
Is provided, and the rotation shaft 41 is configured to be rotationally driven by the motor 44. Load cell 43U, 43
The detection signal of L is input to the calibration calculation circuit 46 and the unbalance calculation circuit 47, and the correction value for the calibration calculation circuit 46 to correct the unbalance of the tire balancer 40 and the unbalance between the upper and lower surfaces of the tire wheel 1 are mutually related. The influence coefficient for correcting the influence degree is calculated, and the unbalance calculation circuit 47 corrects the detection signals from the load cells 43U and 43L at the time of measurement based on the correction value from the calibration calculation circuit 46 and also based on the influence coefficient. Then, the surface separation calculation is performed to calculate the unbalance amount of each of the upper and lower surfaces of the tire wheel 1. The position information is also output based on the rotation angle information from the rotary encoder 45.

That is, the calibration calculation circuit 46 calculates the correction value and the influence coefficient as follows. First, the correction value is calculated by measuring the tire wheel 1 n times while shifting the angle by 360 ° / n U _n : Phase and magnitude of the primary component of the output of the upper load cell 43U L _n : Lower From the phase and magnitude of the primary component of the output of the load cell 43L on the upper side, the upper surface correction amount: U _O = (U ₁ + U ₂ ... + U _n ) / n The lower surface correction amount: L _O = (L ₁ + L ₂ … + L _n ) / After n, by subtracting the correction amounts of the phase and the magnitude of the primary component of the outputs of the load cells 43U and 43L, respectively,
Measured values U and L obtained by correcting the imbalance of the tire balancer 40 are obtained.

To calculate the influence coefficient, weights of mass: M are alternately mounted on the upper surface and the lower surface, and the respective measurements are performed. From the outputs of the load cells 43U and 43L at that time, the influence degree of the weights mounted on each surface is calculated. To do. That is, the mass on the top surface:
Load cells 43U, 4 with M _u weight attached
3L output: U _u, L _u, and mass on the lower surface: load cell 43U when wearing the weight of M _l, the output of 43L: U _l, L _l, the influence coefficient: KU _u, KL _u, KU
_l , KL _l and U _u = M _U × KU _u , L _u = M _U × KL _u , U _l = M _l × KU _l , L _l = M _l × KL _l , and thus KU _{u = U u / M U, KL} u = L u / M U, KU l = U l / M l, KL l = influence coefficient as L _l / M _l is calculated.

The unbalance calculation circuit 47 outputs the output of the upper load cell 43U: U, the lower load cell 4 at the time of measurement.
From the output of 3 L: L, the unbalance amount on the upper surface: M _u and the unbalance amount on the lower surface: M _l are calculated as follows. That is, from U = KU _u × M _u + KU _l × M _l L = KL _u × M _u + KL _l × M _l , M _u = (U−L × KU _l / KL _l ) / (KU _u −KU _l × KL _u / KL _l ) M _l = (L−U × KL _u / KU _u ) / (KL _l −KL _u × KU _l / KU _u ).

The balance weight mounting device 10 comprises a manipulator 20 and a tire wheel support 30 for supporting the tire wheel 1 at a predetermined position within an arm turning range of the manipulator 20, and the tire balancer 40 described above. The balance weight mounting position calculation circuit 11 calculates the mounting position of the balance weight based on the unbalance amount and the angle (circumferential position) information, and the control device based on the calculated mounting position information of the balance weight. 12 is configured to drive and control the manipulator 20 and the tire wheel support 30. When the tire wheel 1 is transferred from the tire balancer 40 to the balance weight mounting device 10, the unbalanced position of the tire wheel 1 is managed by moving the tire wheel 1 from the tire balancer 40 to the balance weight mounting device 1 in a non-rotating state. It is done by being posted.

The manipulator 20 is provided with a weight holder 22 and a hammer head 23 at the tip of an arm 21 thereof, as shown in an enlarged view of FIG. 3, and the weight holder 22 and the hammer head 23 are provided. Can be moved to a balance weight supply position by a parts feeder (not shown) by the operation of the manipulator 20, and can also be moved in a plane orthogonal to the circumferential direction of the tire wheel 1 supported by the tire wheel support base 30. ing.

Manipulator 20 and weight holder 22
The hammer head 23 is operated and controlled by the controller 12, the balance weight 2 of a predetermined weight supplied by the parts feeder is held by the weight holder 22, and then the held balance weight 2 is supported by the tire wheel support 30. The tire wheel 1 is brought into contact with the rim portion to be mounted, and is hammered and mounted by the hammer head 23. In this embodiment, since only one type of balance weight is used as described above, the parts feeder only sequentially supplies the one type of balance weight to the weight holder 22 of the manipulator 20 at a grippable position. belongs to. The weight of balance weight 2: m is the maximum unbalance amount to be corrected: M
It is set such that approximately 2m ≧ Mmax with respect to max.

The turning section 31 for rotatably supporting the tire wheel 1 is rotatably driven by the motor 32 and the rotary control of the rotary encoder 33 is performed on the tire wheel support base 30 based on the rotation angle information. The rotation of the turning portion 31 is controlled so that the portion of the tire wheel 1 on which the balance weight 2 is to be mounted is at a predetermined position facing the balance weight mounting device 1.

Balance weight mounting position calculation circuit 11
Calculates the position where the unbalance can be corrected by mounting a balance weight having a mass of m on the basis of the unbalance position. That is, from the unbalance amount (corrected mass): M, the angle in the circumferential direction at which the balance weight of the mass: m shown in FIG. 4 should be attached based on the unbalanced position: θ: From M = 2 m · cos θ, θ = cos ⁻¹ (M / 2m) For example, unbalance amount (corrected mass) M = 12 g, m = 30
When the correction is performed using the balance weight of g, θ = cos ⁻¹ (12/2 × 30) = 78.5 °.

The control device 12 controls the manipulator 20 and the tire wheel support 30 at a predetermined position based on the angle θ in the circumferential direction at which the balance weight of mass: m calculated by the balance weight mounting position calculation circuit 11 should be mounted.
Drive control and attach the balance weight. After the balance weight has been attached to one of the correction surfaces as described above, the balance weight is similarly attached to the other correction surface to complete the balance.

[0023]

As described above, according to the method for balancing a rotating body of the present invention, the eccentric mass for balancing can be continuously changed by changing the mounting position of the counterweight in the circumferential direction. , Can be in perfect balance.
Further, since one type of counterweight can be used, the cost can be reduced, and since there is no need to select from a large number of types, the work can be simplified and suitable for automation. Further, according to the device for mounting the balance weight on the tire wheel according to the method of balancing the rotating body, the tire wheel can be perfectly balanced with a simple configuration.

[Brief description of drawings]

FIG. 1 is a conceptual explanatory view of a rotating body balancing method according to the present invention.

FIG. 2 is a block configuration diagram of a balance weight mounting device.

FIG. 3 is an enlarged view of the tip of the manipulator arm.

FIG. 4 is an explanatory diagram of balance weight mounting position calculation by the balance weight mounting device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Tire wheel 10 ... Balance weight mounting device 11 ... Balance weight mounting position calculation circuit (calculation means) 12 ... Control device (control means) 20 ... Manipulator (balance weight mounting means) 30 ... Tire wheel support base (tire wheel support means) )

Claims (7)

[Claims] 1. A balance is provided by adding a counterweight to a rotating body, and a plurality of counterweights each having a predetermined mass are mounted at a position where the unbalance can be corrected by combining the vectors. A characteristic method for balancing rotating bodies. 2. The number of the plurality of counterweights is two,
The method for balancing a rotating body according to claim 1, further comprising: 3. The balance weights according to claim 2, wherein the balance weights have the same mass, and the balance weights are mounted at symmetrical positions sandwiching a position where the unbalance can be corrected by adding one eccentric mass. Method of balancing rotating bodies. 4. The method for balancing a rotating body according to claim 1, wherein the rotating body is a tire wheel. 5. A tire wheel support means comprising a support table for rotatably supporting a tire wheel and a drive means for rotationally driving the support table, and a balance for the tire wheel supported by the tire wheel support means. Based on balance weight mounting means for mounting weights, eccentric mass information capable of correcting imbalance of tire wheels measured by a balance measuring device, and masses of a plurality of balance weights to be mounted, the plurality of balance weights Computation means for computing the mounting positions of the plurality of balance weights that can correct the imbalance by synthesizing the mass of the vector, and based on the computation result by the computation means, drive control the tire wheel support means, A control means for controlling the operation of the balance weight mounting means. It is configured, balance weight mounting apparatus according to claim. 6. The balance weight mounting device according to claim 5, wherein the plurality of balance weights are two balance weights having the same weight. 7. The computing means computes a circumferential angle θ from the eccentric mass position by a formula of θ = cos ⁻¹ (M / 2m) where M is the eccentric mass and m is the mass of the balance weight. The balance weight mounting device according to claim 6, wherein the balance weight mounting device is configured as follows.