JPH0569247A - Hub bolt phase adjusting device - Google Patents

Abstract

PURPOSE:To enable the phase adjustment of hub bolts by disposing a phase adjusting device, provided with a fixed member and a moving member disposed on the circumference where hub bolts are disposed, opposedly to the hub end face of a wheel hub, with both center axes coinciding with each other. CONSTITUTION:A phase adjusting device 40 disposed opposedly to the hub end face of a wheel hub is provided with an adjuster body 41 rotated around an N-shaft member 42. In this adjuster body 41, a fixed member 46 and a moving member 47 are disposed on the circumference of the same diameter as the circumference HBpi formed around the center axis of the shaft member 42 as the center and provided with the hub bolts HB1, HB2,... of the wheel hub thereon. In such structure, a lever member 44 is oscillated by an adjusting cylinder actuator 49 through a pinion gear 43 to move the moving member 47 for the change of the center angle in relation to the fixed member 46. With this movement, the pin member 47b of the moving member 47 pushes to move the hub bolt HB1 so as to change the phase of the hub bolts HB1, HB2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for adjusting the phases of a plurality of hub bolts arranged on a hub end face of a wheel hub on a circumference centered on a central axis thereof.

[0002]

2. Description of the Related Art Conventionally, the work of attaching a wheel to a wheel hub of a vehicle has been manually performed, but automation is desired in the assembly line of the vehicle from the viewpoint of reducing the burden on the operator. ..

[0003]

By the way, when attaching a wheel to a wheel hub of a vehicle, not only the position and the posture of the wheel are made to match the posture and the position of the wheel hub, but also the phases of a plurality of hub bolts are adjusted. It is necessary to match the phase of the bolt hole of.

For this reason, conventionally, a pair of flat plates which are opened and closed are brought into contact with the peripheral surface of the hub bolt to regulate their phases.

However, in the hub bolt phase adjusting device as described above, the phase can be adjusted when the number of hub bolts is an even number such as four or six, but the number of hub bolts is three or so. If the number is an odd number such as five, this cannot be applied at all.

In view of the above situation, it is an object of the present invention to provide an apparatus capable of adjusting the phase of the hub bolt regardless of the number and arrangement of the hub bolts.

[0007]

A phase adjusting device for a hub bolt according to the present invention adjusts the phases of a plurality of hub bolts arranged on a hub end face of a wheel hub on a circumference centered on a central axis thereof. In the device, a regulation device main body arranged with the central axes thereof aligned with each other at a portion facing the hub end surface of the wheel hub, and the plurality of hub bolts arranged on the regulation device main body. A fixed member that occupies the circumference provided and a moving member that is disposed on the main body of the regulation device and that occupies the circumference on which the plurality of hub bolts are disposed and that moves on the circumference. It has and.

[0008]

According to the above construction, the hub bolt is brought into contact with the fixed member by moving the moving member on the circumference where the plurality of hub bolts are arranged and rotating the wheel hub through the moving member. I am trying.

[0009]

The present invention will be described in detail below with reference to the drawings illustrating the embodiments. FIG. 9 conceptually shows a wheel mounting step LT in an assembly line for a four-wheeled vehicle to which the phase adjusting device for a hub bolt according to the present invention is applied. In the wheel mounting step LT illustrated here, the wheels T are sequentially mounted on the hub end surface HT of the wheel hub H corresponding to the steered wheels of the vehicle AM, and the position measuring device for the wheel hub H is located on both sides of the assembly line. 10 and a wheel mounting robot R are provided. Although not shown in the drawing, the position measuring device 10 and the wheel mounting robot R
Are arranged symmetrically with respect to each other across the assembly line, so only one of them will be described below. In addition, the above wheel mounting robot R
In the absolute coordinate system X-Y-Z provided in, the width direction of the assembly line is the X-axis direction, and the vehicle A on the assembly line is
The transport direction of M is the Y-axis direction, and the vertical direction is the Z-axis direction.

The position measuring device 10 is shown in FIGS.
As shown in FIG. 1, a pair of rail members 1 laid on the floor surface F
1, 11, an apparatus main body 12 movably arranged on the pair of rail members 11, 11, and a moving cylinder actuator 13 arranged between the apparatus main body 12 and the floor surface F. ing. A pair of rail members 11, 1
1 are arranged in the form of straight rods each having a rectangular cross section and are parallel to each other, and extend in a direction (X-axis direction) orthogonal to the transportation direction of the vehicle AM in the assembly line. ..

The apparatus main body 12 has a rectangular box shape,
A lifting cylinder actuator 14 is provided therein. The lifting cylinder actuator 14 has a linear encoder (not shown) built therein,
A lower slide member 15 is provided at the tip of the operating rod 14a, and the operating rod 14a is directed vertically upward through the cylinder body 14b of the lower sliding member 15.
2 is attached to the upper plate 12a.

As shown in FIG. 12, the lower slide member 15 is provided in a direction (Y) in which the vehicle AM is conveyed in the assembly line.
(Longitudinal direction) is formed in a rectangular plate shape having a long side, and a lower contact member 16 is provided at one end thereof,
A track member 17 is provided at the center thereof, and a slide cylinder actuator 18 is provided at the other end thereof.
By the expansion / contraction operation of the lifting cylinder actuator 14, the lifting / lowering cylinder actuator 14 is moved up and down in the vertical direction (Z-axis direction). The lower contact member 16 has a substantially rectangular cross section in which a rectangular contact portion 16b extends in a right angle direction from one end edge of a rectangular main portion 16a.
It is in the shape of a letter and is fixed to the upper surface of the lower slide member 15 via the main portion 16a in such a manner that the corresponding contact portion 16b is directed vertically upward. The track member 17 has a rectangular rod shape in cross section, and is used for the vehicle AM in the assembly line.
Is extended along the transport direction (Y-axis direction). The slide cylinder actuator 18 has a linear encoder (not shown) built therein, and includes a side slide member 19 at the tip of the operating rod 18a, and the operating rod is connected via the cylinder body 18b. The lower slide member 15 is attached to the upper surface of the lower slide member 15 in a state in which 18a is horizontally oriented toward one end side of the lower slide member 15.

The lower slide member 15 is provided with guide rods 2 at both end portions of the lower surface of the lower slide member 15 so as to face downward.
0 and 20 are extended and fitted into the bushes 21 and 21 arranged in the apparatus body 12. The axis of the operating rod 18a of the slide cylinder actuator 18 is arranged in the same plane as the axis of the operating rod 14a of the lifting cylinder actuator 14 so as to be orthogonal to each other.

The side slide member 19 is the track member 1 described above.
7, a guide member 22 movably arranged on the guide member 7, and a vertical wall member 23 extending vertically upward from the guide member 22.
And a side contact member 24 disposed on the vertical wall member 23, the expansion / contraction operation of the slide cylinder actuator 18 causes the vehicle AM in the assembly line with respect to the lower slide member 15. It is reciprocated along the traveling direction (Y-axis direction). The side contact member 24 is
Similar to the lower contact member 16, the main portion 24 has a rectangular shape.
A rectangular abutting portion 24b extends in a right angle direction from one end edge of a to form a substantially L-shaped cross section, and the abutting portion 24b extends vertically above the main portion 24a in a mode along the vertical direction. Wall member 2
3 is fixed to the outer surface.

As shown in FIG. 11, the moving cylinder actuator 13 has a working rod 13a whose end is fixed to the apparatus main body 12 and has a cylinder main body 13b.
Is attached to the floor surface F via a bracket 25, and by expanding and contracting, the apparatus main body 12 is located at a position closest to the assembly line (measurement position) and at a position farthest from the assembly line (standby). Position) to selectively occupy two positions.

In the position measuring device 10, the device body 12 is normally occupied at the standby position, and the lifting cylinder actuator 14 and the sliding cylinder actuator 18 are held in the most retracted state.

On the other hand, as shown in FIG. 9, the wheel mounting robot R has a main body R1 installed on a floor surface F and rotatably arranged around a vertical axis (Z axis), and the main body R1. R
A first arm R2 extending from the first arm R2 so as to be swingable about a horizontal axis; and a first arm R2 extending from a tip end portion of the first arm R2 and being swingable about the horizontal axis. 2 arm R
3 and a wrist portion R4 which is disposed at the tip end portion of the second arm R3 and rotates around three axes (X axis, Y axis, Z axis) orthogonal to each other, and the wrist portion R4. An apparatus assembly 80 including an attitude measuring device 30, a phase adjusting device 40, a wheel holding device 60, and a nut fastening device 70 is provided at the tip of the device.

The posture measuring device 30 measures the posture of the wheel hub H, and is equipped with a laser distance measuring sensor 32 at the tip of the bracket 31. This distance measuring sensor 3
As shown in FIG. 14, No. 2 has a laser projecting portion 32a on the tip end surface, and by irradiating the measured object (wheel hub) H with laser light from this projecting portion 32a, The distance to the measurement object H is measured. Although not shown in the drawing, the distance measuring sensor 32 is provided with an indicator lamp on its peripheral surface, and the indicator lamp is provided in the light projecting section 32.
It lights up in green when the distance from a to the object to be measured H becomes 100 ± 40 mm.

The phase regulating device 40 regulates the phases of a plurality of hub bolts HB1, HB2 ... In an arbitrary state to a predetermined phase. As shown in FIGS. 1 and 2, the phase regulating device main body 41 has a shaft member. 42 is provided. The shaft member 42 is provided with a pinion gear 43 at its intermediate portion and a lever member 44 at its outer end portion, and is rotatable about its central axis in the above-mentioned regulating device main body 41 via bearings 45, 45. Is held.

Further, in the phase adjusting device 40, on the circumference of the same diameter as the circumference HBπ around the central axis of the shaft member 42 and the hub bolts HB1, HB2 ... Of the wheel hub H are arranged. A fixed member 46 and a moving member 47 are arranged. As shown in FIG. 4, the fixed member 46 and the movable member 47 are cylindrical base members 46a and 47a each having an open front end, and a spring 48 interposed between the base members 46a and 47a. Built-in pin member 4
6b, 47b, the fixing member 46 is fixed to the regulation device main body 41 via the base member 46a, and the moving member 47 is attached to the tip end portion of the lever member 44 via the base member 47a. It is fixed.

Further, the phase adjusting device 40 includes a adjusting cylinder actuator 49. The cylinder actuator 49 is provided with a rack member 50 that meshes with the pinion gear 43 at the tip of an operating rod 49a, and is attached to the regulating device body 41 via the cylinder body 49b.

The phase adjusting device 40 constructed as described above.
Then, the state in which the regulating cylinder actuator 49 is most retracted is the initial state, and at this time, as shown in FIG. 3, the moving member 47 has a center slightly larger than 180 ° between the moving member 47 and the fixed member 46. Has horns.

Now, when the main body 41 of the regulating device is made to face the hub end surface HT of the wheel hub H so as to face each other and the central axes thereof are aligned with each other, as shown in FIG.
And the pin member 47b of the moving member 47 is occupied on the circumference HBπ in which the plurality of hub bolts HB1, HB2 ... Are arranged.

When the adjusting cylinder actuator 49 is extended from this state, the lever member 44 is swung via the pinion gear 43, and the moving member 47 is moved so as to narrow the central angle with the fixed member 46. It
At this time, the pin member 47b of the moving member 47 abuts and moves the hub bolt HB1 in the moving path, so that the wheel hub H rotates to change the phases of the hub bolts HB1, HB2, ....

When the rotation of the wheel hub H advances, the hub bolt HB2 eventually contacts the pin member 46b of the fixed member 46, and as shown in FIG. 5B, the pin member 46b of the fixed member 46 and the moving member 47. The hub bolts HB1 and HB2 are sandwiched and held between the pin bolts 47b and the pin members 47b, and the plurality of hub bolts HB1 and HB2 ... Have a predetermined phase, for example, in FIG. The positions are adjusted to the 6 o'clock and 9 o'clock positions, at which time the operation of the adjusting cylinder actuator 49 is stopped.

In the phase adjusting device 40, the moving member 47 is moved on the circumference HBπ on which the plurality of hub bolts HB1, HB2 ... Are arranged, and the wheel hub is moved through the pin member 47b of the moving member 47. By rotating H, the hub bolt HB2 is attached to the pin member 4 of the fixing member 46.
6b, the hub bolts HB1 and HB of the wheel hub H are irrespective of their number and arrangement.
B2 ... Can be adjusted to a predetermined phase.

FIG. 6 shows the pin member 47 of the moving member 47 when the main body 41 of the adjusting device is brought close to the wheel hub H.
The phase regulation states when b and the hub bolt HB4 match are shown in order. In the state shown in FIG. 6A, the pin member 47b of the moving member 47 is retracted into the base member 47a against the pressing force of the spring 48, as shown in FIG. 4A. The wheel hub H does not rotate due to the initial movement of the moving member 47.

However, as shown in FIG. 6 (b),
Further movement of the moving member 47 causes the pin member 47 to move.
If the position of b and the hub bolt HB4 are shifted,
6, the pin member 47b projects by the pressing force of the spring 48 and abuts on the next hub bolt HB1. Therefore, as shown in FIG. 6C, the hub bolts HB1, HB2 ... The phase of will be regulated.

FIG. 7 shows the phase regulation state in order when the pin member 46b of the fixing member 46 and the hub bolt HB3 are aligned when the regulating device body 41 is made to face the wheel hub H so as to face each other. is there. Even in the state shown in FIG. 7A, as shown in FIG.
Since the pin member 46b of No. 6 is retracted into the base member 46a against the pressing force of the spring 48, the fixing member 4
6 cannot regulate the movement of the hub bolt HB3.

However, also in this case, the moving member 47
7B by the rotation of the wheel hub H accompanying the movement of FIG.
As shown in FIG. 4A, when the position of the pin member 46b of the fixing member 46 and the hub bolt HB3 are displaced, the pin member 46b is pressed by the pressing force of the spring 48 as shown in FIG. 4B.
7 protrudes and contacts the next hub bolt HB2.
As shown in (c), the phases of the hub bolts HB1, HB2 ... Are regulated by the same operation as described above.

As shown in FIG. 14, the wheel holding device 60 is provided with a plurality of claw members 61, 61 ... Which are opened and closed by the operation of an actuator (not shown), and these claw members 61 are closed by closing each other. , 61 ... Hold the wheel T between them. The wheel T held by the wheel holding device 60 has a bolt hole (not shown) whose phase is regulated in advance by a pre-process (not shown) and is always held in the same state between the claw members 61, 61 ... It

The nut fastening device 70 is for temporarily fastening a wheel nut (not shown) to a plurality of hub bolts HB1, HB2 ... And a number of drive parts corresponding to the hub bolts HB1, HB2. 71, 71 ... An actuator (not shown) is linked to each of the drive portions 71, 71 ... And the actuator rotates by a preset torque around each central axis by the operation of the actuator.

Wheel mounting process L having the above structure
In T, before actually operating the assembly line, first, in a state where the vehicle AM is positioned and installed at a predetermined position in the wheel mounting process LT, the wheel mounting robot R is taught the following wheel mounting work. Work data such as position data and posture data at that time are sequentially set and stored in the robot controller (not shown). When performing this teaching, the hub end surface HT of the wheel hub H is corrected by appropriately operating a steering wheel (not shown) so as to be along the carrying direction (Y-axis direction) of the vehicle AM in the assembly line. deep.

(Step A1) First, the wheel mounting robot R in an arbitrary state is operated, and as shown in FIG.
The phase adjusting device 40 of the device assembly 70 is arranged at a position separated from the hub end surface HT of the wheel hub H in the reference state by a predetermined distance in such a manner that their central axes coincide with each other (the initial state of the wheel mounting robot R). ).

(Step A2) From this initial state, the phase adjusting device 40 is brought closer to the hub end surface HT of the wheel hub H, and the phase adjusting device 40 is operated to bring the phases of the hub bolts HB1, HB2 ... Adjust.

(Step A3) Next, the wheel mounting robot R is operated, and a plurality of claw members 61 provided on the wheel holding device 60 are provided with wheels T whose phases of bolt holes (not shown) are regulated in advance in the previous step. 61 ... Hold in between.

(Step A4) As shown in FIG. 14, the wheel holding device 60 holding the wheel T between the plurality of claw members 61, 61 ... Is set to a predetermined distance from the hub end surface HT of the wheel hub H in the reference state. They are arranged at positions separated from each other in such a manner that their central axes coincide with each other.

(Step A5) Further, from there, the wheel holding device 60 is brought closer to the wheel hub H, and the hub bolts HB1, HB2 ... Are respectively inserted into a plurality of bolt holes (not shown), so that the wheel T is wheeled. Mounted on hub H.

(Step A6) The wheel T is attached to the wheel hub H.
Then, the nut fastening device 70 is placed at a position separated from the hub end surface HT of the wheel hub H in the reference state by a predetermined distance.
The tips of the ... Are arranged opposite to the tips of the hub bolts HB1, HB2.

(Step A7) From this state, the nut fastening device 70 is brought close to the hub end surface HT of the wheel hub H, and actuators (not shown) of the driving portions 71, 71 ... 71 ... is rotated with a preset torque.

(Step A8) At the time when the above-mentioned work is completed, the wheel mounting robot R is operated to restore the initial state.

When the teaching of the wheel mounting work described above is completed, in the wheel mounting step LT, the following posture measuring work is taught to the wheel mounting robot R next. It should be noted that the teaching of this posture measurement work is performed with the wheels T removed from the wheel hub H, and at the same position and posture as when the wheel hub H taught the wheel mounting work. ..

(Step B1) First, as shown in FIG. 15, the wheel mounting robot R in an arbitrary state is operated,
The distance measuring sensor 32 of the attitude measuring device 30 is opposed to the hub end surface HT of the wheel hub H in the reference state.

(Step B2) From this state, the distance measuring sensor 32 is actuated, and an arbitrary measuring position at which the indicator lamp lights up in green, that is, the hub end surface H of the wheel hub H.
An arbitrary measurement position separated by about 100 mm from T is set and stored.

(Step B3) The measurement position setting and storing operation shown in (Step B2) is further performed at two different points on the hub end face HT to set and store the respective measurement positions.

When the teaching of the posture measuring work described above is completed, in the wheel mounting step LT, initial values of the position measuring device 10 and the posture measuring device 30 as described below are further set. It should be noted that this initial value setting work is the same as the teaching of the posture measurement work, with the wheel T removed from the wheel hub H, and the same as when the wheel hub H teaches the wheel mounting work. Position and the same posture.

(Step C1) First, the position measuring device 10
Of the moving cylinder actuator 13 of
The apparatus main body 12 is brought close to the assembly line to occupy the measurement position.

(Step C2) Next, as shown in FIG. 16, the lifting cylinder actuator 14 is extended to move the lower slide member 15 upward,
The lower contact member 16 stores the moving distance z0 until the lower contact member 16 contacts the hub peripheral surface HS of the wheel hub H in the reference state.

(Step C3) From this state, the side slide member 19 is moved by expanding the cylinder actuator 18 for sliding this time, and the side contact member 24 of the side slide member 19 of the wheel hub H in the above-mentioned reference state. The moving distance y0 until it abuts on the hub peripheral surface HS is stored.

(Step C4) The slide cylinder actuator 18, the lifting cylinder actuator 14 and the moving cylinder actuator 13 are successively retracted to return the position measuring device 10 to the standby position.

(Step C5) Next, the taught posture measuring work is played back, and the posture measuring device 30 is operated to move the wheel hub H from the three different measuring positions as shown in FIG.
Position M near 100 mm to the hub end face HT of
Set, memorize 1, M2, M3. M1 (XM1, YM1, ZM1) M2 (XM2, YM2, ZM2) M3 (XM3, YM3, ZM3)

(Step C6) Reference Positions M1, M2, M3
After setting and storing, as shown in FIG. 17, three measuring points P1, P2, P3 corresponding to the respective reference positions M1, M2, M3 on the hub end surface HT of the wheel hub H in the above reference state. Actual distance to x01, x02, x0
Measure 3 and memorize this.

(Step C7) Based on these measured distance data, the coordinates of the three measurement points P1, P2, P3 on the hub end face HT of the wheel hub H in the standard state are set and stored. P1 (XM1 + x01, YM1, ZM1) ⇒P1 (XP1, YP
1, ZP1) P2 (XM2 + x02, YM2, ZM2) ⇒ P2 (XP2, YP
2, ZP2) P3 (XM3 + x03, YM3, ZM3) ⇒ P3 (XP3, YP
3, ZP3) YM1 = YP1, YM2 = YP2, YM3 = YP3 ZM1 = ZP1, ZM2 = ZP2, ZM3 = ZP3

(Step C8) From these three measurement points P1, P2, P3 on the hub end face HT, as shown in FIG. 18, the hub end face HT is made into the X'-Y 'plane, and the measurement point P1 is the origin. A reference user coordinate system X'-Y'-Z 'in which the direction of the measurement point P2 is the X'direction is created and stored.

(Step C9) The above wheel mounting robot R
The work data such as the position data and the posture data of the wheel mounting work taught in the above is converted into data corresponding to the reference user coordinate system X'-Y'-Z 'created in (step C8) and stored.

When the teaching of the wheel mounting work to the wheel mounting robot R and the posture measuring work and the initial value setting work to the position measuring device 10 and the posture measuring device 30 are all completed, the assembly line is actually operated. The wheels T are sequentially attached to the wheel hub H ′ of the vehicle AM conveyed in the wheel attachment step LT according to the procedure shown in FIG. Even when the assembly line is actually operated, the hub end surface HT 'of the wheel hub H'is set to the vehicle AM in the assembly line by appropriately operating the steering wheel (not shown) as in the case of performing the teaching. It is corrected so as to be along the transport direction (Y-axis direction).

The above-mentioned vehicle AM is transported on the assembly line,
When it is confirmed by the positioning sensor (not shown) that the vehicle AM has been positioned and installed at the predetermined position in the wheel mounting step LT (step 100), first, as shown in FIG. Is occupying the measurement position, and the moving distances y1 and z1 until the lower contact member 16 and the side contact member 24 contact the hub peripheral surface HS 'of the wheel hub H'of the transported vehicle AM are measured. Be done (Step 1
01).

A robot controller (not shown) calculates deviation distances Δy and Δz in the Y-axis direction and the Z-axis direction from the measured distances y1 and z1 with respect to the reference state of the wheel hub H '(step 102). In addition to being stored, the teaching data and the initial value data for the posture measurement work are corrected according to the deviation distance Δy in the Y-axis direction and the deviation distance Δz in the Z-axis direction (step 103). Here, the deviation distance in the Y-axis direction: Δy = y1−y0 The deviation distance in the Z-axis direction: Δz = z1−z0 Further, the corrected reference positions M′1, M ′ of the distance measuring sensor 32.
The coordinates of 2, M'3 are M'1 (XM1, YM1 + Δy, ZM1 + Δz) M'2 (XM2, YM2 + Δy, ZM2 + Δz) M'3 (XM3, YM3 + Δy, ZM3 + Δz)

When the measurement work of the wheel hub H'is completed, the position measuring device 10 returns to the standby position, and next,
As shown in FIG. 20, the posture measuring device 30 is actuated based on the corrected teaching data, and from the reference positions M′1, M′2, M′3 to the hub end surface HT ′ of the wheel hub H ′, respectively. The distances x11, x12 and x13 are measured (step 104).

The robot control section (not shown) uses the measured distances x11, x12, and x13 to deviate from the reference state of the wheel hub H'by steering by the deviation distance Δ at each position in the X-axis direction.
The correction points P'1, P'2, P'3 are obtained by calculating x1, Δx2, Δx3 and correcting the coordinates of the measurement points P1, P2, P3 of the wheel hub H'according to them. Step 105). Here, the deviation distance between the measurement point P1 and the correction point P'1 in the X-axis direction: Δx
1 = x11−x01 Deviation distance between measurement point P2 and correction point P′2 in the X-axis direction: Δx
2 = x12−x02 Deviation distance in the X-axis direction between the measurement point P3 and the correction point P′3: Δx
3 = x13-x03 Further, the correction points P'1, P'2, P'3 of the wheel hub H '.
P'1 (XP1 + Δx1, YP1 + Δy, ZP1 + Δz) ⇒ P'1 (XH1, YH1, ZH1) P'2 (XP2 + Δx2, YP2 + Δy, ZP2 + Δz) ⇒ P'2 (XH2, YH2, ZH2) (XP3 + Δx3, YP3 + Δy, ZP3 + Δz) ⇒ P'3 (XH3, YH3, ZH3)

The robot control unit (not shown), which has corrected the coordinates of each measurement point in accordance with the deviation of the position in the X-axis direction, this time, from the measurement distances x11, x12, x13, Z of wheel hub H'by steering Calculate the deviation of the posture around the axis (Step 1
06), according to the deviation of this posture, the correction points P′1,
By further correcting the coordinates of P'2, P'3, corresponding points P "1, P" 2, P "3 corresponding to the individual measurement points P1, P2, P3 in the reference state are obtained (step 107). P ″ 1 (X1, Y1, Z1) P ″ 2 (X2, Y2, Z2) P ″ 3 (X3, Y3, Z3)

First, the corresponding points P "1, P" 2, P "3.
Since the Z-axis coordinates Z1, Z2, and Z3 are not affected by the deviation of the posture around the Z-axis due to steering, the Z-axis coordinates ZH1, ZH2, ZH2, and ZH2 of the correction points P'1, P'2, and P'3 are Same as ZH3. That is, Z1 = ZH1, Z2 = ZH2, Z3
= ZH3

The Y-axis coordinates Y1, Y2, Y3 of the corresponding points P "1, P" 2, P "3 are the measurement points P1, P in the reference state.
The deviation distances Yθ1, Yθ2, Yθ3 caused only by the difference in posture and the deviation distance Ys caused only by the difference in position are added to the Y-axis coordinates YP1, YP2, YP3 of 2, P3. Y1 = (YH1-Δy) + Yθ1 + Ys (YP1 = YH1-Δy) Y2 = (YH2-Δy) + Yθ2 + Ys (YP2 = YH2-Δy) Y3 = (YH3-Δy) + Yθ3 + Ys (YP3 = YH3-Δy)

Here, regarding the deviation distances Yθ1, Yθ2, Yθ3 which are caused only by the difference in the posture, the wheel hub H in the standard state (shown by the solid line in the figure) and the wheel hub H of the conveyed vehicle AM. ′ (Shown by the two-dot chain line in the figure)
22 are calculated by the following equations, respectively, from FIG. 22, which shows a state in which the steering angle O is deviated by an angle θ. Yθ1 = D · sin (α−θ) −S13 Yθ2 = S23−K · sin (β + θ) Yθ3 = −L · sin θ tan θ = (Δx2−Δx1) / S12 D, K and L in the above formula are These are the distances from the steering center O of the wheel hub H to the measurement points P1, P2, P3. Further, S12, S23, and S13 are Y-axis spans between the measurement points P1 and P2, between P2 and P3, and between P1 and P3, respectively. Further, α and β are the central angle between the measurement points P1 and P3 with respect to the steering center O and the measurement point P, respectively.
The central angle between 2 and P3, which is calculated by the following formula. tanα = S13 / L tanβ = S23 / L

As for the deviation distance Ys caused only by the difference in position, the moving distance Δy of the side contact member 24 is set.
However, since it is composed of the deviation distance Ys caused only by this difference in position and the deviation distance ΔYθ based on the deviation of the posture, the wheel hub H (indicated by the solid line in the figure) in the reference state is conveyed. The wheel hub H ′ of the vehicle AM (indicated by a chain double-dashed line in the drawing) and the wheel hub H ′ of the vehicle AM are deviated from the steering center O by an angle θ. Ys = Δy−ΔYθ ΔYθ = W · sin (γ−θ) −J−y ′ y ′ = ΔXθ · tan θ ΔXθ = W · cosγ−W · cos (γ−θ) In the above formula, W is a wheel hub. The distance from the steering center O of H to the point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state, and J is the distance from the central axis of the wheel hub H to the hub peripheral surface HS. Further, γ is a central angle between the central axis of the wheel hub H and a point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state, and is calculated by the following equation. tan γ = J / I where I is the distance in the X-axis direction from the steering center O of the wheel hub H to a point a on the hub peripheral surface HS with which the side contact member 24 abuts in the reference state.

From the above, the corresponding points P "1, P" 2, P "3
The Y-axis coordinates Y1, Y2, and Y3 of are as follows. Y1 = YH1 + Yθ1−ΔYθ Y2 = YH2 + Yθ2−ΔYθ Y3 = YH3 + Yθ3−ΔYθ

On the other hand, the X-axis coordinates X1, X2, X3 of the corresponding points P "1, P" 2, P "3 are the wheel hub H in the standard state (solid line in the figure) due to the deviation in the Y-axis direction. 23) and a wheel hub H ′ of the conveyed vehicle AM (indicated by a two-dot chain line in the figure) are deviated by an angle θ around the steering center O from an enlarged view of FIG. 23. , X1 = XH1 + εx1 εx1 = Δn · tan θ Δn = n−Yθ1 X2 = XH2 + εx2 X3 = XH3 + εx3

After all, corresponding points P ″ 1, P ″ 2, corresponding to the individual measurement points P1, P2, P3 in the above-mentioned reference state.
The coordinates of P ″ 3 are calculated as follows: P ″ 1 (X1, Y1, Z1) ⇒ P ″ 1 (XH1 + εx1, YH1 + Yθ1−ΔYθ, ZH
1) P ″ 2 (X2, Y2, Z2) ⇒ P ″ 2 (XH2 + εx2, YH2 + Yθ2−ΔYθ, ZH
2) P ″ 3 (X3, Y3, Z3) ⇒ P ″ 3 (XH3 + εx3, YH3 + Yθ3−ΔYθ, ZH
3)

As described above, corresponding points P ″ 1, P ″ 2, corresponding to the individual measurement points P1, P2, P3 in the reference state.
As shown in FIG. 21, the robot control unit (not shown) which has obtained P ″ 3, from the three measurement points P ″ 1, P ″ 2, P ″ 3 on these hub end faces HT ′, HT 'to X "-
It is a Y "plane, the measurement point P" 1 is the origin, and the measurement point P "2
User coordinate system X "-Y"-whose direction is the X "direction
Z ″ is created and stored (step 108).

The robot control unit (not shown) that has created the operating user coordinate system X "-Y" -Z ", firstly, outputs the position data relating to the work contents from (Step A1) to (Step A2) described above. Work data such as posture data
The data is converted into data corresponding to the operating user coordinate system X "-Y" -Z ", and as shown in FIG. 25, the wheel mounting robot R is moved to the operating user coordinate system X" based on the converted data.
By operating with -Y "-Z", the hub bolt HB 'in the wheel hub H'of the conveyed vehicle AM.
The phase of 1, HB'2 ... Is regulated to a predetermined phase (step 109).

Then, the wheel mounting robot R is operated in the absolute coordinate system X-Y-Z provided for the wheel mounting robot R, and the wheel T whose wheel holes (not shown) are regulated in phase in advance in the previous step is used. The holding device 60 is held between the plurality of claw members 61, 61 ... (Step 110).

When the wheel T is held by the wheel holding device 60, the work data such as the position data and the posture data relating to the work contents from (step A4) to (step A7) described above is obtained from the operating user. Coordinate system X "-Y"
By converting the data into data corresponding to -Z "and operating the wheel mounting robot R in the operating user coordinate system X" -Y "-Z" based on the converted data as shown in FIG. The wheels T are attached to the wheel hub H'of the vehicle AM that has been removed (step 111, step 1).
12).

After that, the wheel mounting robot R is returned to the initial state, and the wheel mounting work is completed (step 11).
3).

Hereinafter, the reference user coordinate system X'-Y'-Z '
Work data such as position data and posture data converted into data corresponding to the operating user coordinate system X ″ -Y ″ -Z ″ corresponding to the wheel hub H ′ of the transported vehicle AM.
By converting each time into the data of the above, the wheels T are automatically attached to the wheel hub H ′ whose position and attitude deviate from the reference state.

27 to 29 conceptually show a modified example of the phase adjusting device for a hub bolt according to the present invention. The phase adjusting device 140 of this modified example adjusts the phases of a plurality of hub bolts HB11, HB12 ... In an arbitrary state to a predetermined phase, like the phase adjusting device 40 described above. A stopper means 141 is further provided in the same structure as 40. The same components as those of the phase adjusting device 40 are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 29, the stopper means 1
41 includes a cylinder actuator 143 for a stopper in the main body 142 of the adjusting device. The stopper cylinder actuator 143 is provided with a stopper member 144 at the tip of the operating rod 143a.
The cylinder body 143 is configured so that the stopper member 144 appears and disappears in the moving range of the rack member 50 in the second embodiment.
It is attached to the main body of the adjusting device 142 via b.

The phase adjusting device 14 constructed as described above.
At 0, the state in which the regulation cylinder actuator 49 and the stopper cylinder actuator 143 are respectively most retracted is the initial state. At this time, as shown in FIG. It has a central angle of just 180 ° between them.

Now, the main body of the adjusting device 142 is attached to the wheel hub H.
30A, the pin members 47b of the fixing member 46 and the moving member 47 respectively have a plurality of hub bolts HB11, HB12 ... As shown in FIG. Circumference HB where is arranged
Captured on π.

From this state, first, the stopper cylinder actuator 143 is extended so as to occupy the stopper member 144 on the moving range of the rack member 50, and the regulating cylinder actuator 49 is reciprocated once.

At this time, since the movement of the rack member 50 is restricted by the stopper member 144 as shown in FIG. 29, as shown in FIG. 30 (b), the lever member is moved according to the restricted movement distance. 44 is swung back and forth slightly.

Then, the stopper cylinder actuator 143 is retracted to retract the stopper member 144 from the moving range of the rack member 50, and the regulating cylinder actuator 49 is extended.

When the regulating cylinder actuator 49 is extended while the stopper member 144 is retracted,
This time, since the pin member 47b of the moving member 47 comes into contact with the hub bolt HB11 in the moving path to move it,
By rotating the wheel hub H, the hub bolt HB
11, the phase of HB12 ... changes.

When the rotation of the wheel hub H progresses, the hub bolt HB12 eventually contacts the pin member 46b of the fixing member 46, and as shown in FIG. 30 (c), the pin member 46b and the moving member 47 of the fixing member 46. Hub bolts HB11, HB12 are sandwiched and held between the pin member 47b of
The plurality of hub bolts HB11, HB12 ... Have a predetermined phase, for example, in FIG.
Positioned at the 9 o'clock and 9 o'clock positions.

FIG. 31 shows the phase when the pin member 46b of the fixed member 46 and the pin member 47b of the moving member 47 are aligned with the hub bolts HB12 and HB14, respectively, when the regulating device body 142 is made to approach the wheel hub H so as to face each other. The regulation states are shown in order. In the state shown in FIG. 31A, as shown in FIG.
Pin member 46b and the pin member 47b of the moving member 47
Respectively against the pressing force of the spring 48 and the base member 46.
a, 47a, the moving member 47
The wheel hub H does not rotate due to the initial movement of the wheel hub.

From this state, when the stopper member 144 is occupied on the moving range of the rack member 50 and the regulating cylinder actuator 49 is reciprocated once as described above, first, the moving member 47 is moved forward to move it. Pin member 4
7b and the hub bolt HB14 are displaced from each other, and when the moving member 47 is moved back, the pin member 47b abuts on the hub bolt HB14 and moves it.
As shown in, the pin member 46b of the fixing member 46 is also displaced from the position of the hub bolt HB12.

Therefore, hereinafter, when the regulating cylinder actuator 49 is extended by the same action as described above, that is, when the stopper member 144 is retracted, as shown in FIG. 31C, the hub bolt HB11, H
The phase of B12 ... Is regulated.

Also in the phase adjusting device 140 shown in this modification, the moving member 47 is moved on the circumference HBπ on which a plurality of hub bolts HB11, HB12 ... Are arranged and moved in the same manner as the phase adjusting device. Pin member 4 of member 47
By rotating the wheel hub H via 7b,
Since the hub bolts HB12 are brought into contact with the pin members 46b of the fixing member 46, the hub bolts HB11, HB12, ... Of the wheel hub H can be regulated in a predetermined phase regardless of the number and the arrangement mode.

In the above embodiment, only the one that regulates the phase of the hub bolt HB of the wheel hub H corresponding to the steered wheels of the vehicle AM is explained, but the hub bolts of the wheels other than the steered wheels are operated by the same action. Of course, the phase can also be adjusted. Further, the deviation of the position is detected by the stroke amount of the cylinder actuators 14 and 18, and the deviation of the posture is detected by the laser distance measuring sensor 32. Based on these deviations, the regulating device main body 41 is moved to the wheel hub H. Although they are arranged so as to face each other so that their central axes coincide with each other, in the present invention, deviations are detected by other position measuring devices and posture measuring devices, and the adjusting device main body is arranged so that their central axes coincide with the wheel hub. It doesn't matter. In this case, in the embodiment, the regulation device main body 41 is attached to the hub end surface HT from the front of the wheel hub H.
However, the regulating device main body may be approached from the side area of the hub end face.

Further, in the above-described embodiments and modifications, the cylinder actuator 49 is applied as the actuator, and the linear movement of the cylinder actuator 49 is converted into the rotational movement by the cooperation of the rack member 50 and the pinion gear 43, and the lever movement is performed. The moving member 47 is provided with hub bolts HB1, HB2 ...
Although the movable member is moved on π, the present invention is not limited thereto, and a rotary actuator such as a motor may be applied as the actuator to move the moving member, or the moving member may be moved directly by the actuator. The members may be moved.

Further, in the above-described embodiment and modification, both the fixed member 46 and the movable member 4 in the initial state.
7 are in an open state with each other, and by moving the moving member 47 in the closing direction, the fixing members 46 are moved.
Although the hub bolt HB is sandwiched and held between the moving member 47 and the moving member 47, the reverse mode may be used in the present invention. That is, the fixed member and the moving member, which are in the closed state in the initial state, may be arranged between the hub bolts, and the moving member may be moved in the opening direction. Further, the fixed member 46 and the moving member 47 are both pin members 46 that expand and contract with respect to the base members 46a and 47a.
Since the pin members 46b, 47b are provided,
The movement of the hub bolt HB can be regulated even when the positions of 47b and the hub bolt HB match, but the present invention is not limited to this. In this case, the fixed member and the movable member do not necessarily need to be pins. Further, in the above-described embodiment and modification, the moving member 47 is provided with the circumference H on which the hub bolts HB1, HB2 ... Are arranged.
Although it is moved along Bπ, if it is moved along the circumference, it is not always necessary to follow the circumference. That is, it is possible to regulate the phase of the hub bolt even if it moves linearly on the circumference.

[0091]

As described above, according to the hub bolt phase adjusting device of the present invention, the moving member is moved on the circumference on which the plurality of hub bolts are arranged, and the wheel hub is moved through the moving member. Since the hub bolts are brought into contact with the fixing member by rotating, the hub bolts can be regulated in a predetermined phase regardless of the number and arrangement of the hub bolts.

[Brief description of drawings]

FIG. 1 is a sectional front view conceptually showing a phase adjusting device for a hub bolt according to the present invention.

FIG. 2 is a sectional side view thereof.

FIG. 3 is a side view thereof.

4 is a conceptual view of a main part of a phase adjusting device, FIG. 4 (a) is a cross-sectional view showing a state in which an engagement pin and a hub bolt of a wheel hub are in phase; (B)
FIG. 6 is a cross-sectional view showing a state in which an engagement pin acts on a hub bolt of a wheel hub.

FIG. 5 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 6 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 7 is a schematic diagram conceptually showing the operation of the phase adjusting device.

FIG. 8 is a flowchart showing an embodiment of a wheel mounting method to which the present invention is applied.

FIG. 9 is a perspective view conceptually showing a wheel attaching process of the assembly line in the embodiment.

FIG. 10 is a side view conceptually showing a wheel hub position measuring device applied to the embodiment.

FIG. 11 is a front view thereof.

FIG. 12 is a plan view thereof.

FIG. 13 is a perspective view showing a state in which the phase of the hub bolt is regulated by the phase regulating device.

FIG. 14 is a perspective view showing a state in which wheels are mounted on a wheel hub by a wheel holding device.

FIG. 15 is a front view showing a state in which the attitude of the wheel hub is being measured by the attitude measuring device.

FIG. 16 is a perspective view showing a state where the position of the wheel hub is being measured by the position measuring device.

FIG. 17 is a perspective view showing a state in which the posture of the wheel hub is measured by the posture measuring device.

FIG. 18 is a perspective view showing measurement points and a reference coordinate system on a hub end surface of a wheel hub.

FIG. 19 is a perspective view showing a state where the deviation of the position of the wheel hub of the vehicle carried in by the position measuring device is being measured.

FIG. 20 is a perspective view showing a state in which a posture deviation of a wheel hub of a vehicle carried in by the posture measuring device is measured.

FIG. 21 is a perspective view showing a measurement point and an operating coordinate system of a hub end surface of a wheel hub of a loaded vehicle.

FIG. 22 is a plan view conceptually showing the deviation of the posture between the wheel hub in the reference state and the wheel hub of the loaded vehicle.

FIG. 23 is an enlarged view of a main part thereof.

FIG. 24 is a plan view conceptually showing the positional deviation and the attitude deviation between the wheel hub in the reference state and the wheel hub of the loaded vehicle.

FIG. 25 is a perspective view showing a state in which the phase of the hub bolt in the wheel hub of the vehicle carried in by the phase adjusting device is adjusted.

FIG. 26 is a perspective view showing a state in which wheels are mounted on a wheel hub of a vehicle carried in by a wheel holding device.

FIG. 27 is a sectional front view conceptually showing a modified example of the phase adjusting device for a hub bolt according to the present invention.

FIG. 28 is a side view thereof.

FIG. 29 is a cross-sectional side view thereof.

FIG. 30 is a schematic diagram conceptually showing the action.

FIG. 31 is a schematic diagram conceptually showing the operation thereof.

[Explanation of symbols]

 41,142 Regulation device main body 46 Fixed member 47 Moving member H, H'Wheel hub HB Hub bolt HBπ circumference HT, HT 'Hub end surface

Claims (1)

[Claims] 1. A device for regulating a phase of a plurality of hub bolts arranged on a hub end surface of a wheel hub on a circumference centered on a central axis thereof, the portion being opposed to the hub end surface of the wheel hub. A main body of the adjusting device arranged with their central axes aligned with each other; a fixing member arranged on the main body of the adjusting device and occupying the circumference on which the plurality of hub bolts are arranged; A phase adjusting device for a hub bolt, which is provided in a main body of the adjusting device, and is provided with a moving member which is occupy on a circumference on which the plurality of hub bolts are arranged and which moves on the circumference.