JPH07186602A - Wheel automatically attaching device and wheel automatically attaching method - Google Patents

Abstract

PURPOSE:To enable the wheel of a tire to be reliably attached to the wheel attaching part of a hub by quick action concerning a wheel automatically attaching device and a wheel automatically attaching method suitably used for the tire attaching part of an automobile assembling line. CONSTITUTION:A wheel automatically attaching device is provided with a wheel attaching robot 11 for automatically attaching a wheel 2 to a wheel attaching part by tightening nuts 1 after positioning the wheel 2, and a means 16 for gripping the wheel 2 while holding and bringing the nuts 1 placed above the wheel 2 into pressure-contact with bolt fitting/inserting hole parts 2A after placing the nuts 1 on the bolt fitting/inserting hole parts 2A of the wheel 2 adjusted in the specific position in its horizontal state. And, this wheel 2 is moved to the vicinity of the wheel attaching parts while holding the nuts 1 and gripping the wheel 2, and then the nuts 1 are clamped to the bolts.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic wheel mounting device and a wheel for positioning a wheel component such as a tire on a wheel mounting portion and automatically mounting a nut by tightening a nut in an automobile assembly line or the like. Regarding automatic mounting method.

[0002]

2. Description of the Related Art Conventionally, in an automatic tire mounting apparatus, the operation of a robot for positioning a tire on a hub of an automobile and tightening a nut has been performed as shown in FIGS. That is, FIG. 9 is a diagram for explaining a nut supplying operation to the nut tightening device, FIG. 10 is a diagram for explaining a gripping operation of the wheel, and FIG. 11 is a diagram for explaining a nut loading operation to the tightening device. FIG. 12 is a schematic cross-sectional view of a main part of FIG.

First, as shown in FIG. 9, the nut supply device 101 includes an arm 1 which can be swung by a hinge 102.
03, and the table 10 is attached to the tip of this arm 103.
4 are provided. As shown in FIG. 9, the arm 103 is adapted to be driven between a lying state in which the table 104 is oriented in the horizontal direction and a standing state in which the table 104 is oriented in the vertical direction. On the surface of the table 104, a plurality of pins 105 for holding the hub nut 1 are erected (four in this example, corresponding to a four-hole wheel) in the same arrangement as the bolt fitting hole portion of the tire wheel. .

In such a nut supply device 101, the hub nut 1 is supplied from above to each of the pins 105 erected on the table 104 with the arm 103 lying down, and the hub nut 1 is fitted into the pin 105. It will be in a state of being. After this, the nut feeding device 101 is moved to the arm 103
Is driven to shift to the standing state, and the hub nut 1 is inserted into the socket 202 of the wheel mounting head 201 on the wheel mounting robot side. As a result, the hub nut 1 is in a loaded state as shown in FIG.
05 so that it can be pulled out from the hub nut 1
2 is driven backward.

At this time, the hub nut 1 is attached to the socket 202.
Due to the magnetic force of the permanent magnet 204 embedded in the inner periphery of the nut loading hole (generally, a hexagonal hole) 203, the loaded state is maintained even if a frictional force acts when the pin 105 is pulled out. . On the other hand, the tire 2 is positioned by the rotation of the roller 301 of the tire positioning device, and the positioned tire 2 is received by the wheel mounting head 201 on the wheel mounting robot side. In the tire mounting head 201, the tire 2 approaches the axle side while sandwiching the tire 2 with the tire clamp arm 203.
Then, a hub bolt (not shown) is fitted into the hub bolt hole 3A of the wheel 3, and the hub nut 1 in the socket 202 is inserted.
Abut this hub bolt. Furthermore, the socket 20
When 2 is rotated, the hub nut 1 is screwed into the hub bolt and tightened to complete the attachment of the hub nut 1, and the tire 2 is attached to a disc (not shown) on the axle side.

Further, as a proposal relating to such an automatic tire mounting device, for example, a hub center measuring device disclosed in JP-A-2-53601 and JP-A-2-574.
Hub bolt positioning device disclosed in Japanese Unexamined Patent Publication No. 02-63902, tire rotation angle alignment device disclosed in Japanese Unexamined Patent Publication No. 2-63902, tire presetting device disclosed in Japanese Unexamined Patent Publication No. 2-63903, 2-6390
There is a tire fixed position stopping device disclosed in Japanese Patent No. 4 publication, and the above-mentioned tire automatic mounting device and tire automatic mounting method are disclosed.

[0007]

However, the conventional device has the following problems. That is, since the wheel mounting head 201 performs the operation of receiving the hub nut 1 and then the operation of receiving the tire 2,
Since two operations are performed, the cycle time becomes long.

Further, the operation of receiving the hub nut 1 is independent with respect to the tire 2 without holding each other, and the hub nut 1 is the nut loading hole 2 of the socket 202.
02A needs to be fully loaded. At the time of this loading, the socket 202 is rotated to match the shape of the nut loading hole 202A, which is a hexagonal hole, with the shape of the hub nut 1.
Since this operation is performed in the state where the socket 202 and the hub nut 1 are in contact with each other, the hub nut 1 is attached to the socket 20.
The phenomenon of idling occurs with the rotation of 2. In order to prevent this idling, the rubber sheet 106 is attached to the table 104.
Are attached or the nut loading hole 202A of the socket 202 is formed into a dodecagon and chamfered, but a sufficiently stable loading operation cannot be performed and manual adjustment by an operator is required. There are cases.

Further, after the hub nut 1 is loaded into the socket 202, when the pin 105 is pulled out from the hub nut 1, the hub nut 1 is attracted by the permanent magnet 204 and held in the nut loading hole 202A.
The strength of 04 causes the following problems. If the magnetic force is weak, the hub nut 1 will have a nut loading hole 202A.
Fall out of. If the magnetic force is weak, the hub nut 1 is likely to remain on the pin 105 side, and if it remains, it interferes with the next nut supply. Therefore, a device for removing the remaining nut is required. If the magnetic force is too strong, the permanent magnets 204 attract the hub nut 1 near the entrance of the nut loading hole 202A, and the hub nut 1 is not completely loaded into the nut loading hole 202A. If the magnetic force is too strong, the hub nut 1 that was not tightened at the time of tightening will be
There is a high possibility that it will remain in the state of being adsorbed in the vicinity of the inlet of A, and it is necessary for the worker to remove it or install a removing device.

The present invention was devised in view of such problems, and an automatic wheel mounting device and a wheel automatic mounting device capable of securely mounting a wheel such as a tire to a wheel mounting portion such as a hub by a quick operation. It is intended to provide an automatic wheel mounting method.

[0011]

Therefore, the automatic wheel mounting apparatus of the present invention is an automatic wheel mounting apparatus including a wheel mounting robot which is automatically mounted by positioning a wheel on a wheel mounting portion and tightening a nut. A positioning means for adjusting the wheel in a horizontal position to a predetermined position, and a nut supply means for supplying the nut to be mounted above the bolt fitting hole of the positioned wheel, The wheel mounting robot includes a wheel mounting head for gripping the wheel, a nut holding unit provided on the wheel mounting head for holding the supplied nut while pressing the nut into the mounting hole, and the wheel mounting head. A head driving means for moving the wheel to the vicinity of the wheel mounting portion by driving the The nut on the bolt fitting interpolating hole in a state where the wheel mounting portion of the bolt fitting interpolated is characterized by being configured to include a nut fastening means for fastening to the bolt.

Further, the wheel automatic mounting method of the present invention is
In the wheel automatic mounting method in which the wheel mounting robot automatically positions the wheel at the wheel mounting portion and tightens the nut, a positioning step of adjusting the wheel in a horizontal position to a predetermined position, and the positioning step. A nut supplying step for supplying the nut so as to be mounted above the bolt fitting hole portion of the wheel, and a wheel mounting head press-holds the nut mounted above the wheel into the mounting hole portion. However, a wheel gripping step of gripping the wheel, a head driving step of driving the wheel mounting head to move the wheel to the vicinity of the wheel mounting portion, and a bolt fitting hole portion of the wheel. Nut fastening for fastening the nut to the bolt with the bolt on the wheel mounting portion side inserted It is characterized in that it is composed of a step.

[0013]

In the above-described automatic wheel mounting apparatus of the present invention, the positioning means adjusts the wheel in a horizontal position to a predetermined position, and the nut feeding means allows the nut to be fitted into the wheel by bolts. It is supplied so as to be placed above the insertion hole.

The wheel mounting robot automatically mounts the wheel by positioning the wheel on the wheel mounting portion and tightening the nut. In this wheel mounting robot, first, the wheel is gripped by the wheel mounting head. At this time, the nut holding means provided in the wheel mounting head holds the supplied nut while pressing it into the mounting hole.

Then, the head driving means drives the wheel mounting head to move the wheel to the vicinity of the wheel mounting portion, and the nut fastening means causes the wheel fastening portion to be inserted into the bolt fitting hole of the wheel. Tighten the nut to this bolt with the bolt of (3) inserted. As a result, the wheel is attached to the wheel attachment portion. Further, in the above-described wheel automatic mounting method of the present invention, first,
In the positioning step, the horizontally placed wheel is adjusted to a predetermined position, and in the next nut supplying step, the nut is supplied so as to be placed above the bolt fitting hole of the positioned wheel.

Further, in the wheel gripping step, the wheel is gripped by the wheel mounting head while the nut mounted on the wheel is held in pressure contact with the mounting hole. Next, in the head driving step, the wheel mounting head is driven to move the wheel to the vicinity of the wheel mounting portion, and in the nut tightening step, the bolt on the wheel mounting portion side is fitted and inserted into the bolt fitting hole of the wheel. And tighten the nut to the bolt.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 to 7 show an automatic wheel mounting apparatus and a wheel automatic mounting method as a first embodiment of the present invention, and FIG. FIG. 4 is a vertical cross-sectional view showing a wheel gripping step while schematically showing a main part configuration, FIG. 2 is a perspective view schematically showing the entire configuration, and FIG. 3 is a perspective view showing an example of the wheel mounting robot. Is a schematic perspective view of the upper surface of the tire presetting device showing its operation (positioning step), FIG. 5 is a schematic perspective view of the upper surface of the tire presetting device showing its operation (nut supply preliminary step), and FIG. 8 is a schematic perspective view of the upper surface of the tire presetting device showing a nut supplying step), and FIG. 7 is a schematic perspective view showing the upper surface of the tire presetting device after its operation (after the nut supplying step). It is a longitudinal sectional view schematically illustrating a configuration of a main part of the wheel automatic mounting apparatus according to the second embodiment of the present invention.

First, the wheel automatic mounting apparatus and the wheel automatic mounting method of the first embodiment will be described. In the apparatus of this embodiment (which is also the apparatus used in the method of this embodiment), the tire 2 as a wheel is It is automatically attached to a tire mounting hub (not shown) of a vehicle as a wheel mounting portion, and can be referred to as a tire automatic mounting device in this embodiment. Further, this wheel automatic mounting method can also be referred to as a tire automatic mounting method.

In this wheel automatic mounting apparatus, as shown in FIG. 2, a tire 2 as a wheel is positioned on a tire mounting hub (not shown) of an automobile as a wheel mounting portion, and then a hub nut (nut) 1 is positioned. By tightening, the tire mounting robot 11 as a wheel mounting robot that is automatically mounted is provided. The automobile tire 2 is generally composed of a metal wheel (tire wheel) 3 and a rubber tire main body 4, but here, a combination of these is referred to as a tire 2, and this tire is placed in a higher order. Wheel 2 when it is conceptually understood
Say.

The tire mounting robot 11 has, for example, FIG.
There is something like. This tire mounting robot 11
Is a base portion 11B that rotates on the pivot 11A about the vertical axis, and a first arm 11D that is connected to the base portion 11B via a first joint 11C so as to swing in the rotation direction of the arrow a. And second to the first arm 11D
The third joint 1 is attached to the second arm 11F connected so as to be swingable in the rotation direction of the arrow b via the joint 11E, and the rotation shaft (the rotation direction of the arrow c) 11G inside the second arm 11F.
The tire mounting head 12 as a wheel mounting head coupled via 1H. The third
The joint 11H has the rotational degrees of freedom indicated by arrows d and e. Furthermore, each of these arms 11D, 11F and joints 11C,
Head drive means 13 is provided which can adjust the position and direction of the tire mounting head 12 while driving 11E and 11H. The function of the tire mounting head 12 will be described later.

In addition to the robot 11 as described above, the present wheel automatic mounting device is provided with a tire presetting device 14 and a nut supplying means 15 as shown in FIG. As shown in FIGS. 1 and 2, the tire presetting device 14 includes a positioning base 14B that can move up and down on a table 14A.
And a plurality of positioning rollers 14C arranged around the positioning table 14B. In this example,
Two positioning bases 14B are provided for the front wheels and the rear wheels.

A centering pin 14D and a nut receiving pin 14E are provided on the upper surface of the positioning base 14B, and the centering pin 14D is a center hole 2B of the wheel portion 3 of the tire 2.
The nut receiving pin 14E is a projection that can be inserted into each bolt mounting hole 2A of the wheel portion 3 of the tire 2 to project further upward and receive the hub nut 1. Especially, this nut receiving pin 1
4E can be moved up and down with respect to the positioning table 14B. Of course, the nut receiving pins 14E are provided by the number of the bolt fitting insertion holes 2A (for example, four for a four-hole wheel).

In such a tire presetting device 14, first, the positioning base 14B is lowered, and when two tires are placed horizontally on the table 14A, for example, by a tire conveying means (not shown). , And after this, raise the centering pin 14D to the tire 2
While fitting in the center hole 2B of the wheel portion 3 of, the tire 2 is centered (rotational direction index adjustment),
After that, the tire 2 is positioned by the roller 14C (that is, the phase of the bolt fitting hole 2A is adjusted to the required position), and then the nut receiving pin 1
4E is raised so that the nut receiving pin 14E is fitted into each of the bolt fitting hole portions 2A of the tire 2 and further projected upward.

Each roller 14C is joined to the outer peripheral surface (tread surface) of the tire 2, and the tire 2 is rotated while being rotationally driven, so that the bolt fitting hole 2A comes to a predetermined position. It is designed to be positioned.
As shown in FIG. 2, the nut supply means 15 includes the hub nut 1 on the bolt fitting insertion hole 2A of the positioned tire 2.
Is supplied from above and is provided with a parts feeder 15A to which the hub nut 1 is supplied through a pipe or the like (not shown) and a P & P robot (pick and place robot) 15B.

The P & P robot 15B has a hub nut hand 15C, and has a pickup function of taking out the hub nut 1 from the parts feeder 15A by the hub nut hand 15C and bringing the hub nut hand 15C close to the tire 2 on the positioning base 14A to take it out. It has a function of mounting the hub nut 1 on the bolt fitting hole 2A of the tire 2. Of course, hub nut hand 15
C is adapted to withdraw from the tire 2 after mounting the hub nut 1.

The tire mounting head 12 of the tire mounting robot 11 will now be described. The tire mounting head 12 has a tire (wheel) as shown in FIG.
Tire gripping means (wheel gripping means) 16 for gripping 2
A nut holding means 17 for holding the supplied hub nut 1 while pressing it into the mounting hole 2A, and a nut socket 18.
And a nut runner 19 as a nut fastening means for fastening the hub nut 1. Note that the nut runner 19 is a known one, and the hub nut 1 in the nut socket 18 is rotated by driving the nut socket 18 to rotate, and the hub nut 1 is screwed and fastened to a corresponding bolt.

The tire gripping means 16 comprises a plurality of tire hands 16A which can approach and join the outer peripheral surface (tread surface) of the tire 2 from the outside of the tire 2, and a driving means (not shown) for driving the tire hands 16A. Hand one
The tire 2 is gripped by these tire hands 16A by simultaneously joining 6A to the outer peripheral surface of the tire 2.

The nut holding means 17 is the tire gripping means 1
6 and a nut socket 18 and an elastic support structure that elastically supports the nut socket 18 in the axial direction by a spring 17A. When the tire 2 is gripped by the tire gripping means 16, the tire 2 is inserted into each nut socket 18. Mounting hole 2A
Each of the above hub nuts 1 is inserted and the nut socket 1
8 and the outer periphery of the mounting hole 2A, each hub nut 1 is shown in FIG.
The hub nut 1 is held by sandwiching the hub nut 1 in the vertical direction. Further, when the hub nut 1 is clamped in this manner, the biasing force of the spring 17A is exerted so that the hub nut 1 is elastically clamped securely and reliably.

Then, the tire mounting robot 11 moves the tire mounting head 12 to a position above the position of the tire 2 on the positioning base 14A and further lowers it so that its direction is directed to the upper surface of the tire 2 and the nut socket 18 is moved. Nut holder (for example, hexagonal or dodecagonal nut loading hole) 1
The hub nut 1 is sandwiched between the inner wall of 8A and the outer peripheral portion of the mounting hole 2A, and in this state, a gripping operation for joining each tire hand 16A to the outer peripheral surface of the tire 2 is performed. 12 is a tire mounting hub (not shown)
The tire 2 is aligned with the bolts (not shown) of the tire mounting hub so that the hub nuts 1 being clamped are aligned with the bolts (not shown) of the tire mounting hub, and then the nut runner 19 is operated. The hub nut 1 is fastened.

The automatic wheel mounting apparatus as the first embodiment of the present invention is configured as described above, and the first embodiment of the present invention corresponding to the automatic wheel mounting operation of the automatic wheel mounting apparatus will be described below. The automatic wheel mounting method will be described. First, the operation of positioning the tire 2 (positioning step) is performed using the tire presetting device 14. That is, as shown in FIG.
With the positioning table 14B lowered, two tires are placed horizontally on the table 14A by a tire carrying means (not shown). Then, after this, the positioning base 14B is raised and the centering pin 14D is fitted into the center hole 2A of the wheel portion 3 of the tire 2 while being raised as shown by the arrow X, so that the centering of the tire 2 (in the rotational direction position) is performed. Perform index adjustment). After that, as shown in FIG. 4, the tire 2 is positioned by the roller 14C (that is, the phase of the phase of the bolt fitting hole 2A is adjusted to a desired position). That is, each roller 14C is joined to the outer peripheral surface (tread surface) of the tire 2 and then rotationally driven to rotate the tire 2 so that the bolt fitting hole 2A is positioned at a predetermined position. .

Next, the operation of the nut supply preliminary step is performed prior to the nut supply step. That is, by driving each nut receiving pin 14E to move upward and raising it as indicated by an arrow Y in FIG. 1, as shown in FIG. 5, from within each bolt fitting hole 2A of the wheel portion 3 of the tire 2, Make it protrude above. Then, the operation of the nut supply step is performed. That is, using the nut supply means 15,
, The hub nut 1 is attached to each nut receiving pin 14E on each bolt fitting hole 2A of the positioned tire 2.
Place from above. Specifically, the P & P robot 15
B is operated, the hub nut hand 15C is used to take out the hub nut 1 from the parts feeder 15A, and the hub nut hand 15C is attached to the tire 2 on the positioning base 14A.
And the taken out hub nut 1 is inserted into each nut receiving pin 14E on the bolt fitting hole 2A of the tire 2. As a result, the hub nut 1 has the nut receiving pin 14E.
It will be in a state of being worn over. After that, the hub nut hand 15C retreats from above the tire 2.

Then, the operation of gripping the tire (wheel) 2 by the tire mounting robot 11 (wheel gripping step) is performed. That is, the tire mounting head 12 of the tire mounting robot 11 is moved directly above the table 14 </ b> A of the tire presetting device 14 so that its direction faces the upper surface of the tire 2. Further, by lowering the tire mounting head 12, each hub nut 1 is held between the inner wall of the nut holding portion 18A of the nut socket 18 and the outer peripheral portion of the mounting hole 2A. At this time, the urging force of the spring 17A is exerted, so that the hub nut 1 is elastically and reasonably clamped. In this state, each tire hand 16
The gripping operation for joining A to the outer peripheral surface of the tire 2 is performed.

As a result, the tire mounting head 12 has the structure shown in FIG.
As shown in FIG.
Is held. After this, the tire mounting head 1
2 moves from above the positioning table 14A.
Indicates that the tire mounting head 12 has moved slightly upward. Note that FIG. 7 shows the positioning base 14A after the tire 2 has moved together with the tire mounting head 12.

After that, the tire mounting head 12 is moved to the front of a tire mounting hub (not shown) while adjusting the position and direction of the tire mounting head 12. And
The tire 2 is aligned with the tire mounting hub so that the hub nuts 1 that are sandwiched are aligned with the bolts (not shown) of the tire mounting hub, and then each nut is attached to the corresponding bolt on the tire mounting hub side. Perform the operation (nut tightening step) to fasten to. This operation is performed using the nut runner 19, as is generally done.

As a result, the mounting of the tire 2 is completed, the gripping of the tire 2 by the tire hand 16A is released, and the tire is ready for the next cycle. As a result, the following effects can be obtained. The nut 1 and the tire 2 can be received in one operation, and the work cycle time can be shortened. In addition, a mistake in receiving the nut does not occur. Further, when the nut is sandwiched between the nut socket 18 and the wheel portion 3, the nut 1 has a nut holding portion (a hexagonal or octagonal hole for nut loading) 1 of the socket 18.
Even if it is not in 8A, the nut 2 is clamped in a proper position and in a proper posture, so when the tire 2 is aligned with the tire mounting hub, the tip of the hub bolt of the vehicle fits into the nut 2. When the socket 18 is rotated, the nut 2 is automatically screwed into the hub bolt.
Therefore, the degree of freedom in the operation of inserting the nut 2 into the socket 18 is improved, and the reliability of tightening is improved. Unlike the case where the socket receives only the nut, in order to ensure the operation in the case of receiving only the nut, it is not necessary to make the conventional device for holding the nut such as magnet, and the structure is simple. And stable operation is ensured.

By the way, the automatic wheel mounting apparatus and the automatic wheel mounting method are not limited to the tire 2 as described above, and various other wheel-shaped members (that is, wheels).
Can be applied to. The second embodiment of the present invention is
An example of applying the present device and method to a wheel member other than the tire 2 is shown. The automatic wheel mounting device of this embodiment uses a steering wheel 20 as a wheel member as a wheel mounting portion as shown in FIG. It is for mounting on the handle shaft (not shown). Also in this apparatus, as in the case of the first embodiment (see FIG. 2), a steering wheel mounting robot corresponding to the tire mounting robot 11, a parts feeder 15A and a P & P robot 15 are provided.
It has a nut supply means 15 made of B.

Further, the mounting head 21 of the steering wheel mounting robot corresponding to the tire mounting head is constructed in substantially the same manner as that of the first embodiment, but in the case of mounting the steering wheel 20, as shown in FIG. Nut 1
Since there is only one A, only one nutrunner 22 is provided. Therefore, the nutrunner socket 23
Also, one spring 24 for urging this is provided. The wheel gripping means 16 and the nut holding means 17 have substantially the same functional configuration as that of the first embodiment. In addition, 25 is a steering wheel 2
It is a steering wheel hand that holds 0.

With such a structure, the steering wheel 20 is mounted in a procedure substantially similar to that of the first embodiment. As a result, an effect similar to that of the first embodiment can be obtained, and the steering wheel 20 can be mounted easily and reliably.

[0039]

As described above in detail, according to the automatic wheel mounting apparatus of the present invention, the automatic wheel mounting is provided with the wheel mounting robot which is automatically mounted by positioning the wheel on the wheel mounting portion and tightening the nut. In the device, there are provided a positioning means for adjusting the wheel in a horizontally placed state to a predetermined position, and a nut supplying means for supplying the nut so as to be mounted above the bolt fitting hole of the positioned wheel. The wheel mounting robot has a wheel mounting head for gripping the wheel,
By driving the wheel holding head and a nut holding means which is provided on the wheel mounting head and holds the supplied nut while pressingly contacting the mounting hole portion, the wheel is moved to the vicinity of the wheel mounting portion. With a simple structure that comprises a head driving means for moving and a nut fastening means for fastening the nut to the bolt in a state where the bolt on the wheel mounting portion side is fitted and inserted into the bolt fitting hole of the wheel, The following effects or advantages can be obtained. Since the nut and the tire are received in one operation, the cycle time can be shortened. No mistake in receiving the nut. At the time of inserting the nut between the robot and the wheel, when tightening the nut on the hub bolt of the vehicle even if the nut is not in the hexagonal or octagonal hole for nut loading on the wheel mounting robot side (for example, socket) Since the socket is automatically inserted when it is rotated, the degree of freedom in the operation of inserting the nut into the socket is improved, and the reliability of tightening is improved. Unlike the case where the socket receives only the nut, in order to ensure the operation in the case of receiving only the nut, it is not necessary to make the conventional device for holding the nut such as magnet, and the structure is simple. And stable operation is ensured.

Further, according to the wheel automatic mounting method of the present invention, the wheel mounting robot automatically positions the wheel at the wheel mounting portion and tightens the nut to automatically mount the wheel in the horizontally placed state. A positioning step for adjusting the wheel to a predetermined position; a nut supplying step for supplying the nut so as to be placed above the bolt fitting hole of the positioned wheel; A wheel gripping step of gripping the wheel while holding the nut placed above in pressure against the mounting hole, and then driving the wheel mounting head to move the wheel to the vicinity of the wheel mounting portion. The head drive step to be performed, and the bolt on the wheel mounting portion side in the bolt fitting hole of the wheel. The nut by being composed of a nut fastening step for fastening to the bolt in a state but which fit interpolated, as in the above-described wheel automatic mounting apparatus, effects and the following advantages are obtained. Since the nut and the tire are received in one operation, the cycle time can be shortened. No mistake in receiving the nut. At the time of inserting the nut between the robot and the wheel, when tightening the nut on the hub bolt of the vehicle even if the nut is not in the hexagonal or octagonal hole for nut loading on the wheel mounting robot side (for example, socket) Since the socket is automatically inserted when it is rotated, the degree of freedom in the operation of inserting the nut into the socket is improved, and the reliability of tightening is improved. Unlike the case where the socket receives only the nut, in order to ensure the operation in the case of receiving only the nut, it is not necessary to make the conventional device for holding the nut such as magnet, and the structure is simple. And stable operation is ensured.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the configuration of a main part of an automatic wheel mounting apparatus according to a first embodiment of the present invention.
It is a longitudinal cross-sectional view which shows the wheel holding | grip step of the wheel automatic attachment method as an Example.

FIG. 2 is a schematic perspective view showing the overall configuration of an automatic wheel mounting device as a first embodiment of the present invention.

FIG. 3 is a perspective view showing an example of a wheel mounting robot provided in the wheel automatic mounting apparatus according to the first exemplary embodiment of the present invention.

FIG. 4 is a schematic view of the upper surface of the tire presetting device showing the operation of the wheel automatic mounting apparatus as the first embodiment of the present invention and showing the positioning step in the wheel automatic mounting method as the first embodiment of the present invention. It is a perspective view.

FIG. 5 is a view for explaining the operation of the automatic wheel mounting device according to the first embodiment of the present invention, and showing a nut supply preliminary step in the wheel automatic mounting method according to the first embodiment of the present invention. It is a formula perspective view.

FIG. 6 is a schematic diagram of the upper surface of the tire presetting device illustrating the operation of the wheel automatic mounting apparatus as the first embodiment of the present invention and showing the nut supply step in the wheel automatic mounting method as the first embodiment of the present invention. FIG.

FIG. 7 is an upper surface of the tire presetting device after the nut supplying operation of the automatic wheel mounting device according to the first embodiment of the present invention and after the nut supplying step in the wheel automatic mounting method according to the first embodiment of the present invention. FIG. 3 is a schematic perspective view showing

FIG. 8 is a schematic vertical sectional view showing an automatic wheel mounting device as a second embodiment of the present invention, and is a view corresponding to FIG.

FIG. 9 is a diagram for explaining a nut supplying operation to the nut fastening device in the conventional tire automatic attachment device.

FIG. 10 is a diagram for explaining a wheel gripping operation by a nut fastening device in the conventional tire automatic attachment device.

FIG. 11 is a longitudinal sectional view of a main part for explaining a loading operation of the nut into the nut fastening device in the conventional tire automatic attachment device.

FIG. 12 is a schematic diagram for explaining a falling state of a nut in a nut fastening device in a conventional tire automatic attachment device.

[Explanation of symbols]

1 Hub Nut (Nut) 1A Nut 2 Tire as Wheel 2A Bolt Insertion Hole 2B Center Hole 3 Tire Wheel 4 Tire Body 11 Tire Mounting Robot as Wheel Mounting Robot 11A Pivot 11B Base 11C 1st Joint 11D 1st Arm 11E Second joint 11F Second arm 11G Rotating shaft 11H Third joint 12 Tire mounting head as wheel mounting head 12A Bolt fitting hole portion 13 Head driving means 14 Tire presetting device 14A Table 14B Positioning table 14C Positioning roller 14D Centering Pin 14E Nut receiving pin 15 Nut supplying means 15A Parts feeder 15B P & P robot (pick and place robot) 15C Hub nut hand 16 Tire gripping means as wheel gripping means 6A tire hand 17 nut holding means 17A spring 18 Nut socket 18A nut holding portion (nut loading hole) 19 steering wheel 21 mounted head 22 nut runner 23 as a nut runner 20 wheels as nuts fastening means nutrunner socket 24 spring 25 Steering wheel Hand

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kimihiro Ito 5-3-8, Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (72) Inventor Sumio Wada 5-33-8, Shiba, Minato-ku, Tokyo Mitsubishi Automotive Industry Co., Ltd.

Claims (2)

[Claims] 1. A wheel automatic mounting apparatus having a wheel mounting robot, which automatically mounts a wheel by positioning the wheel on a wheel mounting portion and tightening a nut, and positioning means for adjusting the wheel in a horizontal position to a predetermined position. And a nut supply means for supplying the nut so as to be placed above the positioned bolt fitting hole portion of the wheel, the wheel mounting robot gripping the wheel, and a wheel mounting head, A nut holding means provided on the wheel mounting head for holding the supplied nut while pressingly contacting the mounting hole portion, and driving the wheel mounting head to move the wheel to the vicinity of the wheel mounting portion. Head driving means for moving, and bolts on the wheel mounting portion side are fitted and inserted into bolt fitting insertion holes of the wheel. Characterized in that it is configured to include a nut fastening means for fastening to the bolt the nut state, wheel automatic mounting device. 2. A wheel automatic mounting method for automatically mounting a wheel on a wheel mounting portion and tightening a nut by a wheel mounting robot, wherein a positioning step of adjusting the wheel in a horizontal position to a predetermined position. A nut supplying step for supplying the nut so as to be mounted above the bolt fitting hole of the positioned wheel; and a mounting head for mounting the nut mounted on the wheel by a wheel mounting head. A wheel gripping step of gripping the wheel while holding it in pressure contact with the hole, a head driving step of driving the wheel mounting head to move the wheel to the vicinity of the wheel mounting portion, and a bolt fitting of the wheel Tighten the nut to the bolt with the bolt on the wheel mounting side inserted into the insertion hole. Characterized in that it is composed of a nut fastening step of, wheel automatic mounting method.