JPH0891260A - Installing device of wheel - Google Patents

Abstract

PURPOSE: To carry out the fastening of a hub securely as well as to prevent a position slippage at the base of a wheel installing hand so as to position to the wheel securely, by making only an outer periphery clamp in a floating condition at the front side of the wheel installing hand. CONSTITUTION: A hub nut 23 is conveyed together with a wheel, and a hub bolt 22 is inserted to the hub bolt installing hole of a wheel hub W1, in the condition to fasten the wheel W by fitting the center pins 7A to 7C to the center hole of the wheel hub W1. By rotating a socket 21 for nut runner by driving a nut runner 5, the hub nut 23 is fastened tp the hub bolt 22. In this case, the abutting piece 33 of a holding member 6 of each wheel is released from the constraint by a flexible cylinder 35, it moves the wheel W freely in the axial direction together with the second movable member 34 as clamping the wheel W, and moves the wheel W to the hub side in the axial direction, following the fastening of the hub nut 23.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel mounting device for mounting a wheel by a wheel mounting hand in a vehicle assembly line or the like.

[0002]

2. Description of the Related Art Conventionally, as a wheel mounting device, a wheel mounting hand is provided with a nut runner for supporting a nut through a socket and an outer peripheral clamp portion for clamping the outer periphery of the wheel. With the wheel mounting hand moved in the axle direction and the center pin fitted into the center hole of the wheel hub to position the wheel, insert the hub bolt into the hub bolt mounting hole of the wheel, and then use the nut runner to attach the hub nut to the hub bolt. It is known that the wheel is attached to the hub by tightening. Then, the wheel clamp by the wheel mounting hand is released when the hub bolt is inserted into the hub bolt mounting hole,
By tightening the hub nut with respect to the hub bolt, the wheel that moves together with the hub nut can be moved in the axial direction. In this case, the socket is supported in a loosely fit state in which the hub nut is movable in the axial direction with respect to the nut runner so that the hub nut is easily fitted into the hub bolt.

[0003]

However, in the above-described conventional wheel mounting device, the wheel clamp is released when the hub bolt is inserted into the hub bolt mounting hole, so that when the hub nut is finally tightened by the nut runner. The torque may cause the wheel to rotate and a torsion moment to act on the socket, which causes the socket axis and the nut runner axis to bend in a substantially V shape,
It has a drawback that the socket hits a corner portion of the hub nut and scratches the hub nut.

Therefore, a wheel mounting hand having an outer peripheral clamp portion on the front side is provided so as to be movable in the axle direction through an air cylinder capable of supplying and discharging air to the support, and the air cylinder is mounted on the air cylinder when the wheel is mounted. Is supplied to move the wheel mounting hand forward relative to the support body in the axial direction, air is discharged from the air cylinder immediately before the wheel bolt hole is inserted into the hub bolt, and the wheel mounting hand is clamped on the outer circumference of the wheel. There has been proposed a wheel mounting device that enables a wheel to move in the axle direction when the hub nut is tightened by placing the wheel in a floating state in which the wheel is clamped by a portion (actual flat 1- 87088). As a result, the rotation of the wheel due to the torque when the hub nut is finally tightened is restricted, twisting of the socket is avoided, and damage to the corners of the hub nut is prevented.

Also in the center pin type wheel mounting device for positioning the wheel by the conventional center pin, it is desired to make the wheel mounting hand in a floating state while the wheel is clamped similarly to the above-mentioned proposal. However, since the wheel mounting hand of the above-mentioned proposal is in a floating state with the support on the base side, it is not positioned with respect to the wheel on the base side of the wheel mounting hand like the center pin type. However, in order to improve the positioning accuracy, it is not possible to adopt a configuration in which the base side of the wheel mounting hand is in a floating state, and it is necessary to take measures in this respect.

The present invention has been made in view of the above points, and an object of the present invention is to place only the outer peripheral clamp portion on the tip side of the wheel mounting hand in a floating state so that the position of the wheel mounting hand on the base side. The purpose of this is to prevent misalignment and ensure positioning with respect to the wheels, and to securely tighten the hub nut with the nut runner.

[0007]

In order to achieve the above-mentioned object, a solution means provided by the invention as set forth in claim 1 is to hold a wheel by a wheel mounting hand and to use a hub bolt inserted into a hub bolt mounting hole of the wheel. On the other hand, as a wheel mounting device for mounting a wheel by tightening a hub nut with a nut runner provided on the wheel mounting hand, an outer peripheral clamp portion for clamping the outer periphery of the wheel is provided on the wheel mounting hand so as to be movable in the axial direction. When the hub bolt is inserted into the hub bolt mounting hole, the outer peripheral clamp is constrained to move in the axial direction, while the hub runner is tightened by the nut runner, the constraint of the outer peripheral clamp is released to remove the outer perimeter. The configuration is such that a moving means for moving the clamp portion in the free axis direction is provided.

[0008] The solving means taken by the invention of claim 2 is
In addition to the constituent features of the invention according to claim 1, the wheel mounting hand is provided with a center pin that is fitted into the center hole of the wheel hub to position the wheel.

Further, in addition to the constituent features of the invention described in claim 1, the solution means taken by the invention described in claim 3 is an outer peripheral clamp when they interfere with each other due to the shift of the phase of the hub bolt mounting hole and the phase of the hub bolt. The cylinder is configured to move the portion toward the interference avoidance side in the axle direction.

[0010]

With the above construction, in the invention according to claim 1,
When the hub runner is tightened by the nut runner, the outer peripheral clamp portion is released from the restraint by the moving means and is in a free state, and moves in the axle direction while the wheel outer periphery is clamped. For this reason, the rotation of the wheel due to the torque when the hub nut is finally tightened is restricted, and the socket does not bend in a V shape with respect to the nut runner, and scratches on the corners of the hub nut are reliably prevented. It In addition, when the hub runner is tightened by the nut runner, the outer peripheral clamp part is in a floating state that can move in the axle direction on the tip side of the wheel mounting hand, so the position shift with respect to the wheel when positioning with the center pin on the base side of the wheel mounting hand Is reliably prevented. Moreover, when the hub nut is tightened by the nut runner, the wheel moves together with the outer peripheral clamp portion in the axle direction when the hub nut is tightened, so that the hub nut can be securely tightened by the nut runner.

According to the second aspect of the present invention, since the wheel mounting hand is provided with the center pin for fitting the center hole of the wheel hub to position the wheel, only the outer peripheral clamp portion on the tip side of the wheel mounting hand is provided. By the floating, the positioning by the center pin on the base side can be surely performed without being displaced with respect to the wheel.

Further, according to the third aspect of the present invention, since the cylinder causes the outer peripheral clamp portion to move toward the axle-direction interference avoiding side at the time of mutual interference due to the shift between the phase of the hub bolt mounting hole of the wheel and the phase of the hub bolt. When the mounting hole and the hub bolt interfere with each other, it is possible to prevent the wheel mounting hand from being forcibly intruded into the hub side in the axial direction by the moving means while the outer peripheral clamp portion is restrained.

[0013]

Embodiments of the present invention will now be described in detail with reference to the drawings. Since various robots are symmetrically arranged on the left and right sides of the vehicle in the vehicle assembly line according to the present embodiment, the assembly of the left side portion of the vehicle will be mainly described.

1 to 4 showing the schematic structure of the left side portion of the vehicle assembly line with respect to the vehicle, reference numeral 1 is the body of the automobile, and the wheel W is attached by the wheel attachment robot 2 at the first station P1. It is designed to be checked by the operator at the second station P2. Reference numeral 3 denotes a mounting position detection robot that detects the mounting position of the wheel W, and the wheel W is mounted by the wheel mounting robot 2 at the mounting position of the vehicle body 1 detected by the mounting position detection robot 3.

The wheel mounting robot 2 has a link mechanism 2
A wheel mounting hand 2b is provided via a, and the wheel mounting hand 2b is fitted into the center hole of the wheel hub W1 at the center of the tip end thereof as shown in FIGS.
A center pin mounting portion 4 to which center pins 7A, 7B, and 7C for positioning with respect to each other are exchangeably mounted, and five nut runners 5, ..., And an outer peripheral clamping portion for clamping the outer peripheral surface of the wheel W are provided around the center pin mounting portion 4. The three wheel holding means 6, ... Are radially provided. And
The center pin mounting portion 4 is configured so that a plurality of types of center pins 7A, 7B, 7C corresponding to a plurality of types of wheels W can be replaceably mounted. As a result, the wheel mounting robot 2 replaces the center pins 7A, 7B, 7C according to the type of vehicle (wheel), and the wheels W of a plurality of types are irrespective of their types.
(Axle) can be installed automatically.

The center pin mounting portion 4 has a center pin socket 11 fitted to the upper ends of the center pins 7A, 7B and 7C, and a center pin 7A having the upper end fitted to the center pin socket 11. , 7B, 7C engaging recesses 7a, ...
Having a mounting member 12b on the center pin socket 11
And a cylinder means 12 that is fixedly mounted via.

The center pin socket 11 is connected to the lower end of the elevating rod 13. Lifting rod 13
The upper end portion of the raising / lowering member 1 has an engaging hole 16a with which the tip end portion of the arm member 14 engages, and moves up and down with respect to the base 15.
6. Then, as the arm member 14 rotates in the vertical direction, the elevating rod 13 moves up and down. The arm member 14 also has an intermediate portion at the base 1.
5 is rotatably supported by a bracket 17A, a cylinder means 18 is interposed between the base end of the arm member 14 and another bracket 17B of the base 15, and the cylinder means 18 can be expanded and contracted. The arm member 14 is rotated in the vertical direction by the operation. Bracket 17
A proximity switch 19 for detecting the rotation of the arm member 14 is attached to A via an attachment 20.

As shown in FIG. 10, each of the nut runners 5 has a nut runner socket 2 located around the center pin socket 11 of the center pin mounting portion 4.
The hub nut 22 held by the nut runner socket 21 is fastened to the hub bolt 22 applied through the hub bolt mounting hole of the wheel hub W1 by rotating the nut runner socket 21 in association with the wheel runner 1. The vehicle body 1 is mounted and fixed at a predetermined position (axle). Socket 2 for the above nutrunner
1 is axially slidably and rotatably integrally fitted in the tip portion 5a of the nut runner 5 corresponding to the periphery of the center pin socket 11, and the tip of the nut runner 5 tip portion is The axis of the nut runner socket 21 is supported so as to be bent in a substantially V shape with respect to the axis, so that the hub nut 23 can be easily fitted into the hub bolt 22.

On the other hand, as also shown in FIG. 9, each of the wheel holding means 6 is connected to the first movable member 31 which is movable in the radial direction of the wheel W, and the first movable member 31. A clamp cylinder 32 that moves the movable member 31 in the radial direction of the wheel W, and a contact piece 33 that is provided on the first movable member 31 so as to be movable in the axial direction and that abuts on the outer peripheral surface of the wheel W. The second movable member 34 and the telescopic cylinder 35, which is linked to the second movable member 34 and expands and contracts so as to move the second movable member 34 in the axle direction, contact the wheel W and clamp the wheel W. The position of the contact piece 33
It can be moved according to the size of. Between the base 15 and the first movable member 31, the first
The guide members 36a and 36b include the first movable member 31 and the second movable member 31.
The second guide members 37a and 37b are provided between the movable member 34 and the movable member 34.
Are provided so as to guide the movement of the first and second movable members 31 and 34. The clamp cylinder 32 and the telescopic cylinder 35 are hydraulic cylinders that expand and contract by supplying and discharging pressure oil. Further, when the hub bolt 22 is inserted into the hub bolt mounting hole of the wheel W, the telescopic cylinder 35 causes the second movable member 34 (the contact piece 3).
3) is moved to the hub side in the axle direction while being restrained, and when tightening the hub nut 23 by each of the nut runners 5, the pressure oil of the head side chamber and the rod side chamber (not shown) is drained to drain the second movable member 34. It is configured as a moving unit that moves the second movable member 34 in the axle direction by releasing the restraint. Then, between the first movable member 31 and the abutment piece 33, the abutment piece 33 is generated when the phases of the hub bolt attachment holes of the wheel W and the phase of the hub bolt 22 interfere with each other when they interfere with each other.
There is provided a low pressure cylinder 38 to which a constant pressure is applied, which contracts so as to move together with the second movable member 34 in the axle direction interference avoidance side, that is, the axle direction anti-hub side.

Reference numeral 41 designates three types of center pins 7A, 7B,
In a stocker that stores and holds 7C, wheel transport conveyor means 42 for transporting the wheels W to a predetermined wheel delivery position near the first station P1 and the number of hub nuts 23 required for mounting the wheels W are filled. Nut pallet 43
Is arranged near the intersection with the pallet conveyor means 44 for conveying the sheet to a predetermined nut delivery position near the first station P1.

As shown in detail in FIGS. 11 to 13, the stocker 41 has a fixed base 47 mounted on a base base 45 via columns 46, and a movable base 48 with respect to the fixed base 47.
Is floatingly supported so as to be two-dimensionally movable in the X and Y directions.

Center pins 7A to 7A are mounted on the movable base 48.
Hollow fitting pin members 50A to 50 to which C is fitted
C is projected. Each fitting pin member 50A-5
Under the 0C, the engaging pin members 51, ... Having the tip engaging portions 51a, ... Are rotatably supported by the movable base 48 about the rotating shafts 52 ,. Engagement pin member 51,
The upper part of ... Is inserted into the fitting pin members 50A to 50C, and the tip end engaging portion 51 of the engaging pin members 51 ,.
, a protrudes to the outside through the through holes 50a, ... In the side surface portions of the fitting pin members 50A to 50C, and the center pin 7A.
.. to 7C are engaged with the internal engaging portions 7a, ... Removably. In this way, the engagement pin members 51, ...
Of the center pins 7A to 7C are detachably engaged with the tip engaging portions 51a, ...
The center pins 7A to 7C are locked to the stocker 41.

On the other hand, the lower ends of the engagement pin members 51, ... Are pivotally attached to a movable rod member 52 extending in the arrangement direction of the fitting pin members 50A to 50C, and the movable rod member 52 and the movable base 48 are vertically moved. The cylinder means 54 is interposed between the portion 48a and the portion 48a. And the cylinder means 54
.. are moved forward and backward by the expansion and contraction of the movable rod member 52, so that the engagement pin members 51, ... Are rotated about the rotation shafts 51 ,. It is designed to be released and its lock released.

A guide rail 55 is disposed on the fixed base 47, a lower portion of the slider member 56 is slidably engaged with the guide rail 55, and an upper portion of the slider member 56 is fixedly mounted on the movable base 48. Slidingly engaged with another guide rail 57 extending in a direction substantially orthogonal to the guide rail 55, whereby the movable base 48 is configured to be two-dimensionally movable in the X and Y directions with respect to the fixed base 47. There is.
Springs 59, ..., 59 are interposed between the fixed base 47 and the slider member 56, and between the fixed base 47 and the guide rail 57 of the movable base 48, and the movable base 48 is fixed to the fixed base 47. It is designed to support floating. 60A to 60C are center pins 7A to 7C, respectively
Is a proximity switch for checking the engagement / disengagement from the fitting pin members 50A to 50C.

Reference numeral 61 denotes a master work as a position assurance device for a wheel attachment device that confirms and assures the control position of the wheel attachment robot 2 having the robot wheel attachment hand 2b.
As shown in FIGS. 14 to 17, a fixed base 62 and a movable base 63 supported by the fixed base 62 so as to be two-dimensionally movable in the X and Y directions. The fixed base 62 has a pair of handles 64, 64 attached to opposite sides of the fixed base 62, and a tubular member 65 fixedly attached to the center thereof.

Another tubular member 66 penetrating the tubular member 65 of the fixed table 62 is attached and fixed to the central portion of the movable table 63, and a ball spline (not shown) is attached to the tubular member 66.
A shaft member 67 is attached via. Shaft member 67
The engaging member 93 with which the center pin socket 11 of the center pin attaching portion 4 of the wheel attaching hand 2b is detachably engaged is attached to one end via the flange member 69, and the other end will be described later. An engaging member 68 that engages with the zero point setting portion 92a of the master work table 92 is attached and fixed. A spring 70 is interposed between the flange member 69 and the moving base 63.

The movable table 63 is attached and fixed to shaft members 81, 81 arranged substantially in parallel, and sliders 82, ... Fixed on the shaft members 81, 81 are slidable on intermediate members 83 ,. Engaged. Further, another slider 84 is fixedly mounted on the intermediate member 83, and the slider 84 is extended on a rail member 85, 85 fixed to the fixed base 62 so as to extend in a direction substantially orthogonal to the shaft members 81, 81. It is slidably engaged. Further, the extension member 8 is provided on one of the shaft members 81, 81.
6 is provided in a protruding manner, and the shaft member 81 and the fixed base 6 are provided in a direction substantially orthogonal to the extension direction of the extension member 86.
Springs 87, 87 are interposed between the two.

An L-shaped support member 8 is attached to the fixed base 62.
8, a pair of dial gauges 89 and 90 whose measuring directions are substantially orthogonal to each other are attached to the supporting member 88. Measuring needle portions 89a, 90 of dial gauges 89, 90
a is in contact with the tip of the extension member 86. Incidentally, 91
Is a weight weight for adjusting the weight according to the type of the wheel W.

Reference numeral 92 denotes a master work table on which the master work 61 is placed. The master work 61 is placed on the master work table 92. As shown in FIG. Point setting unit 92a
When the dial gauges 89 and 90 are engaged with each other, both dial gauges 89 and 90 show 0 points. Accordingly, by engaging the center pin socket 11 of the wheel mounting hand 2b with the connecting member 93, the displacement amount of the movable table 63 with respect to the fixed table 62 can be measured by the dial gauges 89 and 90.

Further, the master work 61 is removed from the master work stand 92, the engaging member 68 is engaged with the center pin socket 11 of the wheel mounting hand 2b to be gripped by the wheel mounting hand 2b, and the flange member 69 is mounted on the wheel. If the hub bolts 22 of the hub W1 are engaged with each other, the position of the wheel hub W1 with respect to the wheel mounting robot 2 can be detected based on the engagement relationship between them. The peripheral edge 69a of the flange member 69 has a hub bolt 2 of the wheel hub W1.
An opening is formed corresponding to No. 2, and the hub bolt 22 is engaged with the opening via the bush 71.

Reference numeral 101 designates a hub nut supply device for supplying the hub nut 23 to mount the wheels W, as shown in FIGS.
As shown in FIG. 21, nut feeders 102, 102 for supplying the hub nut 23 and the nut feeder 10 are provided.
A nut setter 141 that can receive and move the hub nut 23 from 2, 102 via the nut holder 103 and the nut lifter 114 so as to correspond to the mounting angle to the wheel hub W1, and the nut setter 141. From the hub nut 23 to the nut pallet 43, and the hub nut 23 is transferred to the nut pallet 4
And a pallet transport conveyor means 44 for transporting 3.

The nut feeder 102 is adapted to supply the hub nut 23 to a predetermined position through the passage 102a. The nut holder 103 includes a movable base 107 having a slider 106, which is slidably engaged with the rail members 105 of the elevating base 104, and the movable base 107.
A nut clamp member 110 having sliders 109, 109 slidably engaged with the upper rail member 108,
110 and. Nut clamp member 110, 110
Cylinder means 111 is interposed between the cylinder mounting portions 110a and 110a of the cylinder, and the nut clamp member 110 is opened and closed by the expansion and contraction of the cylinder means 111 to hold the hub nut 23 supplied from the nut feeder 102. There is.

A nut stopper 112 for restricting the movement of the hub nut 23 is disposed on the movable table 107 in correspondence with the clamp portions 110b, 110b of the nut clamp members 110, 110.
Stoppers 113 and 113 are arranged corresponding to a and 110a.

A nut lifter 114 is arranged below the nut clamp members 110, 110. The nut lifter 114 raises the lifter rod 114b by the cylinder means 114a to clamp the clamp parts 110b, 1b.
The hub nut 23 held by 10b is lifted up and held by the nut holding portion 142a of the nut holding member 142 of the nut setter 141 via the magnet 144.

The movable base 107 has a connecting portion 107a downwardly.
And a pair of cylinder means 117A, 117B attached to the lower extension portions 104a, 104b of the lifting table 104 are connected to the connecting portion 107a, and the movable table 107 is moved by the cylinder means 117A, 117B. It is like this. The range of movement is a pair of stoppers 1.
It is regulated by 18,118.

A slider 121 is fixed to the lifting table 104, and the slider 121 is slidably engaged with a vertical rail member 123 of a slide table 122. Then, the mounting portion 104c of the lifting table 104 and the slide table 1
Cylinder means 124 is interposed between the cylinder 21 and 21 so that the elevating table 104 can be moved up and down by its expanding and contracting operation.

A slider 131 is fixed to the slide base 121, and the slider 131 is slidably engaged with a rail member 133 of the base base 132. Slide stand 12
Cylinder means 134 is interposed between 1 and the base stand 132, and the slide stand 121 slides by the expansion and contraction operation of the cylinder means 134. Then, the sliding range is regulated by the stoppers 135, 135 so as to be within a certain range. 136
A, 136B and 137, 138 are proximity switches, respectively, which are the lifting table 104, the movable table 107, and the slide table 12.
It detects that 2 is in a specific position.

As shown in FIGS. 22 and 23, the nut setter 141 includes a plurality of nut holders 1 in the circumferential direction.
42a, ... Has a nut holding member 142. The nut holding member 142 is attached to the lower end portion of the elevating member 143. Then, the nut holding member 142 moves two-dimensionally in the X direction and the Y direction at right angles, whereby the nut holding portions 142a, ... Move to the upper part of the nut lifter 114, and the nut lifter 114 moves upward to move the nuts. The hub nut 23 is sequentially attracted to and held by the holding portions 142a ,. Sliders 145, 145 are attached to the elevating member 143, and the slider 145 is slidably engaged with a vertical rail member 147 provided on a base 146.

Further, above the nut holding member 142,
Actuators 148 and 148 are provided, and plate members 149 and 149 are attached and fixed to the lower ends of the movable rods 148a and 148a of the actuator 148.
The plate members 149, 149 include the nut holding member 14
2 corresponding to the nut holding portions 142a ...
50, ... are projected downward and the actuators 148,1
48 is actuated to displace the plate members 149, 149 and thus the rod members 150, ... downward, so that the nuts 23, ... Suctioned and held by the magnets 144 ,. It is configured so that it can be dropped. 15
Reference numerals 1, ... Are proximity switches for detecting the presence or absence of the nut 23 in the nut holding portions 142a. Incidentally, four sets of hub nuts 23 corresponding to four wheels of one vehicle are set on the nut pallet 43.

According to the above-mentioned structure, first, the hub nuts 23, ... Are provided in the required number for mounting one wheel W on the vehicle body 1 (axle) by the wheel mounting hand 2b (wheel mounting robot 2). The wheel W is received from the nut pallet 43 at the nut delivery position of the pallet transfer conveyor means 44 that constitutes the supply device 101, and then the wheel W is received from the predetermined position of the wheel transfer conveyor means 42. Clamp is held. Then, the hub nuts 23, ... Are conveyed together with the wheels W to the mounting position of the vehicle body 1 detected by the position detection robot 3, and the center pins 7A to 7C are fitted into the center holes of the wheel hub W1 to position the wheels W. Wheel hub W in the as-is state
By inserting the hub bolt 22 into the hub bolt mounting hole 1 and rotating the nut runner sockets 21, ... By driving the nut runners 5, ..., The hub nuts 23 ,. In that case, the contact piece 33 of each wheel holding means 6 is released from the restraint by the telescopic cylinder 35 when the hub nut is tightened by the nut runner 5, and the second movable member 3 is held while the wheel W is clamped.
4, the wheel W moves freely in the axle direction, and the wheel W moves to the hub side in the axle direction as the hub nut 23 is tightened.

As described above, when the hub runner 23 is tightened by the nut runners 5, the abutment piece 33 is released from the restraint by the telescopic cylinder 35 (moving means) and becomes free, so that the outer peripheral surface of the wheel W is fixed. Since the wheel W moves in the axle direction together with the second movable member 34 while being clamped, the rotation of the wheel W due to the torque when the hub nut 23 is finally tightened is restricted, and the nut runner socket 21 is attached to the tip portion 5 a of the nut runner 5. On the other hand, there is no bending in a substantially V shape, and it is possible to reliably prevent the corner portion of the hub nut 23 from being damaged. Further, when the nut runner 5 tightens the hub nut, the contact piece 33 becomes a floating state in which it can move in the axle direction on the front side of the wheel mounting hand 2b together with the second movable member 34, so that the center pin on the base side of the wheel mounting hand 2b. 7A-7C
Thus, it is possible to reliably prevent the positional deviation with respect to the wheel W when the positioning is performed. Moreover, when the hub nut 23 is tightened by the nut runner 5, the wheel W moves in the axle direction together with the abutment piece 33 and the second movable member 34 when the hub nut 23 is tightened. Therefore, the hub runner 23 is securely tightened by the nut runner 5. You can

Further, the constant pressure cylinder 38 causes the contact piece 33 to move the contact piece 33 to the second movable member 34 when they interfere with each other due to the shift of the phase of the hub bolt mounting hole of the wheel W and the phase of the hub bolt 22.
Since it moves to the axle side interference avoidance side together with it, the contact piece 33 when the hub bolt mounting hole and the hub bolt 22 interfere with each other.
Also, it is possible to prevent the wheel mounting hand 2b from unreasonably entering the hub side in the axle direction by the telescopic cylinder 35 with the second movable member 34 being restrained, and to prevent the mounting hand 2b from being damaged.

[0043]

As described above, according to the wheel mounting device of the first aspect of the present invention, only the outer peripheral clamp portion is moved in the axle direction while the outer periphery of the wheel is clamped when the hub nut is tightened by the nut runner. , The rotation of the wheel due to the torque when the hub nut is finally tightened is regulated to prevent scratches on the corners of the hub nut, and the positional displacement of the wheel mounting hand with respect to the base side of the wheel is reliably prevented. In addition, the hub nut can be securely tightened by the nut runner.

According to the wheel mounting apparatus of the second aspect of the present invention, the center pin on the wheel mounting hand base side can surely position the wheel without displacement.

Further, according to the wheel mounting device of the third aspect of the present invention, mutual interference between the hub bolt mounting hole of the wheel and the hub bolt is avoided by moving the outer peripheral clamp portion toward the axle side interference avoidance side. It is possible to prevent damage to the mounting hand by preventing the wheel mounting hand from entering the hub side in the axial direction.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing a car body assembly line according to an embodiment of the present invention with a part thereof omitted.

FIG. 2 is a schematic front view showing a vehicle assembly line with a part thereof omitted.

FIG. 3 is a schematic side view showing a vehicle assembly line with a part thereof omitted.

FIG. 4 is a schematic front view of a wheel mounting robot.

FIG. 5 is a sectional view of a wheel mounting hand of the wheel mounting robot.

FIG. 6 is a cross-sectional view near a center pin attachment portion of a wheel attachment hand.

FIG. 7 is a plan view of the vicinity of an arm member of a wheel mounting hand.

FIG. 8 is a plan view of a main part of a center pin mounting part.

FIG. 9 is a cross-sectional view of the vicinity of the outer peripheral clamp portion of the wheel mounting hand.

FIG. 10 is a cross-sectional view of the nut runner and its vicinity in the nut runner socket.

FIG. 11 is a front view of a stocker that stores and holds a center pin.

FIG. 12 is a plan view of the same.

FIG. 13 is a side view of the same.

FIG. 14 is a schematic sectional view of a master work.

FIG. 15 is a bottom view of the same.

FIG. 16 is a side view of the vicinity of a master work where a dial gauge is provided.

FIG. 17 is an explanatory diagram of O point setting.

FIG. 18 is a front view of the hub nut supply device.

FIG. 19 is a plan view of the same.

FIG. 20 is a side view of the same.

FIG. 21 is a side view of the relevant part.

FIG. 22 is a cross-sectional view of essential parts of the nut setter.

FIG. 23 is a bottom view of the same portion in section.

[Explanation of symbols]

 1 vehicle body 2b wheel mounting hand 5 nut runner 6 wheel holding means (outer peripheral clamp part) 7A to 7C center pin 35 telescopic cylinder (moving means) 38 constant pressure cylinder (cylinder) W wheel W1 wheel hub

Claims (3)

[Claims] 1. A wheel mounting device for mounting a wheel while holding the wheel by a wheel mounting hand and tightening a hub nut on a hub bolt inserted into a hub bolt mounting hole of the wheel by a nut runner provided in the wheel mounting hand. In the wheel mounting hand, an outer peripheral clamp portion that clamps the outer periphery of the wheel is provided movably in the axle direction, and the outer peripheral clamp portion is restrained when the hub bolt is inserted into the hub bolt mounting hole. And a moving means for releasing the restraint of the outer peripheral clamp portion and moving the outer peripheral clamp portion in the free wheel axial direction when the hub nut is tightened by the nut runner. And a wheel mounting device. 2. The wheel mounting device according to claim 1, wherein the wheel mounting hand is provided with a center pin which is fitted in a center hole of the wheel hub to position the wheel. 3. The wheel mounting device according to claim 1, further comprising a cylinder for moving the outer peripheral clamp portion toward the axial direction interference avoidance side when the hub bolt mounting hole and the hub bolt are out of phase with each other due to the mutual interference. .