JPS5951442B2 - Control device for wheel positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a wheel positioning system that can be used to automate the work of inserting a stopper into a hole in an object to restrain the object to be positioned, particularly the work of installing wheels on an automobile assembly line. This invention relates to a control device for a device.

Wheel mounting work on an automobile assembly line involves passing the bolt hole of the wheel through a hub bolt installed in the hub of the automobile, and fastening the hub nut 1-to the hub bolt.

In order to automate this work, the center position of the hub and the rotation angle (phase) of the hub bolt around the center of the hub are detected, and based on these detected values, the center position of the wheel and the bolts around the center of the wheel are detected. It is necessary to automatically match the phase of the buff offshore center position and the hub bolt around the bub center to the phase of the hole.

At that time, it is necessary to set and prepare the center of the wheel and the phase of the bolt hole at a constant value in advance with respect to the reference coordinates of the device that handles the wheel.

Then, the wheel mounting work has been carried out by correcting the error between the detected position of the bubble center and the phase of the bubble pol I and the center position of the gripped wheel and the phase of the bolt hole.

The present invention relates to a control device for a wheel positioning device, which is used for the above-mentioned automatic operation, and which positions and grips the bolt hole of a wheel at a constant value in advance with respect to the reference coordinates of the device that handles the wheel.

A conventional wheel positioning device will be described with reference to FIG.

This device has already been proposed by the applicant in Japanese Patent Application No. 50-145047 (Japanese Unexamined Patent Publication No. 52-69072).

In FIG. 1, 1 is a wheel, 2 is a centripetal gripping mechanism that grips the wheel 1 centripetally and is composed of a Scott Russell mechanism, a parallel four-bar linkage mechanism, etc., 3 is a nut runner device, and 5 is a centripetal gripping mechanism that drives the centripetal gripping mechanism. It is a cylinder.

2. In FIG. 1, for convenience of display, a pair of gripping members 6
, 6' are arranged symmetrically, but in actual application, it is preferable to arrange three gripping members axially symmetrically at intervals of 120°.

Since the outer periphery of the wheel 1 is circular, it is possible to reliably realize centripetal gripping motion by disposing three gripping members.

The runners 1 to 3 are provided with stops 4, 4'.

The stops 4, 4' are arranged symmetrically with respect to the bolt hole 10a provided in the rim 7 of the wheel 1, the pitch circle diameter of the IOC, and the axis A-A of the centripetal gripping mechanism 2,
As shown in FIG. 2, the tip has a tapered portion 4a.

In the figure, d1 is the diameter distance of the bolt holes 10a to 10d.

8, 8' are stopper guides. The stopper 4.4' is fitted into the stopper guides 8, 8' so as to be slidable in the front and back direction, and is constantly pressed forward by a spring (not shown).

Reference numeral 9 denotes a stopper return member, which serves to pull back the stoppers 4, 4' when unnecessary.

lla and l'lb are rollers supported by the gripping members 6 and 6' through bearings, respectively.

A motor 12 is connected to the roller lla.

Therefore, when the motor 12 is operated with the wheel 1 gripped, the wheel 1 rotates around the axis A-A via the roller lla.

The roller 10 is an idler. The operation of the wheel positioning device configured as above will be explained using FIGS. 1 to 4.

First, as shown in FIG. 1, the piston rod 5a of the cylinder 5 is pulled in and the centripetal gripping mechanism 2 grips the wheel 1 so that its center coincides with the axis A--A.

At this time, the stops 4, 4' project forward.

The stops 4, 4' are therefore pushed forward by a spring (not shown) and their tips abut against the surface of the rim 7 of the wheel 1.

Next, when the motor 12 is rotated, the wheel 1 is rotated in the direction of the arrow shown in FIG. 3 via the roller 11a.

At this time, if the positions of the bolt holes 10a, IOC and the stops 4, 4' do not match, the stops 4゜4' will be supported by the guides 8゜8' and move forward and backward while abutting against the surface of the rim 7. coming and going.

As shown in Figures 1 and 4, Pole 1 to Hole 1
When the positions of 0a, lQc and the stops 4, 4' match,
The taper part 4a of the stopper 4.4' matches the taper part of the bolt hole 10a and IOC, and it becomes impossible to rotate the wheel 1 any further.

When the power of the motor 12 is cut off in this state, the wheels are positioned.

In this state, the rotation of rollers lla and llb is detected,
Alternatively, it can be determined by detecting the current of the motor 12.

Also, at the same time as the power of the motor 12 is cut off, the roller 11
By applying the brake to either a or llb,
It becomes possible to firmly maintain the positioning state of the wheels.

; In the conventional wheel positioning device described above, when the wheel 1 is gripped by the centripetal gripping mechanism 2, as shown in FIGS. 5 and 6, the tapered portion 4a of the stop 4°4'
Part of the tip of wheel 1 and hole 1□ hole 10 a, 10
Bolt hole 1 so that it makes contact with a part of the taper part of C.
0a, when the stopper 4゜4' is inserted into the IOC,
Even if the positions of the bolt holes 10a, 10C and the stops 4, 4' do not match, it becomes impossible to rotate the wheel 1 in the direction of the arrow in the figure, and it is assumed that the positioning of the wheel is completed. There was a drawback.

In consideration of the above points, the present invention provides a wheel positioning system that can reliably position the wheel when the wheel is gripped by a centripetal gripping mechanism, regardless of the relative position between the bolt hole and the stopper. The purpose is to provide a control device for the device.

The device of the present invention drives the motor 12 to rotate the wheel gripped by the centripetal gripping mechanism in both right and left directions, and matches the bolt hole of the wheel with the stopper. The positioning of the wheels is determined to be complete when the wheels cannot rotate in either direction.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 7 shows an electric circuit constituting the device of the present invention. In the figure, 13 is a relay for rotating the motor 12 to the left (roller 11 and wheel 1 are circumscribed, so wheel 1 rotates to the right). The excitation closes the normally open contact 13a.

Reference numeral 14 denotes a relay for rotating the motor 12 clockwise (wheel rotation 1 rotates counterclockwise), and its excitation closes the normally open contact 14a.

Reference numeral 15 denotes a relay that is energized when the wheel 1 cannot rotate clockwise, and when energized, this relay 15 closes the normally open contact 15a and opens the normally closed contact 15b.

Reference numeral 16 denotes a relay that is energized when the wheel 1 cannot be rotated to the left, and when energized, this relay 16 closes the normally open contact 16a and opens the normally closed contact 16b.

17 is a timer, and this timer 17 closes the time-limited opening point 17a after a certain period of time.

18a is a switch that operates when the wheel 1 cannot rotate; for example, when power is supplied to the motor 12, the rotation of the rollers 10 and 11 is stopped, or the motor 1
It is operated by a relay (not shown) that is operated by an increase in the load current of No. 2, etc.

19 is a start switch that is turned on by an external command;
20 is a drive switch, and 21 is a power source.

Next, the operation of an example of the apparatus of the present invention described above will be explained.

When the wheel 1 is gripped by the centripetal gripping mechanism 2, the starting switch 19 is closed and the relay 13 is energized, so that its normally open contact 13a is closed.

Therefore, the motor 12 is connected to the power source 21 in the direction of counterclockwise rotation.

At this time, if the positions of the bolt holes 10a, 10C and the stops 4, 4' do not match as shown in FIG. While in contact with the surface, it is supported by guides 8, 8' and moves back and forth.

As shown in FIGS. 1 and 4, the bolt holes 10a,
When the positions of the IOC and the stops 4, 4' match, the rotation of the wheel 1 is forcibly stopped due to this match, and the load current of the motor 12 increases, for example, so that the switch 18a is closed by energizing the relay described above. be done.

Then, the relay 15 is energized to form a self-holding circuit, and the relay 13 is demagnetized by the opening of the normally closed contact 15b, cutting off the power supply to the motor 12.

When the power supply to the motor 12 is cut off, the switch 18
a returns to open circuit.

In addition, the relay 15 forms a self-holding circuit, and the timer 17 operates, and when a certain period of time has elapsed, the time limit contact 17a
becomes a closed circuit.

When the relay 14 is energized by the closing of the time-limited contact 17a, the normally open contact 14a is closed, so that the motor 12 is connected to the power source 21 in the direction of clockwise rotation.

However, since the positions of the pole I/hole 10a, IOC and the stopper 4.4' have already coincided, and it is impossible to rotate the wheel 1, for example, the switch 18a is turned off due to an increase in the load current of the motor 12. The circuit is closed again, energizing the relay 16, forming a self-holding circuit, and normally closed contact 16b.
Since the circuit is opened and the relay 14 is demagnetized, the power supply to the motor 2 is cut off.

Then, the positioning of the wheel 1 is completed.

In the above explanation, when the wheel 1 is gripped, the Pole I-hole 10a, the IOC and the stopper 4. The operation was explained in the case where the positional relationship of the 4' ports was as shown in FIG. 3, but as shown in FIGS.
・Hole 10a, 10. The operation in the case where the fitting between C and the stoppers 4, 4' is incomplete will be described below.

When the wheel 1 is gripped by the centripetal gripping mechanism 2, the starting switch 19 is closed, the relay 13 is energized, and its normally open contact 13a is closed, so that the motor 12 is rotated to the left, that is, the wheel 1 is rotated to the right. Motor 1 in the direction
2 and a power supply 21 are connected.

However, if the relative positions of the bolt hole 10a, IOC, and stoppers 4, 4' are in an incompletely fitted state as shown in FIGS. 5 and 6, the wheel 1 will not rotate to the right. Since this becomes impossible, the switch 18a is closed.

Then, the relay 15 is energized to form a self-holding circuit, and the relay 13 is demagnetized by the opening of the normally closed contact 15b, and its normally open contact 13a is opened, so that the power supply to the motor 12 is cut off. .

When the power supply to the motor 12 is cut off, the switch 18
a returns to open circuit.

Then, when the timer 17 is activated and the time-limited contact 17a is closed, the relay 14 is energized and its normally open contact 14a is closed, so that the motor 12 is turned to the power supply 21 in the direction of clockwise rotation, that is, the direction of rotation of the wheel 1 to the left. Connected.

Then, the wheel 1 is rotated in the direction opposite to the direction of the arrow shown in FIGS. 5 and 6, and the bolt hole 10a is rotated.

10C and the stops 4, 4' are perfectly aligned.

This matching operation stops the wheel 1 and closes the switch 18a again, so the relay 14 is demagnetized and the motor 12
The power supply is cut off.

Then, the positioning of the wheel 1 is completed.

In the above explanation, the wheel 1 is rotated twice in total, once in each of the left and right directions, but by repeating the rotation two or more times in the right → left → right direction or left → right → left direction, More accurate positioning is possible.

Furthermore, in the above example, it was detected that the rotation of the wheel 1 became impossible, and the rotation direction of the wheel 1 was changed. A similar operation can be obtained by changing the rotation direction of the wheel 1.

As described in detail above, according to the present invention, when the wheel is gripped by the centripetal gripping mechanism, the wheel 1 can be reliably held regardless of the relative position of the hole I/hole and the stopper.
This has the effect of making positioning possible.

[Brief explanation of drawings]

FIG. 1 is a longitudinal sectional front view showing a conventional wheel positioning device, FIG. 2 is a diagram showing a stopper used in the conventional device, and FIGS. 3 to 6 are diagrams explaining wheel positioning operation. - FIG. 7 is a diagram showing an electric circuit constituting the device of the invention. 1...Wheel, 2...Gripping means, 4,
4'...Stopper, 6,6'...Gripping member, 10a~10d...Bolt hole, lla~
11b...Roller, 12...Motor.

Claims (1)

[Claims] 1 A gripping means that rotatably grips a wheel by centripetally operating a plurality of gripping members provided with rollers, and a wheel that fits into the bolt hole of the wheel on a circumference equal to the pitch circle of the bolt hole of the wheel. a stopper which is disposed so as to be movable back and forth in the direction and has a tip that fits into the bolt hole, and a motor that rotationally drives a roller of the gripping means, and after the wheel is gripped by the gripping means, the roller is rotated by the motor. In the wheel positioning device, the wheel is positioned by rotating the wheel and the tip of the stopper fits into a bolt hole to prevent rotation of the wheel, and the motor moves the roller of the gripping means in the right direction. and a circuit that rotates the motor alternately two or more times in the left direction, and a circuit that detects a state in which the wheel cannot rotate due to the fitting between the tip of the stopper and the bolt hole, and stops driving the motor. A control device for a wheel positioning device characterized by: