JPS62120281A - Robot for correcting angle serving as detecting position of wheel mounting member - Google Patents

Abstract

PURPOSE:To improve intensification of a device and improvement of working efficiency, by a method wherein a device, correcting the cut angle of a robot, a device, matching the phase of a bolt, and a device, detecting the position of a hub, are mounted in a single robot. CONSTITUTION:A correcting device 200L or 200R, correcting the cut angle of a hub 6, a phase matching device, matching the phase of a hub bolt 60, and rotary encoders 304 and 309, detecting the moving direction and the moving amount of the phase matching device 300 depending upon the position of the hub 6, are mounted in a single robot 100. In mounting of a wheel, the cut angle of the hub 6 is corrected based on the robot, and after matching of the phase of the hub bolt 6 and detection of the phase of the hub 6 are effected, a wheel 1 and the hub 6 are mounted by means of a nut runner 500. Since each device is mounted in one part of the robot 100, correction of a cut angle, matching of a phase, and detection of a position are executed with high efficiency.

Description

[Detailed description of the invention] (Industrial field of application) Uninvented! 11 When automatically attaching wheels to a body, the robot corrects the angle of the member when attaching wheels such as a hub, adjusts the phase of bolts when attaching the wheel, and detects the position of the member when attaching the wheel.

(Prior art) Developed in 1986 as a device for automatically attaching wheels to automobiles.
The one disclosed in No.-42521 is known.

This device is equipped with a robot on a mounting base, and the robot can be moved in the width direction of the vehicle body (X direction) and in the longitudinal direction of the ILU body (Y direction).
direction) and 42 downward directions (Z direction) of the heavy body using different drive mechanisms, and furthermore, the robot can be turned in accordance with the toe-in angle (0) and canopy angle (γ) of the hub, /- From detecting the position of the wheel to installing the wheel
It was designed to be performed by two robots.

(Problems to be Solved by the Invention) In the conventional dual device, all wheel mounting is performed with the hub (vehicle body) as a reference, except for phasing of the hub bolts. Therefore, in addition to the X, Y, and Z directions, the robot must be rotated according to the toe-in angle (θ) and camber angle (γ), which requires a total of 5 control axes, making the mechanism extremely complicated. Therefore, a problem also arises in terms of reliability.

(Means for Solving the Problems) In order to solve the problems described in -, the present invention provides a correction device for correcting the cutting angle of a member (hereinafter simply referred to as a hub) when attaching a wheel such as a hub to one robot. , incorporates a phasing device that aligns the phasing of hub bolts, etc., and a detection device that detects the moving direction and amount of movement of the phasing device according to the hub position.The accurate position of the hub is determined from this detected value, and the nut runner is used to determine the exact position of the hub. I installed wheels.

(Function) The vehicle body transported by the transport device is supported by the support device at the wheel take-up position. In this state, the cutting angle of the hub is corrected by the robot base, and then the phase alignment of the hub bolts and the position of the hub are adjusted. After 11 detections, the wheel is attached to the hub by a nut runner built into the robot or placed separately from the robot.

(Example) Embodiments of the present invention will be described below with reference to the accompanying drawings.

First, the outline of the wheel mounting apparatus using the robot according to the present invention will be explained based on FIGS. 1 to 3. Here, Fig. 1 is a top view of the entire device showing the wheel installation, Fig. 2 is a side view of the device seen from the front of the chain body, and Fig. 3 is a front view of the device seen from the side of the vehicle body. It is.

The wheel installation equipment consists of multiple devices, the main one of which is a conveyor device (3) that transports the wheels (1) to the car body (2), and a conveyor system (3) that transports the car body (2) intermittently to the wheel installation position. and the vehicle body (2) to which the wheels (1) are attached.
an intermittent conveyance device (4) that transports the car body (2) to the next process, a support device (5) that supports the car body (2) in a floating position where the wheels are attached, and a hub (6) that is attached to the car body (2).
The robot (100) performs everything from positioning a member (hereinafter referred to simply as a hub to simplify the explanation) to mounting the wheel.

The conveyor device (3) for conveying the wheels (1) includes a main conveyor (30), and sub-conveyors (31), (31) branching from the main conveyor (30) in a perpendicular direction.
and a sub-conveyor (32) branching from these sub-conveyors (31) in a perpendicular direction and extending to the side of the vehicle body.
..., each conveyor (30), (31),
(32) is a large number of long rollers (33)... and a short roller (34) that changes the conveyance direction of the wheel (1) at the branching part.
)..., and for example, if four wheels (+) are conveyed on the main conveyor (30), two wheels are distributed and conveyed to each sub-conveyor (31), (31), and each The two wheels conveyed on the sub-conveyor (31) are distributed and conveyed one by one to each sub-conveyor (32).

After the wheels (1) are aligned with the phase of the port insertion holes by the positioning device ffl (3B) arranged near the end of the sub-conveyor (32), the wheels (1) are moved to the robot (100).
) and attached to the hub (6).

In addition, as shown in FIG. 3, the intermittent conveyance device (4) of the vehicle body (2) has a running body (4) mounted on a rail (40) installed on the ceiling.
1) are movably engaged by a motor or the like, and a cantilever type hanger (42) is provided on this running body (41).

The structure is such that the vehicle body (2) is intermittently transported while being supported from below by the hanger (42).

On the other hand, the vehicle body (
2) at the wheel holder (=j position)
Details of 5) are shown in FIGS. 4 and 5.

That is, the support device 21 (5) has guide receivers (51), (51) erected on a base (50), and these guide receivers (51).
) and (51), the guide rods (53) and (53) fixed to the lifter pace (52) are inserted vertically movably, and the cylinder unit (5) fixed to the base (50) is inserted.
4) Londonder 1. The lifter base (52) is moved up and down by the operation of the switch 1-(54).

Furthermore, air bearings (56) are provided at the four corners of the upper surface of the lifter base (52), and a table (57) is mounted on the air bearings (5G).

Specifically, the air bearing (58) has a pipe part (58) that is connected to a supply source of compressed air, and this vibe part (
It consists of a shallow plate-shaped catch (59) provided at the end of the table (5th), and the upper surface of this catch (58) is covered by a smooth plate (6) attached to the lower surface of the table (57). .

Further, on the lower surface of the catch seat (58), there is a thick wall portion (59a) extending in the front-rear direction and left-right direction centering on the vibrator portion (5B).
... is formed 12, and a thick wall portion (59a) extending in the front-rear direction
(59a) The rollers (62) attached to the lower surface of the smooth plate (61) are brought into contact with the end surface, and the air bearings (5B) are connected to the bins (63) installed at the four corners of the lower surface of the smooth plate (61). The bottle (8) provided around the central pipe part (58)
4) A coil spring (65) is stretched between the smooth plate (81), that is, the table (57), and when no force is applied to the smooth plate (81), that is, the table (57), the tension of the spring (65) causes the smooth plate to (61) center and air ＼71. It is made to match the center of J Soge (5G).

In addition, a bottle (
76) is fixedly installed, and a cylinder (77) into which the bottle (76) is inserted is provided at the front of the table (57), and a hole (77a) is formed in this cylinder (77). , this hole (7?
In a), the cylinder unit (57) is fixed to the table (57).
78) so that the rod (79) enters.

Then, at t2, the table (
57) rises, the cylindrical body (77)
2), and when the bottle (76) has relatively penetrated into the cylindrical body (77) by a predetermined amount, the four-digit operating body (80) is inserted into the hanger (42). is the table (5
7) Activate the limit switch (B1) attached to
From this operating V, the cylinder unit) (78) rod (
79) stands out.

The tip of the rod (78) engages with the four parts of the bin (76), and the vehicle body (2) is fixed on the table (57). Here, a spring (82) is housed inside the bottle (76) to reduce the shock when the lower end of the pin comes into contact with the upper surface of the smooth plate (61).

As described above, with the vehicle body (2) fixed on the table (57), the seat (5) of the air bearing (56)
Compressed air is supplied to e), and the upper surface of the catch seat (59) is closed with a smooth plate (B1), so that the table (57
) is movably supported in a horizontal plane on an air bearing (56). However, since the rollers (82) and (82) fixed to the smooth plate (61) are in contact with the thick parts (59a) and (59a) at the front and rear of the air bearing (56), the table (57) is It will be supported in a floating manner so that it can move only in the middle direction. By floatingly supporting the vehicle body (2) in the direction of the vehicle, the hub (6) on one side is
It becomes possible to eliminate the error in the in-vehicle direction of the hub (6) and the angular error in the toe-in of the hub (6) on the other side.

Next, details of the robot (100) will be described. Robot (+
00) is the base (101) as shown in Figures 2 and 3.
, -1-, and this base (+oi) is movable in the longitudinal direction of the vehicle body (2) by a cylinder unit (102).
is erected, and a box part (104) incorporating a motor etc. is provided at the -E part of this support column (103), and this box part (104) is movable in the vertical direction by a cylinder unit l' (105). , and the box part (10
4) has a shaft (108) rotated by a motor.
is supported laterally. The shaft (10B) includes a part (A) for correcting the cutting angle of the hub (6) and phasing the hub bolts, and a part (A) that holds the wheel (1) and attaches the iJ (wheel (1)) to the hub (B). The part to be performed (B) is the axis (10B
) are installed at a distance of 90'' around the cylinder unit (B), and are movable in the 1-down direction in FIG. 3 by the cylinder unit (107) at 811 minutes (B).

By driving the motor, the shaft (1013) is rotated by 90 degrees as shown by the arrow in Fig. 2, so that the part (A) where the angle of the hub (6) has been corrected and the phase of the hub bolts has been adjusted is moved upward. Rotate to move away from the hub (6) and move +4'L wheel (1)
The part (B) holding the part rotates to the hub (6) position.

First, portion (A) will be explained in detail based on FIGS. 6 to 14. Here, Fig. 6 is a front view of part (^) seen from the vehicle body (2) side, Fig. 7 is a side view seen from the ■ direction in Fig. 6, and Fig. 8 is an upper rear view of part (A). , Figure 9 shows the part (A
) is a side view of the upper part of FIG. 7 when viewed from the opposite side, FIG.
The figure is a front view showing the operation of the phase matching device, FIGS. 12 and 13 are views showing the operating mechanism of the phase matching device, and FIG. 14 (
A) to (C) are diagrams showing the principle of cutting angle correction.

Part (A) is a correction device (2) for correcting the cutting angle of the hub (6).
00) and a phase matching device 11 (300), and the correction device (200) consists of a portion (
Attach the cylinder unit (202) to the support plate (201) of A).
) 'Ft horizontally, and this cylinder unit (20
2) Attach the guide rod (204) to (7) Rod page 203).
), (204) slidably supported plate (205
) and attach a pair of correction bars (205) to this plate (205).
0θ) and (2os) are installed. These correction bars (
2H) and (208) have a horizontal V-shape as shown in Fig. 6, and move forward and backward with respect to the hub (8) independently of the phasing device (300) by the operation of the cylinder unit (202). to do.

A method of correcting the cutting angle using the correction device jδ(20o) as described below will be explained with reference to the principle diagrams of FIGS. 14('A) to 14(C). Here, the cutting angle correction is the wheel I of the hub (8).
This refers to keeping the positional error in the ll direction and the toe-in angle error within an allowable range, that is, within a range in which the nut can be reliably tightened to the hub bolt by the Nand runner device δ.

First, FIG. 14(A) is a plan view (showing only the 1111th part of the vehicle body) showing the relationship between the vehicle body (2) transported by the transport device (4) and the correction device (200). If so, the left and right hubs (e+,), (SR) and the left and right correction devices a (200L), (20OR) (7) correction bars (20G), (20G) are separated. The hubs (θL) and (13R) whose cutting angle is not corrected both have a positional error of xmm with respect to the vehicle 1↑J direction and an angular error of θ° in the toe-in angle. In other words, the hub (6
) errors within a predetermined range will definitely occur during assembly to the knuckle, transportation of the vehicle body, etc. However, if positional errors and angular errors concentrate on one hub, for example, the right hub (eR), the errors will increase due to a synergistic effect, and the phasing claws (30!3) of the phasing device (300), which will be described later, will 60), or the nut cannot be tightened using the nut runner device (500).

Therefore, in this embodiment, one of the correction devices (20OR
) The amount of protrusion of the correction bar (20B) of the other correction device (200L) was set to be a fixed size, and the amount of protrusion of the correction bar (2013) of the other correction device (200L) was set to the end. That is, the correction bar (20B) of the correction device (20OR) protrudes toward the hub (6R) by a certain amount, and the correction bar (208) of the correction device (20OL) protrudes toward the hub (6R).
6L) and protrudes until it stops due to the resistance.

Then, in the correction procedure, as shown in FIG. 14(B), the fixed size is first corrected. That is, the correction bar (20El) of the correction device (200R) is made to protrude by a predetermined amount, and the hub (6R)
bring it into contact with. Then, since the car body (2) is floatingly supported in the rh direction of the car, the correction bar (20 [1)
The entire vehicle body (2) moves toward the interior of the vehicle. Therefore, in this state, the position error and angle error of the hub (6R) are eliminated, and the position error and toe-in angle error in the direction of the vehicle 111 are all concentrated on the left hub (8L).

After that, as shown in Fig. 14 (C), the left correction device m
Push the correction bar (20G) of (200L) to protrude and press the correction bar (20B) against the left hub (6L) to correct the toe-in angle error of the hub (8L). Furthermore, even if the correction bar (20B) is pressed against the hub (6L), the right hub (6R) remains in contact with the repair bar (2013) of the right correction tool (200R), so 4t
The position error in the +IJ direction remains.

After this, the correction bar (200R) of the correction device (200R) on the right side
8), then move the repair iTE par (20ft) of the left correction device (20OL) back. In this way, first adjust the correction bar (2) of the correction device (200R) on the right side (fixed size side).
If the left hub (6R) is moved backward, an angular error will occur in the right hub (6R). ) has no angular error.

In other words, with the following correction procedure, only an angular error has occurred in the right hub (6R), and only a positional error has occurred in the left hub (8L), so there is no positional error in either hub. There is no error caused by the synergistic effect between the angle error and the angle error. Therefore, when phasing is performed later, the phasing pawl can be reliably engaged with the hub bolt, and when the nut is tightened by the nut runner device, the nut will not be dislocated from the hub bolt.

Further, according to this embodiment, the correction par (2H) of the correction device (200) is moved by one side to a fixed size and the other to a full extent, and in both cases, the outstanding performance of the correction par (20B) is determined for each correction. In contrast, in the conventional example, when installing wheels, it is necessary to detect the amount of movement of the robot in the vehicle weight direction each time. Therefore, according to this embodiment, the control axis can be made smaller than before, and the structure can be simplified.

On the other hand, the phase matching device (300) has rails (301) and (301) installed laterally on the upper part of the support plate (201) of one part (A) as shown in FIGS. 6 to 1O. (3o l), (301) and the holder (302
) so that the holding body (302) can move laterally through the horizontal balance cylinder (303), and the holding body (302) is provided with this amount of lateral movement. It is detected by a rotary encoder (304).

In addition, a support plate (305) in the -T direction is arranged on the front surface of the holder (302), and a rail (307) provided on the support plate (305) is connected to a guide (3H) provided on the holder (302). )
, and the support plate (305) is movable in the vertical direction via the vertical balance cylinder (308).

This movement φ is detected by a rotary encoder (309). Further, a circular hole (310) (see FIG. 10) is formed in the lower part of the support plate (305).

The support plate (305) has a pair of vertical rails (311) spaced apart from each other in the L downward direction via supports (not shown) or the like.

(311), upper rails (311), (31
1) includes an upper moving body (312) and a lower rail (31).
A lower moving body (313) is attached to 1), (311) so as to be able to move up and down, and each moving body (312), (313)
Bifurcated phasing claws (314), (314) are fixed to the holder so as to face each other. In addition, the thickness of the tips (314a) of each of the phase matching claws (314), (314) is thinner,
4), the tip portions (314a) overlap.

Further, the movable bodies (312) and (313) are connected to each other so as to move in opposite directions via a mechanism described later.

By the way, the moving bodies (312) and (313) engage with the rails (311) and (311), and the rotating body (3
15). That is, as shown in FIG. 1O, the rotating body (315) has one end connected to a circular hole (
A curved arm (317) that is rotatably attached to the outer circumference of the cylinder (31B) fixed to the rotating body (310) and has a symmetrical shape with respect to the rotation center from the rotating body (315),
(317) are extended (only one curved arm is shown in FIG. 12), and these curved arms (317), (3
The rollers (31) attached to the movable bodies (312) and (313) are formed in the grooves (318) and (318) formed in the
9) and (319) are engaged.

On the other hand, a motor (320) is installed under the support plate (305).
) is attached to the rotating shaft (32) of this motor (320).
A semicircular gear (322) is fitted onto 1), and this gear (
322) as shown in FIG. 11, the rotating body (315)
It meshes with a gear part (323) formed on the outer periphery of.

Thus, when the motor (320) is driven, the rotating body (31
5) rotates clockwise in Fig. 6, and the curved arm (
31? ), (317) rotates to the position shown by the imaginary line. Then, with this rotation, the curved arm (317).

Grooves (318) in (317), and each moving body (312) in (318).

Since the rollers (319) and (319) of (313) are engaged, the upper moving body (312) moves downward and the lower moving body (313) moves upward along the rails (311) and (3rd line). as shown in Fig. 11.
).

The tips (314a) of (314) overlap to form a regular square, and a hubpol) (flO)... is dropped into each corner of this square, and the correction bag fi
(200), the phase of the hub pole (60) of the hub (6) whose cutting angle and width direction n have been corrected is performed.

Here, the center of the hub (6) whose cutting angle has been corrected does not necessarily coincide with the center of the phasing device (300), and the respective centers are shifted in the longitudinal and vertical directions of the vehicle body (2). is possible. Then, when phasing the hub pole h (130) in such a state 7f11, the following phasing claws (314) and (314)
)... do not come into contact with each other, and one of the hub poles (80)... comes into contact with one of the claws (314). Then,
The support plate (305) to which the phase alignment claw (314) is attached and the holding body (302) are connected to the horizontal balance cylinder (303).
) and a vertical balance cylinder (308) to move vertically and horizontally with extremely small force.
4) in the closing direction, use the upper phasing claw (
When one of the hub bolts (EIO) comes into contact with the upper phasing claw (314) first, the upper phasing claw (314) does not descend any further, and the rotating body (315) and the lower phasing claw (314) continues to rise, and the phasing device (300)
The center of moves upward. Further, if one of the phase alignment claws (hub poles (80) on either the left or right side of the bifurcated part of 310) comes into contact with the holder (302) laterally, the phase alignment device The center of (300) moves laterally. In this way, the center of the hub (6) and the phasing device (
If the center of 300) is -C, /\g([3
), the center of the phase matching device (300) moves to match the center of r41. and direction are detected by the rotary L encoders (304) and (309), and outputted to a control device (not shown), and in the control device, based on the L distribution output signal, ＼B(6) Calculate the exact location of.

Note that an arm (324) is formed on the support plate (305), and this arm (320) is formed in a long hole (3213) of the clutch plate (325) which is pivotably supported on the support plate (20+).
is engaged in. Therefore, the support plate (305) is on top]・
When moving from side to side, the clutch plate (325) swings, the retaining part with the arm (324) moves within the elongated hole (32B), and when the phase alignment of the hub bolt (80) is completed, Activate the support plate (30) (327) and
5) and fix the holding body (302).

By the way, when closing the phasing claws (314) and (314) to perform phasing of the port (60)..., the phase of each hub bolt (60)... may accidentally shift by 45". Each hub bolt (flO)... is a phasing pawl (31-4).

It is possible that the hub (8) does not rotate in any direction even though the phase of (60) ... is shifted (2 hub poles at the dead point (D, P) of (314)) .

Therefore, in this embodiment, as shown in FIG.
has been set up.

This dead point removal mechanism (350) is operated by a motor (35
A rotating cylinder (352) is fixed to the rotating shaft of 1), and arm parts (353), (353) are provided integrally at the tip of this rotating cylinder (352), and these arm parts (353), (353)
) are formed with through holes (354) and (354), and locking pieces (3) are formed in these through holes (354) and (354).
55) is slidably inserted therein. On the other hand, the rotating cylinder (35
A fixed tube (358) is provided around the fixed tube (358).
35ft) to the hub (6) by the spring (357).
At the same time, the tip of the cylinder loft (358) is engaged with the fixed cylinder (35B) so that the fixed cylinder (35B) does not rotate even if the cylinder (352) rotates once. A groove portion (3
59) is formed, and the locking piece (359) is formed in this groove (359).
355) is engaged with the roller (360).

The operation of the dead point removing mechanism configured as above will be described below.

First, when the motor (320) is driven to move the first phase setting claws (314), (314) in the closing direction, the motor (351) is also driven at the same time, and the one-turn cylinder (352) slowly rotates. The engagement 11 piece (355) also rotates due to the rotation of the rotary tube (352). At this time, the fixed cylinder (3
58) does not rotate, the roller (380) of the engagement piece (355) rolls along the groove (359) of the fixed cylinder (3513).

Then, in accordance with the drive of the motor (351), the fixed cylinder (35f()) is moved to the rotating cylinder (352) by the operation of the cylinder unit, etc.
) in the direction of the hub (6). Then, the engaging piece 11 (355) connects the rotating cylinder (352) and the fixed cylinder (35).
B) moves forward while rotating due to the resultant motion, and in the end, it is connected to 1
The rotation of the rotary cylinder (352) and the fixed cylinder (
The movement of 35B) is stopped and raised.

Here, the rotational speed of the rotating barrel (352) and the fixed barrel (35
The moving speed of 6) is set as follows.As shown by the imaginary line in Figure 1O, the tip of the hub bolt (60) and the tip of the II-piece (355) should be set as shown from which direction. During the overlapping time periods, the person in charge! The L piece (355) is set so as to cross the dead point (D, , P) of the phase adjusting claw (314) once. With this setting, even if the state before the phase adjustment of the hub pole (60) is exactly 456 deviated, the phase adjustment claw (3
14), when closing (314), dead point) (
D, P) are removed from the 1st phase alignment claws (314), (
314) is reliably dropped into the square corner formed when it is closed.

In addition, when the engaging 11-piece (355) moves forward while rotating.

The tip end surface of the engagement piece 1 (355) touches the tip surface of the hub bolt (80), and the engagement piece 11 (355) and hub bolt (6
0) may not be able to be maintained, but in this case, the fixed cylinder (35B) will move back against the spring (357), so after detecting this and returning to the original state,
The rotary cylinder (352) may be rotated slightly, and then the above operation may be performed again.

As explained below, Robo 1. The part (A) of the robot (100) consists of a device (200) for correcting the cutting angle of the hub (6) and a phasing device (300) of the buzz pole (60), which corrects the cutting angle based on the robot (100). is made, then the position of the hub (6) in the phasing is done with respect to the jF body (2), the exact (reference) of the phased hub (8) is calculated by the controller, and then the position of the hub (6) in the phasing is determined by the controller (100
) The wheel (1) is attached to the hub (8) by means of a device constituting part (B).

Next, the configuration of part (B) of the robot (100) will be explained.

Part (B) is the wheel (1) as shown in Figures 2 and 3.
gripping device (400) and nut runner device (500)
), and the nut runner device 21 (500) is arranged deep in the center of the gripping device (400).

First, the structure of the gripping device (400) will be explained based on FIGS. 15 to 18. Here, Figure 15 is Figure 2 and l'%
'A view from below of the main parts of the gripping device 24 (400) in the state shown in Figure 3, and Figure 16 is the gripping device! fi (400)
FIG. 17 is a sectional view of the essential part seen from the xv--direction of FIG. 15, and FIG. 18 is a diagram showing the gripping member.

The gripping device (400) is provided with a pair of rails (402) and (402) at each of the four corners of a support plate (401), and a moving body (403) is attached to these rails (402) and (402).
, each moving body (403) is fixed to a separate cylinder unit (404), and the cylinders (22) (
404) causes the moving body (403) to move to the rail (402).
As you move along, there are rainbows. Here, each rail (402)... is all parallel, and each moving body (
Cylinder unit (404) that moves the cylinder unit (403).
... is fixed to the IW support plate (401), and the first
In Figure 5, two cylinder units (404a) and (4
04b) is shown in its entirety, and the other two cylinder units (404c) and (404d) are shown in part only.
(404b), cylinder unit (404c), (40
4d), the respective axes are parallel, and the cylinder units (404a), (404c), cylinder units (404b), and (404d) have the same axes.

The moving body (403) also includes a cylinder unit (404).
) two cylindrical bodies (405) in a direction perpendicular to the axis of the cylinder.

(405) is fixed, and a shaft (4Q7) is biased in the projecting direction by a tin ring (408) inside each cylinder (405).
the gripping members (4) on the protruding ends of these shafts (407).
As shown in FIG. 18, the 0 gripping member (408) to which the 0B) is fixed by the bolt (409) has a substantially triangular shape when viewed from above, and is a press-contact plate that presses against the tire (1o) of the wheel (1). (410) A large number of uneven portions (411) with acute angles in one direction are formed on the surface.

On the other hand, the bolt (409), (409)'s support (407)
).

The mounting position for (407) is not at the center of the shaft (407), but at an eccentric position as shown in Figs. 17 and 18.
) connecting tQ(fL+) and pressure contact plate (410) 1. : The contacting tires (10) and (7) are made to form a predetermined angle with the tangent (statement 2), for example, an angle of 30'' to 60'.

In addition, as shown in FIG. 16, each moving body (403) has
The ends of the plurality of clutch plates (412) were installed with intervals, and the other ends of the clutch plates (412) were provided at the center position in the width direction of the support plate (401). Tightening is done by overlapping each other with a plurality of clutch plates (412) attached to another moving body (403) in the device (413).Here! Clutch plate (412)
It is assumed that the cylinder units (404) of the movable bodies (403) with overlapping cylinders (403) have the same axis. In other words, the clutch plate (412) of the moving body (403) moved by the cylinder unit (404a) overlaps the clutch plate (412) of the moving body (403) moved by the cylinder unit /'p (404c), The clutch plate (41) of the movable body (403) moved by the cylinder plate (404b)
2) overlaps with the clutch plate (412) of the moving body (403) moved by the cylinder unit (404d).

The tightening device (413) is a cylinder unit).
(4+4), cylinder unit (41
4) is not in operation, the clutch plates (412) that overlap each other are slidably removable, and in this state, the moving body (403) is moved by the operation of the cylinder unit (404)... It is possible to move along the rail (402). In addition, the cylinder unit (41
4) is activated, and the clutch plates (412) are tightened together by the device (413)... When the clutch plates (412) are brought into strong pressure contact with each other, the movable body (403) is fixed. In other words, once the cylinder unit (404)... is activated and the tire (lO) of the wheel (1) is held by the 5 gripping member (40B), the cylinder unit (414) is activated and the gripping device (400) Lock the holding state of the wheel (1).

In step 1- below, operate the cylinder unit (100) (105) (see Figures 2 and 3),
The part (B) of the robot (100) is lowered to the position δ of the positioning device (3G) of the wheel (1), each cylinder unit (404a) -= (404d) is operated, and the wheel (
1) Grip the tire (10) at four locations with uniform force.

In this way, the center position of the wheel (1) does not change by holding the tire (lO) at multiple locations with equal force. In other words, in the conventional wheel holding device, one Operate the cylinder unit.

The operation of this cylinder unit is transmitted to each gripping member via a link mechanism, and each gripping member holds the tire of the wheel in an equal space. However, the thickness of a tire is not always constant and varies locally. Therefore, if the part where one gripping member contacts is thick and the part where another gripping member contacts is thin, if these parts are held equidominantly as in the past, the repulsive force at the thicker part of the tire will be large. Since the repulsive force in the thin portion is small and the wheel is held only by the gripping member, the center of the wheel is shifted so that the repulsive force is equalized, and the wheel is held in this state. the result,
Since the center of the nut runner device and the center of the wheel do not coincide with each other, the nut may not be able to be tightened, making it impossible to integrate the nut runner device and the wheel gripping device.

However, according to one embodiment, the gripping member (408)
Each of... is connected to the cylinder unit (404)...
Since each gripping member (408) is attached to the holder and pulled with the same force, even if the thickness of the tire (10) of the wheel (1) differs in some parts, the depression in the thick part is small, and the depression in the thin part is small. Since the depressions are held large, the center of the wheel (1) once positioned will not shift. Therefore, the wheel gripping device (400) and nut runner device (500) are installed (100).
The nut can be reliably tightened even if the part (B) is assembled in one piece.

On the other hand, if the wheel (1) is held by the gripping device (400) without shifting its center as described above, the portion (B) is raised and the shaft (108) is rotated by 90°.
Rotate the part (B) to face the hub (6), and then actuate the cylinder unit (107) to hold the gripping device (4).
00) with respect to the hub (6), the gripping device (
The hub pole (80)... is passed through the bolt insertion hole of the wheel part of the wheel (1) held by the wheel (1) held by the nut runner device (500).
) (see Figure 10).
) by rotating the socket (501), the hub bolt (60
), the installation of the 114th wheel (1) to the hub (6) is completed.

By the way, when tightening Nara l-(502),
This is done by rotating each socket (501) counterclockwise, for example, as shown in FIG. and,
When each socket) (5ot)... rotates counterclockwise, a counterclockwise rotational force will be applied to the entire Natsutran equipment (500), and this force will cause the entire wheel (1) to rotate. The hub (
6), etc., unreasonable force will be applied.

Therefore, in this embodiment, the shape of the gripping member (40B) of the gripping device (400) and the attachment to the shafts (40?) and (407) are devised. That is, the gripping member (40B
) to the shaft (40?), (407) with the bolt (4
09), the line connecting (409) (intersection 1) and the pressure plate (41
Since the tangent line (fL2) of the tire (lO) at the point 0) forms a predetermined angle, the socket (501) rotates counterclockwise in FIG.
When the wheel (1) tries to rotate counterclockwise, the wheel (
1) is slightly rotated, the gripping member (408) moves to the 18th position.
The bolts (407) rotate in the direction of the arrow in the figure, centering on the midpoint (P) between the bolts (407) and (407), and the uneven portion (411) of the pressure contact plate (410) further gets caught in the tire (10), causing the wheel (1) does not rotate, so oak h (50
2) No excessive force is applied to the hub (6) etc. when tightening.

In addition, in the example, the bolt (409) is replaced by the vehicle (407).
At the same time, install the bolt (4011
By making a predetermined angle between the line h) connecting 1) and (409) and the tangent line (statement 2) to the tire (10), the uneven part (411) will be attached to the tire (10) when tightening the nut. However, the shaft (407) and the gripping member (40B
), if an elastic body such as rubber is interposed between the
The above-mentioned biting is made more effective.

Next, the details of Natsuto Runner Equipment 21 (500) will be explained in the 19th section.
This will be explained based on Figures to Figures @21. Here, Fig. 19 is a sectional view of the state in which the nut is tightened to the hub bolt, and Fig.
FIG. 0 is a partial sectional view seen from the XX-XX direction in FIG.
Brackets (505) and (50B) are installed on the left side in Figure 0).
4 pairs (only 2 pairs are shown in the figure) are fixed to each of the brackets (505) and (50B), and the table (509) is connected to these brackets (505) and (50B) via parallel links (507) and (508).
is installed. And the parallel link (507), (
508), a star-shaped binion (510) is fixed to the parallel link (508) near the center. Four binions (510) are provided, and these four binions (510) mesh with one rack (511), and this rack (511) is connected to the motor (504)...a cylinder unit provided between them. (512).

In addition, each table (509)... has a guide rod (
513) is implanted, and a case (515) is slidably attached to each guide rod 2 (513) via a spring (514).

On the other hand, a drive shaft (517) is connected to the rotating shaft of the motor (504) via a constant velocity joint member (51B), and a constant velocity joint member (518) is connected to the drive shaft (517).
) are sprung-fitted, and the constant velocity joint member (518
) rotates integrally with the drive shaft (517) and is movable in the axial direction of the drive shaft (517). and 1
The constant velocity joint member (518) is attached to the case (515).
A socket (501) is connected to the tip of n holes.

The socket (501) contains two magnets that attract nuts from the automatic feeding device, and is rotatably held within a cylindrical bearing member (519).
9) has four leaf springs (520) for the case (515).
It is maintained by... Leaf spring (520)...
・ are arranged vertically and horizontally, and leaf springs (520)...
The bearing member (519) is centered while the rear end of the bearing member (519) is held at the leading end of the bearing member (519). Also, among the 4 wooden leaf springs (520)..., the lower leaf spring (
520) is stacked with another leaf spring (521) and attached to the case (520).
15). This leaf spring (521) holds the nut (500) held in the socket (501) when the nut runner device (500) is advanced toward the hub (6).
02) comes into contact with the tip of the hub bolt (60), and as a result, when the socket (501) moves inward (to the right in Fig. 19), it is held by the four leaf springs (520)... If the socket (501,) is not provided with some sort of holding step to prevent it from falling down, the socket (501) is supported from the F side by the leaf spring (521) to prevent this. ).

Also, the front end of the case (515) and the spring seat (52)
2) A coil spring (523) is provided between which a constant velocity joint member (518) is wound, and a socket is provided between the spring seat (522) and the inner end surface of the socket (501). ) can be moved vertically and horizontally with extremely weak force.
4).

In the above, in order to tighten the nut (502) using the nut runner device t (500), the nut (502) must be tightened in advance.
02), the shaft (10B) is rotated 90 degrees from the state shown in FIGS. 2 and 3, and the part (B) of the robot (100) is made to face the hub (6).

Next, the gripping device (400) is moved forward toward the hub (8), and the hub bolt (60) is inserted into the hub bolt mounting hole (12) formed in the wheel (11) of the wheel (1). ! i! 1 (500) Hashi(((
) direction, and the nut (502) is moved forward in the motor (504) direction.
) by rotating the hub pole) (80).

Here, all the hub bolts (60) are not necessarily perpendicular to the U surface of the hub (6), and may have a tilt of about 2 to 3 degrees. As shown in (A), the axis of hubpol (130) and the axis of nut (502) (intersection 2) may not match.

If the nut (502) is tightened in this state, prying may occur, or the socket (501) cannot be removed from the nut (502) after dispensing.

Therefore, in this embodiment, the axis (1+) of the hub pole (60) and the axis (statement 2) of the nut (502) can be aligned and tightened by the following action. That is, Fig. 21 (A
) From the state shown in ), move the nut runner device (500) forward while rotating the socket (501) to release the nut runner (500).
When the inner surface of the hub bolt (80) hits the tip of the hub bolt (80), the rolling resistance of the pole bearing (524) interposed between the spring seat (522) and the socket (501) is set to be extremely small. (501
) moves backward as shown in Figure 21 (B) due to the reaction force from the hub pole) (80), the socket) (
501) moves in a direction parallel to the mounting surface of the hub (6),
As shown in FIG. 21(B), the misalignment of the axis (view +) (UZ) is first corrected.

Next, as shown in FIG. 21(C), the nut runner device (500) is further advanced and the socket (501)
By moving the socket further rearward, the bending rigidity of the spring (523) is overcome and the socket (501
) rotates, and the axes (view, (fLz)) match perfectly.

In order for the axes (cross +) and (iz) to align in a negative straight line, the socket (5 ot) must be rotated either up or down or left or right.
) is made by bending.

At this time, the rotation of the motor (504) is transmitted to the socket (501) via the constant velocity joint member (518), the drive shaft (517), and the constant velocity joint member (518). is hub bolt (80)
be tightened.

On the other hand, due to model changes etc., hubpol I-(Elf))...
・If the interval changes, the cylinder unit (512) in the main body <503) is operated. Then, the rack (5
11) moves forward or backward, and along with this the binion (510
) rotates, and the rotation of the binion (510) causes the parallel links (507) and (5oe) to swing, causing the link (50
7), each table (50
9)... expands or contracts, and this table (509)
・・・ Guide rod (513), case (515)
The socket (501) supported through the hub bolts (60) opens and closes in accordance with the spacing between the hub bolts (60).

As described above, in this embodiment, the nut runner device (
The bearing member (519) of 500) is floatingly supported, and the hub bolt (80) is attached to the hub bolt (80).
When pressing / 1 digit, nut (502) with a slight force
The position and angle of the bearing member (519) change so that it follows the bolt (60), and the change first occurs when the nut (519)
Since the misalignment between the 02) and the hubpol (flo) is corrected first, and then the angular misalignment is corrected, there is no possibility of any strained LJ etc. occurring when tightening the oak (5Q2).

(Effects of the Invention) As explained above, according to the present invention, one robot includes a correction device for correcting the cutting angle of the hub, a phasing device for phasing the hub bolts, and a device for detecting the position of the hub. Since a detection device is incorporated, the device can be integrated and the time required for wheel installation can be shortened. In particular, since each of the above-mentioned devices is incorporated into one part of the robot, the cutting angle correction, phase alignment, and position detection can be performed without rotating the robot, and the work can be performed extremely efficiently.

Moreover, if the nut runner device and the gripping device are also incorporated into the robot, further integration and time reduction can be achieved.

[Brief explanation of drawings]

Figure 1 shows the overall plan view of the device for wheel installation using the robot according to the present invention, Figure 2 shows the side view of the device seen from the front of the vehicle body, and Figure 3 shows the device. Figure 4 is a front view of the vehicle body as seen from the side; Figure 4 is a side view of the support device;
IN is the bottom view of the rotating table, Figure 6 is the front view of the installed cutting angle correction device and phasing device, Figure 7 is the direction of ■ in Figure 6. Figure 8 is a rear view of a part of the robot, Figure 9 is a side view of a part of the robot seen from the opposite side to Figure 7, and Figure 10 is a side view of a part of the robot seen from the X direction of Figure 6. 11 is a front view illustrating the action of the phase matching device δ, FIGS. 12 and 13 are diagrams showing the operating mechanism of the phase matching device, and FIGS. 14 (A) to 14 are (C) is a front view explaining the principle of cutting angle correction, FIG. 15 is a view of the main parts of the profit margin gripping device seen from below, FIG. 16 is a side view of the main parts of the gripping device, and FIG. 17 is the 16th Figure 18 is a cross-sectional view of the main parts seen from the XXn direction in the figure, Figure 18 shows the gripping member of the gripping device. Figure 19 is a cross-sectional view of the nut runner device, and Figure 20 is viewed from the XX-XX direction in Figure 19. FIGS. 21(A) to 21(C) are partially sectional views illustrating the alignment action of the toft held in the socket of the nut runner device and the hub bolt. In the drawings, (1) is the wheels, (2) is the car body, (3) is the conveyor device for the wheels, (4) is the intermittent conveyance device for the car body, and (5) is the car body.
is the vehicle body support device, (6) is the hub, (10) is the tire part of the wheel, (11) is the wheel part of the wheel, (60) is the hub bolt, (100) is the robot, and (200) is the cutting angle of the hub. Correction device, (20B) is a hub cutting angle correction bar, (3
00) is a phase matching device, (304), (309) are rotary encoders, (314) is a phase matching claw, (350)
) is the dead point removal mechanism, (400) is the wheel gripping device, (408) is the gripping member, (5QO) is Qi 2
Tranner device, (501,) is socket, (502)
Natsuto, (51G). (518) is a constant velocity joint member. Patent applicant: Agent for Honda Motor Co., Ltd.
Patent Attorney Part 2 1) Part 1 Patent Attorney
Kuni Ohashi Opened the store Patent attorney Kuni
Udo Yama, patent attorney Noro]
Shigeru Figure 8 Figure 9 Figure 11

Claims (2)

[Claims] (1) A correction device that corrects the cutting angle of the mounting surface of a mounting member such as a hub to which a wheel is mounted, and a wheel mounting bolt that can be moved in the longitudinal direction and vertical direction of the vehicle body depending on the position of the wheel mounting member. A phasing device and a detection device that detects the amount and direction of movement of the phasing device are incorporated into one robot, and a nutrunner device mounts a wheel in accordance with the position of the wheel mounting member detected by the detection device. A robot for angle correction and position detection of a wheel mounting member, characterized in that: (2) The correction device, phasing device, and detection device are provided in one part of the robot, and the nutrunner device is provided in another part of the robot, and these parts can be connected to each other by rotating an axis provided in the robot. 2. The wheel mounting member angle correction and position detection robot according to claim 1, wherein one of the portions is arranged to face the wheel mounting member.