JPS62120282A - Method and device for grasping wheel - Google Patents

Abstract

PURPOSE:To ensure mounting of wheels to a car body in a manner to prevent displacement of the center of the wheel, by a method wherein the claw part mounted to each of at least three cylinders, independently operated, is pressed and secured with an equal force to a previously positioned outer diameter tyre part. CONSTITUTION:A pair of rails 302 are installed in parallel to each of four corners of a support plate 301 of a grasping device. A moving body 303, to which each different cylinder unit 304 is secured, is engaged with the rails 302. The cylinder unit is secured to the support plate 301, and operating forces are all set to an equal value. A cylinder body 305, having a claw piece 308, is secured to the moving body 303. The one ends of plural clutches 312 are attached to the moving body 303 with a distance therebetween, and are disposed so that the clutch discs are, within a fastening device 314, superposed with the clutch discs of other moving body, and they are positioned slidably. When, through operation of all the cylinder units 304, the claw parts 308 are forced into pressure contact with a tyre 10 by means of an equal pressure, the claw part 308 is fixed by fastening the clutch discs 312 with the aid of a fastening device 314. Thus, the center of the wheel 1 is prevented from displacement.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a wheel gripping method and an apparatus therefor that allow delivery to be carried out without shifting the center of the wheel.

(Prior art) A device for automatically attaching a wheel to a vehicle hub has the following features:
The conveyed wheel is grasped by a gripping device, and in this state the wheel is set on the hub, and the wheel is attached to the hub by a nano-nod runner device.

And, as a gripping method of the wheel, actual opening/closing 60-4252
0, etc. are known. Such conventional gripping devices all have a plurality of claw pieces (including arms, etc.)
The tire part of the wheel is held by the
These plurality of claw pieces are configured to move forward and backward (including rocking) by transmitting power from one cylinder via a link, a bottle, etc.

(Problems to be Solved by the Invention) i: In the conventional gripping device described above, since the forward and backward movement of one cylinder rod is transmitted to all the claw pieces, the forward and backward movement of all the claw pieces is are the same, and the bite jl into the tire portion is all the same.

However, the thickness of the tire portion of a wheel is not necessarily the same over the entire circumference, and there are local variations. Therefore, if the tire portion is held while the center position of the wheel is fixed, the repulsive force exerted by the tire portion on each claw piece will be different. When the wheel is removed from the fixing device by the gripping device in such a state, the center of the wheel is shifted so that the repulsive forces against the individual claws are equal. and,
If this amount of deviation is large, tightening with the nut runner will not be possible.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides a system in which the tire portions of a wheel whose center position is fixed by a fixing device are operated independently, and whose operating force is equal to each other. The wheel is gripped by a claw piece, and then the fixed state of the wheel by the fixing device is released.

(Function) Each claw piece presses against the tire part of the wheel with equal force, and as a result, the thinner part of each claw piece's press-contact area is greatly dented, and the thicker part is small dented, causing the tire to each claw piece to The repulsive forces from both sides will be equal. Therefore, even if the fixation B to the wheel is released, the center of the wheel will not shift if the position of each claw piece is fixed.

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

First, regarding wheel mounting using the wheel gripping method and device according to the present invention, the outline of the device will be explained based on FIGS. 1 and 2. Here, Figure 1 shows the entire front view of the device, and Figure 2 shows the wheel installation.
The figure is a side view of the device seen from the side of the vehicle body.

The wheel mounting device consists of multiple devices, the main device is a conveyor device (3) that transports the wheel (1) to the positioning device (100), and the wheel mounting device that transports the vehicle body (2) intermittently until it reaches the position. an intermittent conveying device (4) that conveys the vehicle body (2) to which the wheels (1) are attached to the next process;
The wheels are attached to the vehicle body (2) by means of a support device (5) that supports the vehicle body (2) in a floating manner, and wheels are attached to members such as a hub (6) attached to the vehicle body (2) (hereinafter, for the sake of simplicity, the hub will be simply referred to as the hub). ) is a robot (200) that performs everything from positioning to wheel mounting.

Then, the positioning device (100) and the robot (2
Four 00) are provided corresponding to each hub (6), and a wheel (1) is conveyed to each positioning device (+00) from a sub-conveyor forming a part of the conveyor device (3), and a robot (200) is provided to each positioning device (+00). ) is supported on a base (201) as shown in Figures 1 and 2, and this base (20) is movable in the longitudinal direction of the vehicle body (2) by a cylinder unit (202). A support (203) is erected on the stand (201), and a box part (204) incorporating a motor etc. is provided on the top of this support (203), and this box part (204) has a cylinder unit/to ( 205), it is movable in the downward direction, and the box part (204
) laterally supports a shaft (208) rotated by a motor. The shaft (20El) includes a part (A) that corrects the cutting angle of the hub (8) and adjusts the phase of the hub bolts, and a part that holds the wheel (1) and attaches the wheel (1) to the hub (6). (B) and are attached at 90 degrees apart around the sleeve (2H), and can be moved vertically in Fig. 3 by the cylinder unit (207) for 1 part (B), and this part (B) Wheel gripping device (300) and nut runner device (400) according to the present invention
is incorporated.

By driving the motor, the shaft (201()) rotates 90 degrees as shown by the arrow in Fig. 2, so that the part (A) where the cutting angle of the hub (6) has been corrected and the phase alignment of the hub bolts completed is upward. The part (B) holding the wheel (1) rotates to the position of the hub (6).

Next, the positioning device (+00) and the gripping device (300)
The details are described below.

First, the positioning device (100) will be explained based on FIGS. 3 and 4. Here, Fig. 3 shows the positioning device (1
00), and FIG. 4 is a plan view of the same device (+00), and the positioning device (100) is connected to the sub conveyor (3).
The pillar (1) is arranged between the left and right rollers (3a), (3a) that support the rollers (3a), (3a)
01) G, insert the guide part (102) into the seat 2 (base (1)
03) It is installed so that it can be moved up and down.

The base (103) moves up and down by the operation of the cylinder unit h (104), and the upper part of the base (103) has a
A vertical hollow rotating shaft (10B) is passed through the center of the head (105), and this hollow rotating shaft (1013) is connected to a motor (10B) installed at the bottom of the head (105). ?). In addition, a load 2 rod (108) is inserted into the hollow rotating shaft (10B),
This rod (page 108) is connected to a hollow rotating shaft (10B) by a cylinder unit (109) attached to a base (103).
Move up and down inside. At one end of the rod (108), the head portion (+10) has claws (111) extending radially.
- is held movably, and this claw (111) penetrates the inside of the diagonal hole (112) formed in the upper part of the hollow rotating shaft (10B) and protrudes outward, and is further provided in the diagonal hole (112). The bottle (113) is engaged with the elongated hole (114) of the claw (111).

Then, the cylinder unit (109) operates and the rod page 108) retracts downward, so that the claw (111)
protrudes from the diagonal hole (112), contacts the inner surface of the center hole (13) of the wheel (1, 1) of the wheel (1), and the wheel (1)
is fixed to the rotating shaft (10B).

In addition, a hollow rotating shaft (108) is provided within the navel (105).
There are 4 positioning bins (115) at equal intervals around the...
]82, these positioning vias (115)...
is biased upwardly by C by Suburi:7/g (11f3)... so that the bottle (+15) protrudes from the L surface of the head (105)7.

The operation of the positioning device (+00) having the structure shown below will be described below.

First, when the wheel (1) conveyed by the conveyor device (3) stops on the positioning device (100), the cylinder unit (104) is activated, and the upper end of the hollow rotating shaft (10G) is aligned with the heavy wheel (1). ) and further lift the wheel (1) from the roller (3a) by the head (105). Here, when lifting the wheel (1), the positioning bin (115)...
If it enters the hub bolt mounting hole (12) of wheel (11), it means that the wheel (1) has been positioned from the beginning. It comes into contact with the lower surface and does not enter into the supplementary hole (12).

Then, the cylinder unit (109) is activated and the rod (108) is lowered. Then, the nail (111)
... are pulled out and expanded, and the tips of the claws (111) come into contact with the inner surface of the center hole (13) of the wheel (11), fixing the wheel (1). After that, the motor (107) is driven and the hollow rotating shaft (i
oe) and rotates the wheel (1) along with this rotation. Then, the hub bolt mounting hole (12) of the wheel (11) and the positioning pin (115) will match at the predetermined position, and at this point, the positioning pin (+15) will tighten the hub bolt with the elastic force of the spring (11Ei). It protrudes into the mounting hole (12), and upon sensing this, the drive of the motor (107) is stopped. The wheel (1) is then held by a gripping device (300) according to the invention.

Next, detailed views of the gripping device (300) will be explained based on FIGS. 5 to 8. Here, FIG. 5 is a view from below of the main parts of the gripping device (300) in the state shown in FIGS. 1 and 2, FIG. 6 is a side view of the main parts of the gripping device (300), and FIG. 6 is a sectional view of the main part seen from both directions in FIG. 6, and FIG. 8 is a diagram showing the claw piece.

The gripping device (300) is provided with a pair of rails (302), (302) at each of the four corners of the support plate (301), and engages the moving body (303) with these rails (302), (302), so that each movement The bodies (303) are each fixed to separate cylinder units (304), and the cylinder units (303) are fixed to separate cylinder units (304).
04) causes the moving body (303) to move along the rail (302). Here, each rail (30
2)... are all parallel, and each moving body (303
) (304)...
A total of 4 are fixed to the support plate (301), and in Fig. 5, 2
cylinder units (304a), (304b)
, the whole is divided into two other cylinder units (
304c) and (304d), only a part of which is shown, and the cylinder unit) (304a).

(304b), cylinder unit (304c),
For (304d), each axis is parallel,
Cylinder unit (304a), (304c),
Cylinder unit (304b).

(304d) have the same axis. Furthermore, the operating forces of each cylinder unit (304) are all set to be equal.

The moving body (303) also includes a cylinder unit (304).
) in the direction perpendicular to the axis of the two cylinders (305), (
305) and a spring (305) inside each cylinder (305).
The shaft (307) is biased in the protruding direction by the shaft (3013)
), and insert the claw pieces (30
8) are fixed with bolts (309). Nail piece (
30B) is a pressure contact plate (30B) which has a substantially triangular shape in plan view as shown in FIG.
310) The surface has many uneven parts with acute angles in one direction (
311) is formed.

・On the other hand, the bolt (309), the shaft (309)
0? ), the mounting position for (30?) is the shaft (30?)
The bolts (309) and (30
9) (also l) and the tangent line (statement 2) of the tire part (10) in contact with the pressure contact plate (310) are at a predetermined angle, for example 3
It is made to form an angle of 0''' to 60@.

In addition, as shown in FIG. 6, each moving body (303) is equipped with a plurality of clutch plates (312) at one end at intervals, and the other ends of these clutch plates (312) are attached at intervals. ,
The tightening provided at the center position in the width direction of the support plate (301) is applied to a plurality of clutch plates (312) attached to other moving bodies (303) in the device (313). Matching. Here, -, Q: Ini clutch plate (31
It is assumed that the axis of the moving body (303) (2) is eastward and the axis of the moving body (304) is in the direction of the axis.

In other words, the clutch plate (312) of the moving body (303) moved by the cylinder unit (304a) overlaps the clutch plate (312) of the moving body (303) moved by the cylinder unit (304C), and ) (304b) overlaps the clutch plate (312) of the moving body (303) moved by the cylinder knee (304d).

The tightening device (313) is configured so that when the cylinder knee (314) is not in operation, the clutch plates (312) that overlap each other can slide; 2) The movement of the moving body (303) along the rail (302) is enabled by the operation of (304). In addition, when the cylinder unit (314) is operated and the clutch plates (312), which are tightened by the device (313), are brought into strong pressure contact, the movable body (303) is fixed. In other words, by operating the cylinder unit (304)..., the claw piece (308) causes the tire part (10) of the wheel (1) to move.
), cylinder unit I' (314)
is activated to lock the holding state of the wheel (1) by the gripping device (300). In addition, when gripping the wheel (1) with the gripping device (300), the cylinder unit I (205) of the robot (200) is activated and the gripping device (300) is lowered to the position of the positioning device (100). Let me do it.

(Effects of the Invention) According to the present invention, the center position of the wheel does not change by gripping multiple locations of the tire portion (10) with equal force. That is, in the conventional wheel gripping device, one cylinder unit is operated, and the operation of this cylinder unit is transmitted to each gripping member via a link mechanism, and the tire of the wheel is equally hung by each claw piece. The thickness of the ear bead is not always constant and varies partially.

Therefore, if the part where one claw piece touches is thick and the part where another claw piece comes into contact is thin, these parts can be separated as before.
If the tire is held in a depressed position, the repulsive force in the thicker part of the tire will be large, and the repulsive force in the thinner part will be small.11. Since the wheel is held only by the claws, the center of the wheel is shifted so that the above repulsive force is equalized.
The wheels are held in this state. As a result, the center of the nut runner device and the center of the wheel do not match, and 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 this embodiment, each of the pawl pieces is attached to a cylinder unit that operates with the same force, so that all the pawl pieces are attracted with the same force, so that the thickness of the tire part of the wheel is partially different. Even if the wheel is gripped, the dents in thicker parts are smaller and the dents in thinner parts are larger, so the center of the wheel will not shift once it is positioned. Therefore, even if the wheel gripping device and the tranchey device are integrated into the robot, the nut can be reliably tightened.This will be explained based on FIG. 8.

[Brief explanation of drawings]

Fig. 1 is a plan view of the entire wheel mounting device to which the wheel gripping device according to the present invention is applied, Fig. 2 is a side view of the device, and Fig. 3 is a longitudinal sectional view of the wheel positioning device. Figure 4 is a plan view of the positioning device. Fig. 5 is a view of the main parts of the wheel gripping device seen from below, Fig. 6 is a side view of the main parts of the gripping device, Fig. 7 is a sectional view of the main parts seen from the ■ direction in Fig. 6, and Fig. 8 FIG. 3 is a diagram showing a gripping member of the gripping device. In the drawings, (1) is the wheel, (2) is the vehicle body 5, (3) is the wheel conveyor device, (4) is the intermittent conveyance device for the vehicle body, and (5) is the vehicle body.
is a support device for the vehicle body, (1) is a hub, (10) is a tire portion of a wheel, (11) is a wheel portion of a wheel, (100) is a positioning device, (200) is a robot, and (300) is a gripping device for a wheel. The device, (304) is a cylinder unit, (30
8) is a claw piece, (312) is a clutch plate, and (400) is a nut runner device.

Claims (2)

[Claims] (1) At least three claw pieces that can move forward and backward independently are brought into pressure contact with the outer diameter tire portion of a wheel that has been positioned in advance with equal force, and then the claw pieces are fixed at the pressed position, and in this state, positioning is performed. A wheel gripping method characterized in that the wheel is taken out from a position where the wheel is held. (2) at least three operating independently with equal force to each other;
a cylinder unit, a claw piece that is attached to each of these cylinder units and comes into pressure contact with the outer diameter tire portion of a pre-positioned wheel, and a fixing mechanism that maintains the state of pressure contact of the claw piece with the tire part. A wheel gripping device.