JPS62122872A - Method and device for detecting wheel mounting member - Google Patents

Abstract

PURPOSE:To reliably mount a wheel to a hub without displacement even if detection of the position of a hub is effected in parallel to matching of a phase, by a method wherein a detecting member is positioned in a manner that it is movable by a force being low enough to allow prevention of deformation of a resilient member between a car body assembly line and the hub. CONSTITUTION:A part A, effecting correction of the cutting angle of a hub and matching of the phase of a hub bolt, and a part B, holding wheels and mounting a wheel to a hub 6, are provided. The part A comprises a correcting device 200, correcting the cutting angle of the hub, and a position detecting device 300, and the device 300 supports a pair of phase matching claws 317 and 319. A machine bed 301 of the device 300 includes a first moving bed 301a and a second moving bed 301b, and lateral movement of the first moving bed 301a is executed through the medium of a balance cylinder 305. Longitudinal movement is effected by means of a force lower than a force by which a suspension located between the hub 6 and the car body 2 is deformed, and detection is effected by rotary encoders 312 and 313 for accurate positioning.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention is applied to a vehicle assembly line in which a wheel such as a hub is attached to a member (hereinafter simply referred to as a hub for simplicity of explanation).
The present invention relates to a method and apparatus for detecting the position (center position) of

(Prior art) When attaching a wheel to a vehicle body, the hub bolts on the vehicle body/\b must be aligned in phase, and the pitch center of the knob port, that is, the center position of the knob, must be detected before the hub bolts can be installed. It cannot be tightened using the nut runner device in line with the /\port insertion hole of the wheel.

For this reason, a device for aligning and detecting the position of hub bolts has been proposed as disclosed in Japanese Utility Model Application No. 80-42529. This device aligns the phase of the hub bolt by pressing a pair of Y-direction regulating fittings against the hub bolt, and
During phase alignment, the arm to which the regulating fitting is attached moves in one direction depending on the hub position, and the center position of the hub is detected based on the amount of movement.

(Problem to be solved by the invention) As mentioned above, in the conventional method, the arm (machine base) to which the phasing claw (regulating metal fitting) is attached follows the hub position and escapes, thereby detecting the hub position. However, generally, an elastic member such as a suspension or a rubber mount is interposed between the hub and the vehicle body. As a result, when performing position detection, the elastic member deforms and the wheel mounting surface of the hub is displaced, and this displaced position is read, and later when the wheel is mounted, the wheel mounting surface moves from the detection position due to the action of the elastic member. It may shift and become impossible to install.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides a machine base equipped with a pair of phasing claws, and the wheels are mounted using an extremely weak force in a plane parallel to the mounting surface of the member. Specifically, an elastic member such as a suspension interposed between the vehicle body and the hub can be moved with a force that does not deform it, and this movement is detected by a detection member such as a rotary encoder.

(Function) A pair of phasing claws move toward each other, and this movement rotates the hub bolt to perform phasing.
In parallel with this phasing, the machine base to which the phasing pawl is attached follows the knob position with an extremely weak force, moves in a plane parallel to the plane on which the wheel is attached to the hub, and detects the hub position.

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

First, the wheel mounting method and device for detecting the position of a member according to the present invention are schematically illustrated in FIGS. 1 to 3.
This will be explained based on the diagram. Here, FIG. 1 is an overall plan view of the device for mounting wheels, FIG. 2 is a front view of the device as seen from the front of the vehicle body, and FIG. 3 is a side view of the device as seen from the side of the vehicle body.

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 floats the car body (2) in the direction of the car, and a hub (6) attached to the car body (2) are positioned in the device. Ropon (from the beginning to the wheel installation) (
100).

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 (1) 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).

Then, the wheels (1) conveyed to each sub-conveyor (32,) are aligned in phase with the hub bolt insertion holes by the positioning device (3B) disposed near the end of the sub-conveyor (32). It is held by 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, a cantilevered hanger (42) is provided on this running body (41), and the vehicle body (2) is intermittently supported by this hanger (42) from below. The structure is such that it can be transported to

Next, details of (100) will be described. robot(
100) is a base (101) as shown in FIGS. 2 and 3.
), this base (101) is movable in the longitudinal direction of the vehicle body (2) by a cylinder unit (10'2), and a support (103) is erected on the base (101). A box part (104) incorporating a motor etc. is provided on the upper part of this column (103), and this poncus part (10
4) is movable in the vertical direction by a cylinder unit (105), and the box part (104) supports laterally a shaft (IOEI) rotated by a motor. The shaft (10G) 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 a distance of 90 @ around the shaft (10B), and the part (B) is movable in the vertical direction in Fig. 3 by means of a cylinder 22) (10?).

By driving the motor, the shaft (108) rotates by <90'' 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 alignment of the hub bolts has been completed is moved upward. The part (B) holding the wheel (1) rotates to the position of the hub (6).

Part 1 (A) will be described in detail below with reference to FIGS. 4 to 11. Here, Fig. 4 is a front view of part (A) seen from the vehicle body (2) side, Fig. 5 is a side view seen from direction V in Fig. 4, and Fig. 6 is an upper rear view of part (A). , Figure 7 shows the part (
Figure 8 is a side view of the upper part of A) seen from the opposite side to Figure 5;
The figure is a front view showing the operation of the phase matching device, and FIGS. 10 and 11 are diagrams showing the operating mechanism of the phase matching device.

Part (A) is a correction device (2) for correcting the cutting angle of the hub (6).
00) and a position detection device (300), and a correction device (
200) is the part (A) as shown in FIGS. 4 and 5.
Attach the cylinder unit to the support plate (201) of (202)
) is provided in the horizontal direction, and this cylinder unit) (202)
The guide rod (204), (
A plate body (205) that is slidably supported on the plate body (204) is fixed to the plate body (205), and a pair of correction bars (2013) are fixed to the plate body (205).
, (20B) is installed. These correction bars (2
0B) and (20El) have a horizontal C shape as shown in Fig. 4, and are moved to the hub (8) independently of the position detection device (300) by the operation of the cylinder unit (202). It moves forward and backward, and the correction bar (20111
) is pressed against the wheel mounting surface of the hub (8) to correct the angle of the hub, that is, the position error in the direction of the vehicle and the angle error of toe-in.

On the other hand, the phasing and position detecting device (300) is part (A).
A machine base (301) is attached to the support plate (201) of the machine, and the pair of phasing claws are supported by this machine base (301).

Specifically, the machine base (301) is the first moving base (301a)
and a second moving table (301b), the first moving table (301a) engages with a rail (303) provided on the support plate (201) as shown in FIGS. 5 and 7, The wheel attachment of the hub (6) is movable laterally in a plane parallel to the plane, and the second moving platform (301b) is attached to the rail (3
04) and engages with the moving base (301a) via the hub (8
)'s wheel mounting is movable in the vertical direction in a plane parallel to the plane. The lateral movement of the first moving table (301a) is controlled by a lateral balance cylinder (305).
(see Figure 6) with an extremely small force, and the second
The vertical movement of the carriage (301b) is performed with extremely small force via the vertical balance cylinder (10B). Here, the small force specifically refers to the hub (6) and the vehicle body (
2) The force should be smaller than that which would substantially deform the elastic members such as suspensions and rubber mounts interposed between the

Further, the support plate (201) includes a clutch plate (307).
The base end of the arm (30B) is pivotally supported on the second movable table (301b), and a cylinder (309) is attached to the tip of the arm (30B) provided on the second movable table (301b). The rod (309a) of (308) passes through the elongated hole (310) of the clutch plate (307), and has a presser plate (311) fixed to its tip. Then a mobile platform (30
1a).

The clutch plate (30?) swings in response to the movement of the clutch plate (301b), and when the cylinder unit (309) operates at a predetermined position, the clutch plate (30?) is moved between the arm (308) and the holding plate (311). ) and move the moving table (
The movement of 301a) and (301b) is stopped and fixed. When the movable bases (301a) and (301b) move, the direction and amount of movement of each movable base (301a) and (301b) are determined by the rotary encoder (312), (
313).

In addition, the second moving platform (3otb) is provided with a pair of vertical rails (3otb) spaced apart in the vertical direction via supports (not shown).
15) Attach (31B) and attach the upper rail (315).
) is attached to the base of the upper phasing claw (317), and the lower rail (31B) is attached to the base of the lower phasing claw (319) so as to be movable up and down. These phasing claws (317) and (319) are arms (
317a), (317a), (319a),
(319a), and these arms (317a), (3
The tip of 19a) is thin and nutty, and has a phasing claw (
317) and (319) are arranged so that the tips of the arms overlap when they come close to each other.

Furthermore, the phasing claws (317) and (319) are connected to each other so as to move in opposite directions via a mechanism that will be described later.

By the way, the phasing claws (31?) and (319) engage with the rails (315) and (31B) and also engage with the rotating body (320). That is, the rotating body (320
), as shown in Fig. 18, one end is a moving table (301b).
A curved arm (32G) is rotatably attached to the outer circumference of a cylindrical body (322) fixed in a circular hole (321) of
3) , (323) are extended (only one curved arm is shown in Fig. 1θ), and these curved arms (323),
Grooves (324) formed in (323), (324)
and the phasing claw (317).

The roller (325) attached to (31!l]), (32
5) is engaged. On the other hand, a motor (32B) is attached to the lower part of the moving table (301b).
A semicircular gear (328) is attached to the rotating shaft (327) of the
), and as shown in FIGS. 8 and 11, this gear (328) is meshed with a gear portion (329) formed on the outer periphery of the rotating body (320).

Therefore, when the motor (32B) is driven, the rotating body (32B) is driven.
0) rotates clockwise in Fig. 4, and the curved arm (
323), (323) rotates to the position shown by the imaginary line. Then, with this rotation, the curved arm (323).

(323), grooves (324), and (324) each phase alignment claw (31?).

Since the rollers (325) and (325) of (319) are engaged, the upper phase alignment claw (317) is moved downward.
The lower phasing claw (319) is connected to the upper rail (315).
, (318), and the arms (31?a) of the phasing claws (317) and (319) move along
, (319a) overlap to form a regular square, and each corner of this square has a hubpol) (
80) ... has been dropped into the hub (6), and the cutting angle and width direction position have been corrected by the correction device (200).
The phase matching of (60) is performed.

Here, the center of the hub (6) before the cutting angle is corrected and the center of the phase detection device (300) do not necessarily coincide, and the respective centers are shifted in the longitudinal direction and the vertical direction of the vehicle body (2).
Simultaneously with phase alignment, position detection is performed to align the center of the position detection device (300) with the center of the hub (8). In other words, when the hub bolts (θ0) are phased with their centers deviated from each other, the upper and lower phase alignment claws (317) and (31
The arms (317a) and (329a) of 9) do not contact the hub poles (80) at the same time, but one of the hub poles (60) comes into contact with one of the claws (317). Then, the movable bases (310a) and (3o1b) supporting the phasing claws (317) and (3111) are moved up and down and left and right with extremely small force by the horizontal balance cylinder (305) and the vertical balance cylinder (30B). For example, when the motor (32B) is driven and the phasing claws (317) and (319) are moved in the closing direction, the upper phasing claw (317) has a hub pole) (
80) ... comes into contact first, the upper phasing claw (31?) will not descend any further and the rotating body (3
20) and the lower phasing claw (319) continue to rise, and the position detection device (300) first moving stage (301a)
moves upward. In addition, the phase alignment claw (317), (
219) on either the left or right side of the arm) (60)
. . . comes into contact first, the second moving table (30lb) similarly moves laterally. Like this hub (
6) Center and position detection device (300) machine base (301)
If the center is misaligned with the center of the hub (8), the center of the machine base (301) will move in parallel with the phase alignment ↑0, and when the phase alignment is completed, the cylinder unit) (309)
After activating the clutch plate (307) and fixing the moving bases (301a) and (301b), the amount and direction of movement are determined by the rotary encoders (312) and (301b).
13) and outputs it to a control device (not shown). Then, the control device (1) calculates the exact position of the \b (6) (based on the above output signal).

By the way, when closing the phasing claws (317)' and (319) to adjust the phase of (80)..., the phase of each hub bolt (80)... may accidentally become 45.
(80)... are the phasing claws (317).

It is conceivable that the hub (6) does not rotate in any direction even though the hub bolts (Go)... are out of phase at (D, P) (dead point of (31?)).

Therefore, in this embodiment, as shown in FIG.
A dead point removing mechanism (350) is disposed within the main body (322).

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) at the tip thereof,
The locking pieces (35) are attached to these through holes (354), (354).
5) is slidably inserted. On the other hand, the rotating cylinder (352
) is provided with a fixed cylinder (35 [()), and this fixed cylinder (
35B) in the direction of the hub (6) by the spring (357), and the tip of the cylinder rod (358) is engaged with the fixed cylinder (35B), so that even if the rotating cylinder (352) rotates, the fixed cylinder does not move. (35B) is prevented from rotating. The fixed cylinder (35 fl) has a groove (3
59) is formed, and the locking piece (359) is formed in this groove (359).
355) is engaged with the roller (380).

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

First, when the motor (32El) is driven to move the phasing claws (317) and (319) in the closing direction, the motor (351) is also driven at the same time, and the rotary cylinder (352) is slowly rotated. The locking piece (355) also rotates due to the rotation of the rotary cylinder (352). At this time, the fixed cylinder (35
6) does not rotate, so the roller (3) of the locking piece (355)
130) is transferred along the groove (3513) of the fixed cylinder (35B).

Then, in accordance with the drive of the motor (351), the fixed cylinder (35B) is moved to the rotating cylinder (352) by the operation of the cylinder unit, etc.
along the direction of the hub (8). Then, the locking piece (355) connects the rotating cylinder (352) and the fixed cylinder (3513).
It moves forward while rotating due to the combined movement of the two, and finally the tip of the engaging piece (355) becomes the phasing pawl (314).

When it comes into contact with the back side of (3113), the rotating cylinder (352)
The rotation of the rotating cylinder (3513) and the movement of the fixed cylinder (3513) stop. Here, the rotational speed of the rotating cylinder (352) and the movement of the fixed cylinder (356) stop.
The moving speed of is set as follows, that is, as shown by the imaginary line in Fig. 8, the tip of the piece (355) related to the tip of the hub bolt (60) overlaps when viewed from the side. During the time period, the locking piece (355) engages the phasing claw (3
14) Set the dead point (D, P) of (319) to be crossed once. With this setting, even if the hub bolt (80) is out of phase by exactly 45 degrees, the phasing claw (31)
7) When closing (319), dead point CD
, P), and the phasing claw (317) is removed.
(319) is reliably dropped into the corner of the square formed when it is closed.

In addition, when the locking piece (355) moves forward while rotating, the front end surface of the locking piece (355) hits the front end surface of the hub pole (80), causing the locking piece (355) and the hub pole (80) to contact each other. It is possible that the fixed barrel (3513) cannot be held in place, but in this case, the fixed barrel (3513) will move back against the spring (35?), so this will be detected, and after returning to its original state, the rotating barrel (3513) will move backward against the spring (35?). 352) and then perform the above operation again.

(Effects of the Invention) As explained above, according to the present invention, the machine base to which the 1-phase adjusting pawl is attached can effectively absorb extremely weak forces, specifically, the elastic members such as the suspension interposed between the vehicle body, the hub, and the like. Since the movement is made with a force that does not cause deformation, even if the hub position is detected at the same time as phasing, the position of the wheel mounting surface of the hub will not deviate from the detection device, and the wheel will not be moved to the hub. It can be installed securely.

[Brief explanation of drawings]

Fig. 1 shows a general plan view of the device for mounting a wheel to which the position detection method and device according to the present invention is applied, Fig. 2 shows a front view of the device as seen from the front of the vehicle body, and Fig. 3 shows the same wheel. The installation is a side view of the device seen from the side of the vehicle body, and Figure 4 is a front view of the cutting angle correction device and phasing device installed on the wheel-mounted robot.
Figure 5 is a side view of a part of the robot seen from the V direction in Figure 4, Figure 6 is a rear view of a part of the robot, Figure 7 is a side view of a part of the robot seen from the opposite side to Figure 5, and Fig. 8 is a sectional view of the phase matching device seen from the direction ■ in Fig. 4, Fig. 9 is a front view illustrating the operation of the phase matching device, and Figs. 1O and 11 show the operating mechanism of the phase matching device. It is a diagram. In the drawings, (1) is the wheel, (2) is the vehicle body, (3) is the wheel conveyor device, (4)' is the intermittent conveyance device for the vehicle body, and (5) is the vehicle body.
) is the vehicle body support device, (8) is the hub, (60) is the hub bolt, (100) is the robot, (200) is the hub cutting angle correction device, (20B) is the hub cutting angle correction bar, (30
0) is a position detection device, (301) is a machine base, (301a
), (301b) are moving tables, (305), (30B
) is a balance cylinder, (312) and (313) are rotary encoders, (317) and (319) are phase matching claws, and (350) is a dead point removal mechanism. Patent applicant: Agent for Honda Motor Co., Ltd.
Patent attorney 2 1) Patent attorney Kuni Ohashi, patent attorney Yumuko Koyama, patent attorney 1)
Shigeru Figure 6 307b 306 Figure 7 Figure 9

Claims (2)

[Claims] (1) A pair of phasing claws attached to the machine base are moved in a direction close to each other to align the phasing of the wheel mounting bolts, and in parallel with this phasing, the phasing claws are interposed between the wheel mounting member and the vehicle body. The machine base is moved in a plane parallel to the mounting surface of the wheel mounting member with a force weaker than the force that substantially deforms the elastic member, and the position of the wheel mounting member is detected based on the direction and amount of movement. A method for detecting the position of a wheel mounting member, characterized in that: (2) In a position detecting device for a wheel mounting member in which a pair of phase-aligning pawls are movably attached to a machine base in a direction toward each other and in a direction away from each other, the machine base is a movable base shown in FIGS. 1 and 2. In a plane parallel to the mounting surface of the wheel mounting member, these movable platforms are operated with a force weaker than the force that substantially deforms the elastic member interposed between the wheel mounting member and the vehicle body via the balance cylinder. 1. A position detection device for a wheel mounting member, which is movable in directions orthogonal to each other, and the moving direction and amount of movement of the movable base are detected by a detection member such as a rotary encoder.