JPH0424172B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention detects the position (center position) of a wheel attachment member such as a hub (hereinafter simply referred to as a hub for simplicity of explanation) in a car body assembly line. METHODS AND APPARATUS.

(Prior art) When attaching a wheel to a vehicle body, the hub bolts on the vehicle hub must be aligned in phase and the pitch center of the hub bolts, that is, the center position of the hub must be detected before the hub bolts can be inserted into the hub bolts of the wheel. It is not possible to fit the hole and tighten it with a nut runner device.

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. 60-42529. This device aligns the phases of the hub bolts by pressing a pair of Y-direction regulating fittings against the hub bolts. During phase alignment, the arm to which the regulating fittings are attached moves in one direction depending on the hub position, and the amount of movement The center position of the hub is detected by

(Problems 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 when the wheel is later mounted, the wheel mounting surface is moved from the detection position by 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 an extremely weak force in a plane parallel to the mounting surface of the wheel mounting member on a machine base to which a pair of phasing claws are attached. In this case, 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, and in parallel with this phasing, it follows the hub position and is applied with an extremely weak force. The machine base to which the phasing claw is attached moves in a plane parallel to the wheel mounting surface of the hub to detect the hub position.

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

First, the outline of a wheel mounting device to which the method and device for detecting the position of a wheel mounting member according to the present invention are applied will be explained based on FIGS. 1 to 3. Here the first
The figure is an overall plan view of the wheel mounting device, 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 mounting device is composed of a plurality of devices, the main devices being a conveyor device 3 that conveys the wheel 1 to the vehicle body 2, a conveyor device 3 that intermittently conveys the vehicle body 2 to the wheel attachment position, and a vehicle body 2 on which the wheel 1 is attached. The robot 100 includes an intermittent conveyance device 4 that transports the vehicle body 2 to the next process, a support device 5 that floatingly supports the vehicle body 2 in the vehicle width direction on a wheel attachment device, and a robot 100 that performs everything from positioning the hub 6 attached to the vehicle body 2 to the wheel device. .

The conveyor device 3 for conveying the wheels 1 includes a main conveyor 30, sub-conveyors 31, 31 branching from the main conveyor 30 in an orthogonal direction, and sub-conveyors 31, 31 branching in an orthogonal direction from these sub-conveyors 31, 31 and extending to the side of the vehicle body. 32..., and each conveyor 30, 31, 32 is equipped with a large number of long rollers 33... and short rollers 34... that change the conveyance direction of the wheels 1 at the branching part. If it is conveyed, two wheels are distributed and conveyed on each sub-conveyor 31, 31, and one wheel of the two wheels conveyed on each sub-conveyor 31 is distributed and conveyed on each sub-conveyor 32.

The wheels 1 conveyed to each sub-conveyor 32 are held by the robot 100 after the hub bolt insertion holes are aligned in phase by the positioning device 36 disposed near the end of the sub-conveyor 32. and attached to the hub 6.

Further, 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 is movably engaged by a motor or the like, a cantilever type hanger 42 is provided on this traveling body 41, and the vehicle body 2 is intermittently transported while being supported from below by this hanger 42. .

Next, details of the robot 100 will be described. The robot 100 is mounted on a base 10 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 102, 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 box part 104
is movable in the vertical direction by a cylinder unit 105, and the box portion 104 supports laterally a shaft 106 which is rotated by a motor. The shaft 106 has a part A for correcting the angle of the hub 6 and phasing the hub bolts, and a part B for holding the wheel 1 and attaching the wheel 1 to the hub 6, separated by 90 degrees around the shaft 106. installed, and for part B the cylinder unit 10
7, it is movable in the vertical direction in FIG.

As the shaft 106 is rotated by 90 degrees as shown by the arrow in FIG. 2 due to the drive of the motor, the portion A that has completed the angle correction of the hub 6 and the phasing of the hub bolts is rotated upward to rotate the shaft 106 upwardly. The part B holding the wheel 1 rotates to the hub 6 position.

Part A will be explained in detail below with reference to FIGS. 4 to 11. Here, in Figure 4, part A is the vehicle body 2.
5 is a side view as seen from the direction of FIG. 4, FIG. 6 is an upper back view of part A, and FIG.
The figure is a side view of the upper part of part A seen from the opposite side of Figure 5, Figure 8 is a sectional view of the phase matching device seen from the direction of Figure 4, and Figure 9 is a front view showing the action of the phase matching device. 10 and 11 are diagrams showing the operating mechanism of the phase matching device.

Part A is a correction device 20 for correcting the cutting angle of the hub 6.
0 and a position detection device 300, and a correction device 20
0, as shown in FIGS. 4 and 5, a cylinder unit 202 is provided laterally on the support plate 201 of part A, and the rod 20 of this cylinder unit 202 is
A plate 205 that is slidably supported by guide rods 204, 204 is fixed to the plate 205, and a pair of correction bars 206, 206 are attached to the plate 205.
These correction bars 206, 206 have a horizontal V shape as shown in FIG.
The operation of the hub 6 independently of the position detection device 300
The forward movement presses the correction bar 206 against the wheel mounting surface of the hub 6 to correct the cutting angle of the hub, that is, the position error in the width direction and the toe-in angle error.

On the other hand, the phase matching and position detection device 300 is
A machine stand 301 is attached to the support plate 201, and this machine stand 301 supports a pair of phasing claws.

Specifically, the machine stand 301 is the first moving stand 301a.
and a second moving table 301b, the first
The moving table 301a engages with a rail 303 provided on the support plate 201 as shown in FIGS. 5 and 7,
The second movable base 301b is movable laterally in a plane parallel to the wheel mounting surface of the hub 6, and the second movable base 301b engages with the movable base 301a via the rail 304. It is possible to move vertically within the space. and the first moving platform 3
01a is moved in the lateral direction by using a horizontal balance cylinder 305 (see FIG. 6) with extremely small force, and the second moving table 301b is moved in the vertical direction by using a vertical balance cylinder 306. It is done with extremely little force. Here, the small force is specifically defined as a force smaller than that which substantially deforms the elastic members such as the suspension and rubber mounts interposed between the hub 6 and the vehicle body 2.

Further, the support plate 201 includes a clutch plate 307.
A cylinder unit 309 is attached to the tip of an arm 308 provided on the second movable table 301b, and a rod 309a of the cylinder unit 309 is attached to the clutch plate 307. It passes through a long hole 310, and a presser plate 311 is fixed to the tip thereof. Therefore, the mobile platform 30
Clutch plate 307 according to the movement of 1a and 301b.
The cylinder unit 3 swings, and at a predetermined position, the cylinder unit 3
09 is activated, the arm 308 and presser plate 311
The clutch plate 307 is held between the two, and the movement of the movable tables 301a and 301b is stopped and fixed at this position. When the movable tables 301a and 301b move, the direction and amount of movement of each movable table 301a and 301b are detected by rotary encoders 312 and 313.

In addition, a pair of vertical rails 315 and 316 are attached to the second movable table 301b via supports (not shown), spaced apart in the vertical direction, and the upper rail 3
15 is attached to the base of the upper phasing claw 317, and the lower rail 316 is attached to the base of the lower phasing claw 319 so as to be movable up and down. These phasing claws 317, 319 have arms 317a, 317a, 319a, 319a that expand at right angles, and the tips of these arms 317a, 319a are thinner.
The tips of the arms overlap when 9 approaches.

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 317 and 319 engage with the rails 315 and 316, and the rotating body 3
20 is also engaged. That is, as shown in FIG. 8, the rotating body 320 is rotatably attached to the outer circumference of a cylindrical body 322 whose one end is fixed to the circular hole 321 of the moving table 301b, and from the rotating body 320, the rotation center is the reference point. A curved arm 32 having a symmetrical shape as
3,323 (only one curved arm is shown in FIG. 10), these curved arms 323,
rollers 325 attached to the phase matching claws 317, 319 in the grooves 324, 324 formed in the grooves 323;
325 is engaged. On the other hand, the moving table 301
A motor 326 is attached to the lower part of b, and a semicircular gear 32 is attached to the rotating shaft 327 of this motor 326.
8 and this gear 328 as shown in FIGS. 8 and 11.
As shown in the figure, it meshes with a gear portion 329 formed on the outer periphery of the rotating body 320.

Thus, when the motor 326 is driven, the rotating body 3
20 is rotated clockwise in FIG. 4, and the bending arms 323, 323 are rotated to the position shown by the imaginary line. Then, with this rotation, the curved arm 32
Since the rollers 325, 325 of the respective phase matching claws 317, 319 are engaged with the grooves 324, 324 of No. 3, 323, the upper phase matching claw 317 is moved downwardly.
The lower phasing claw 319 has a rail 315 above,
316, and as shown in FIG.
The tips of a overlap to form a regular square, and a hub bolt 60 is attached to each corner of this square.
... is dropped, and the hub bolts 60 of the hub 6 whose cutting angle and width direction position have been corrected by the correction device 200 are aligned.

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 match, and the respective centers are shifted in the longitudinal direction and the vertical direction of the vehicle body 2. Position detection is performed to align the center of the hub 300 with the center of the hub 6. That is, if the hub bolts 60 are phased with their centers deviated from each other, the upper and lower phase alignment claws 3
The hub bolts 60 do not contact the arms 317a and 319a of the arms 317a and 319a at the same time, but one of the hub bolts 60 contacts one of the claws 317.
Then, the movable bases 310a and 301b supporting the phase alignment claws 317 and 319 are moved by a horizontal balance cylinder 305 and a vertical balance cylinder 306.
Because it moves up and down and left and right with extremely small force, for example, when the motor 326 is driven and the phasing claws 317, 319 are moved in the closing direction, one of the hub bolts 60... If it comes into contact for the first time, the upper phasing claw 3
17 does not descend any further, the rotating body 320 and the lower phase matching claw 319 continue to rise, and the first moving stage 301a of the position detection device 300 moves upward. Further, when one of the hub bolts 60 comes into contact with one of the right and left arms of the phase alignment claws 317, 319 first, the second moving table 301b similarly moves laterally. In this way, when the center of the hub 6 and the center of the machine base 301 of the position detection device 300 are misaligned, the center of the machine base 301 moves in parallel with the phase alignment to match the center of the hub 6, and the phase alignment is performed. When this is completed, the cylinder unit 309 is operated, the clutch plate 307 is clamped, and the movable tables 301a and 301b are fixed, and then the amount and direction of movement are detected by the rotary encoders 312 and 313, and this is controlled by a control (not shown). Output to device. Then, the control device calculates the accurate position of the hub 6 based on the output signal.

By the way, when the phasing of the hub bolts 60 is performed by closing the phasing claws 317, 319, the phases of the hub bolts 60... are accidentally shifted by 45 degrees, and each hub bolt 60...
Even though the hub bolt 60... is out of phase due to the dead point (DP) of 17,
It is possible that the hub 6 does not rotate in either direction.

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

This dead point removing mechanism 350 is operated by the motor 3.
A rotating cylinder 352 is fixed to the rotating shaft of 51, arm parts 353, 353 are integrally provided at the tip of this rotating cylinder 352, through holes 354, 354 are formed at the tips of these arm parts 353, 353, A locking piece 355 is slidably inserted into these through holes 354, 354. On the other hand, a fixed cylinder 356 is provided around the rotating cylinder 352, and this fixed cylinder 356 is connected to a spring 356.
57 in the direction of the hub 6, and the tip of the cylinder rod 358 is engaged with the fixed cylinder 356, so that the fixed cylinder 356 does not rotate even if the rotary cylinder 352 rotates. And the fixed cylinder 356
A groove 359 is formed on the outer periphery of the tip, and a roller 360 provided on the locking piece 355 is formed in this groove 359.
is engaged.

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

First, when the motor 326 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 slowly rotates. As the rotary cylinder 352 rotates, the locking piece 355 also rotates. At this time, the fixed cylinder 35
6 does not rotate, the roller 36 of the locking piece 355
0 rolls along the groove 359 of the fixed cylinder 356.

Then, in accordance with the drive of the motor 351, the fixed cylinder 356 is moved to the rotating cylinder 35 by the operation of a cylinder unit or the like.
2 in the direction of the hub 6. Then,
The locking piece 355 moves forward while rotating due to the combined movement of the rotary cylinder 352 and the fixed cylinder 356, and finally rotates when the tip of the locking piece 355 comes into contact with the back surface of the phasing claws 314, 319. The rotation of the cylinder 352 and the movement of the fixed cylinder 356 are stopped.

Here, the rotational speed of the rotating barrel 352 and the fixed barrel 3
The moving speed of hub bolt 60 is set as follows, that is, as shown by the imaginary line in FIG.
The locking piece 355 is set so that it crosses the dead point (DP) of the phasing claws 314 and 319 once during a time period when the tip of the locking piece 355 overlaps with the tip of the locking piece 355 when viewed from the side. . With this setting, even if the state of the hub bolt 60 before phasing is deviated by exactly 45 degrees, when closing the phasing claws 317 and 319,
It is removed from the dead point (DP) position and reliably dropped into the corner of the square formed when the phasing claws 317 and 319 are closed.

Note that when the locking piece 355 rotates and moves forward,
It is possible that the front end surface of the locking piece 355 hits the front end surface of the hub bolt 60 and the locking piece 355 and the hub bolt 60 cannot be engaged with each other, but in this case, the fixed cylinder 356 moves backward against the spring 357. So, after detecting this and returning to the original state,
The rotary cylinder 352 may be slightly rotated, and then the above operation may be performed again.

(Effects of the Invention) As explained above, according to the present invention, the machine base to which the phasing pawl is attached can substantially absorb extremely weak forces, specifically, elastic members such as the suspension interposed between the vehicle body and the hub. Since the wheel is moved with enough force to prevent 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 displaced from the hub. can be installed securely.

[Brief explanation of drawings]

FIG. 1 is an overall plan view of a wheel mounting device to which the position detection method and device according to the present invention are applied, and FIG. 2 is a front view of the same wheel mounting device as seen from the front of the vehicle body.
Fig. 3 is a side view of the same wheel mounting device as seen from the side of the vehicle body, Fig. 4 is a front view of the cutting angle correction device and phasing device provided on the wheel mounting robot, and Fig. 5 is a front view of the wheel mounting robot.
Figure 6 is a side view of a part of the robot seen from the direction shown in the figure, Figure 7 is a side view of a part of the robot seen from the opposite side to Figure 5, and Figure 8 is a side view of a part of the robot seen from the opposite side of Figure 4. FIG. 9 is a front view illustrating the operation of the phase matching device, and FIGS. 10 and 11 are diagrams showing the operating mechanism of the phase matching device. In the drawings, 1 is a wheel, 2 is a car body, 3 is a wheel conveyor device, 4 is an intermittent conveyance device for the car body, 5 is a support device for the car body, 6 is a hub, 60 is a hub bolt, 10
0 is the robot, 200 is the hub cutting angle correction device, 2
06 is a hub angle correction bar, 300 is a position detection device, 301 is a machine base, 301a, 301b are moving bases, 305, 306 are balance cylinders, 31
2,313 is a rotary encoder, 317,31
9 is a phasing claw, and 350 is a dead point removal mechanism.

Claims (1)

[Claims] 1. With no load applied to the wheel mounting member, in this state, a pair of phasing claws attached to the machine base are moved in a direction toward each other to align the phasing of the wheel mounting bolts of the wheel mounting member. At the same time, in parallel with this phasing, the machine base is moved in a plane parallel to the wheel mounting member with a force weaker than the force that substantially deforms the elastic member interposed between the wheel mounting member and the vehicle body. A method for detecting the position of a wheel mounting member, characterized in that the position of the wheel mounting member is detected based on the direction and amount of movement. 2. A position detection device for a wheel mounting member in which a pair of phasing claws are attached to a machine base so as to be movable in directions approaching and moving away from each other, wherein the machine base consists of a first and a second movable base; The movable platform moves in directions perpendicular to each other in a plane parallel to the mounting surface of the wheel mounting member via the balance cylinder with a force weaker than the force that substantially deforms the elastic member interposed between the wheel mounting member and the vehicle body. 1. A position detection device for a wheel mounting member, characterized in that the moving base is movable, and the direction and amount of movement of the movable base are detected by a detection member such as a rotary encoder.