JPH0798498B2 - Wheel mounting member correction method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Use) The present invention, when automatically attaching a wheel to a vehicle body, eliminates a corner angle of a wheel attachment member (hereinafter simply referred to as a hub) and a positional error in a vehicle width direction. Regarding how to fix.

(Prior Art) In an automobile assembly line, in order to automatically attach a wheel to a hub, the conveyed vehicle body is stopped at a wheel attachment position, and the robot attaches the wheel hub at this position. In this case, the mounting surface of the hub may have a mounting angle (hereinafter referred to as “an error in a cutting angle. Therefore, the nut may not be able to be tightened unless the error is corrected because of an error.

Therefore, as a device for correcting the cutting angle of the hub mounting surface
The one disclosed in 60-42526 is known.

This device is equipped with a contact robot that protrudes in the direction of the hub mounting surface on a robot that is placed on the side of the vehicle body, and the contact robot is projected until it comes into contact with the hub mounting surface. The distance between the surface and the robot is detected, and the wheels are attached to the hub according to the detected values.

(Problems to be Solved by the Invention) According to the above-described conventional device, since the mounting surface of the hub is used as a reference and the robot is tilted or moved according to this, the number of control axes of the robot increases, Moreover, the structure and control itself are complicated. In addition, there is an error in the cutting angle and an error in the vehicle width direction on the hub that has been transported with the vehicle body,
If these errors concentrate on one hub, the displacement of the hub bolt becomes large due to a synergistic effect, and the nut runner may not be able to tighten the nut. However, such a problem cannot be solved by the conventional device.

(Means for Solving Problems) In order to solve the above problems, the present invention supports a conveyed vehicle body so as to be movable in the vehicle width direction while restricting the position in the front-rear direction at the wheel mounting position. In this state, one of the pressing members arranged on both sides of the vehicle body is advanced toward the wheel mounting member on one side by a fixed size, and one pressing member is brought into contact with the wheel mounting member, and then the other pressing member is applied to the wheel by a predetermined force. After advancing toward the mounting member and pressing the wheel mounting member, movement of the vehicle body in the vehicle width direction is restricted, and then the one pressing member is retracted, and then the other pressing member is retracted. I chose

(Operation) One pressing member is projected by a fixed size so as to abut against the mounting surface of the hub on one side, and one pressing member (fixed size) is retracted before the other pressing member (push-off). As a result, only the angle error remains on the hub on one side, and only the positional error in the vehicle width direction remains on the hub on the other side.

(Example) Below, the Example of this invention is described based on an accompanying drawing.

First, an outline of a wheel mounting device to which the correction method according to the present invention is applied will be described with reference to FIGS. 1 to 3. Here, FIG. 1 is an overall plan view of the wheel mounting device, FIG. 2 is a side view of the device as seen from the front of the vehicle body, and FIG. 3 is a front view of the device as seen from the side of the vehicle body.

The wheel mounting device is composed of a plurality of devices, and the main devices among them are a conveyor device (3) for transporting the wheel (1) to the vehicle body (2) and intermittently transporting the vehicle body (2) to the wheel mounting position. Vehicle body (2) with wheels (1) attached
An intermittent transfer device (4) for transferring the vehicle to the next process, and a vehicle body positioning device (5) and a vehicle body (2) for floatingly supporting the vehicle body (2) in the vehicle width direction while restricting movement in the front-rear direction at wheel mounting positions. The robot (100) performs positioning from the attached hub (6) to wheel mounting.

The conveyor device (3) that conveys the wheels (1) is a main conveyor (30), sub-conveyors (31), (31) branched from the main conveyor (30) in an orthogonal direction, and these sub-conveyors (31), The sub-conveyor (32) is branched from the (31) in the orthogonal direction and extends to the side of the vehicle body. Each of the conveyors (30), (31), and (32) includes a large number of long rollers (3).
3) ... and short rollers (34) that change the transport direction of the wheels (1) at the branching portion. For example, if four wheels (1) are transported on the main conveyor (30), each sub-conveyor Two wheels are distributed and conveyed to (31) and (31), and two wheels conveyed on each sub-conveyor (31) are distributed and conveyed one to each sub-conveyor (32).

Then, the wheel (1) conveyed to each sub-conveyor (32) has its hub bolt insertion hole phase aligned by a positioning device (36) arranged near the end of the sub-conveyor (32), It is held by the robot (100) and attached to the hub (6).

As shown in FIG. 3, the intermittent transfer device (4) of the vehicle body (2) movably engages the traveling body (41) with a rail (40) installed on the ceiling by a motor or the like, and 41) is equipped with a cantilevered hanger (42), and this hanger (42)
Thus, the vehicle body (2) is intermittently conveyed while being supported from below.

On the other hand, details of the positioning device (5) for positioning the vehicle body (2) sent by the intermittent transfer device (4) at the wheel mounting position are as shown in FIGS. 4 to 6.

That is, the positioning device (5) vertically installs the guide receivers (51), (51) on the base (50), and these guide receivers (51),
The guide rods (53) and (53) fixed to the lifter base (52) are vertically inserted into the (51), and the rod (5) of the cylinder unit (54) fixed to the base (50) is inserted.
5) The upper end is fixed to the lifter base (52) so that the lifter base (52) can be moved up and down by the operation of the cylinder unit (54).

Also, air bearings (56) are provided at the four corners of the upper surface of the lifter base (52).
6) A table (57) is placed on it. Specifically, the air bearing (56) includes a pipe portion (58) connected to a supply source of compressed air, and a dish-shaped member (59) provided on the upper end of the pipe portion (58). The upper surface of (59) is closed by a smooth plate (61) attached to the lower surface of the table (57).

In addition, on the lower surface of the dish-shaped member (59), a thick-walled portion (59a) extending in the front-rear direction and the left-right direction centering on the pipe portion (58).
Forming a thick wall that extends in the front-back direction (59a), (59a)
A roller (62) attached to the bottom surface of the smooth plate (61) is brought into contact with the end face, and pins (6
3)… and the central pipe part (58) of the air bearing (56)
Coil springs (65) are stretched between the pins (64) provided around and smooth plate (61), that is, table (57).
When no force is applied to the center of the smooth plate (61) and the error bearing (5
The center of 6) is matched.

Further, the seats (66) of the vehicle body (2) are provided at the four corners of the upper surface of the table (57). 3 of these seats (66)
The rest is fixed to the table (57), and the rest of the rest is of the floating fixed type.

That is, in the floating fixed seat (66), the pin (68) is inserted into the cylindrical body (67) fixed to the table (57).
Attach the backing plate (69) to the upper end of 8) and attach the spring (7
The pin (68) is urged upward by (0) so that the receiving plate (69) projects above the receiving plates of the other receiving seats (66) before the vehicle body (2) is placed. Also,
Attach the cylinder unit (71) to the table (57),
The rod (71a) is engaged with the recess formed in the pin (68) through the hole formed in the cylindrical body (67) by the operation of the cylinder unit (71). Further, the receiving plate (69) is provided with an operating body (73) for actuating the limit switch (72) attached to the table (57), and the cylinder unit (71) is operated when the receiving plate (69) is lowered to a predetermined position. ) To engage the rod (71
a) is engaged and the floating fixed seat is locked.

When the lifter base (52) is moved up by the drive of the cylinder unit (54) and the table (57) is moved up accordingly, among the seats (66) provided on the upper surface of the table (57), The receiving plate (69) of the floating fixed type seat comes into contact with a part of the vehicle body (2), and as the table (57) is further raised, the receiving plate (69) relatively resists the spring (70). While descending, the receiving plates (69) of the other three seats (66) ... Abut on a part of the vehicle body (2), and as a result, the vehicle body (2) receives the four seats (66). Abut on all plates. Then, at this time point, the cylinder unit (71) operates to fix the receiving plate of the floating fixed type seat. Therefore, the vehicle body (2) is placed on the table (57) so as not to swing with a slight force.

As described above, with the vehicle body (2) fixed on the table (57), the dish-shaped member (5) of the air bearing (56) is provided.
Since compressed air is supplied to 9) and the upper surface of the dish-shaped member (59) is closed by the smooth plate (61), the table (57)
It is movably supported on the air belling (56) in a horizontal plane. However, since the rollers (62) and (62) fixed to the smooth plate (61) are in contact with the thick portions (59a) and (59a) before and after the air bearing (56), the table (57) is not mounted on the vehicle. It will be floatingly supported so as to be movable only in the width direction. By floatingly supporting the vehicle body (2) in the vehicle width direction in this manner, an error in the vehicle width direction of the hub (6) on one side is eliminated when the hub is corrected, as will be described later.
It becomes possible to eliminate the angular error of the toe-in of the hub (6) on the other side.

Next, the details of the robot (100) will be described. Robots (100)
Is supported on a base (101) as shown in FIGS. 2 and 3, and the base (101) is movable by the cylinder unit (102) in the front-back direction of the vehicle body (2). (Ten
A column (103) is erected on the column (1), and a box portion (104) incorporating a motor and the like is provided on the upper portion of the column (103). The box portion (104) is a cylinder unit (105).
A shaft (106) that can be moved in the vertical direction by a motor and is rotated by a motor in the box (104).
Is laterally supported. Then, the shaft (106) is provided with a portion (A) for correcting the cutting angle of the hub (6) and a phase adjustment of the hub bolt, and a portion for holding the wheel (1) and mounting the wheel (1) on the hub (6). (B) and 9 around the axis (106)
They are mounted apart from each other by 0 °, and the portion (B) can be moved in the vertical direction in FIG. 3 by a cylinder unit (107).

By driving the motor, the shaft (106) rotates 90 ° as shown by the arrow in FIG. 2 so that the portion (A) where the cutting angle correction of the hub (6) and the phase adjustment of the hub bolt have been completed is moved upward. It pivots away from the hub (6) and the part (B) holding the wheel (1) pivots to the position of the hub (6).

Part (A) consists of a correction device (200) and a phase adjustment device (300) for correcting the angle of the hub (6) and the position in the vehicle width direction,
As shown in FIGS. 6 and 7, the correction device (200) is provided with a cylinder unit (202) laterally on a support plate (201) of a portion (A), and a rod (203) of the cylinder unit (202). ) Is fixed to a plate body (205) slidably supported by the guide rods (204) and (204), and a pair of correction bars (206) and (206), which are pressing members, are fixed to the plate body (205). Is installed. As shown in FIG. 6, the correction bars (206) and (206) have a horizontal C-shape and the cylinder unit (202).
The hub (6) is operated independently of the alignment device (300).
Move forward and backward.

Here, the phase matching device (300) is attached to the moving bodies (301) and (302) that move with a very weak force in the lateral and vertical directions via the balance cylinder, and the moving body (302) in the vertical direction. Positioning claws (303), (304) that move in a direction away from each other and in a direction in which they approach each other due to the rotation of a motor or the like.
And a locking piece (305) for removing a dead point when the phase of the hub bolt (60) is adjusted by the phase adjusting claws (303), (304).

Next, a correction method using the correction device (200) will be described with reference to the principle diagrams of FIGS. 8 (A) to 8 (C).

First, FIG. 8 (A) is a plan view (only the front part of the vehicle body is shown) showing the relationship between the vehicle body (2) transported by the transportation device (4) and the correction device (200). In that case, left and right hubs (6L), (6R) and left and right correction devices (20
The correction bars (206) and (206) of 0L) and (200R) are separated. The uncorrected hubs (6L) and (6R) both have a position error of xmm within the allowable range in the vehicle width direction and an angle error of θ ° at the toe-in angle. That is, when the hub (6) is attached to the knuckle, the vehicle body is transported, and the like, an error within a predetermined range certainly occurs. However, if the position error and the angle error are concentrated on one hub, for example, the hub (6R) on the right side, the error increases due to a synergistic effect, and the phase adjusting claws (303) and (304) of the phase adjusting device (300) are replaced by the hub bolt ( 60) or the nut runner device cannot tighten the nut.

Therefore, in the present invention, the protrusion amount of the correction bar (206) of the one correction device (200R) is set to a fixed size, and the other correction device (2
The amount of protrusion of the correction bar (206) of (00L) was set to the end. That is, the correction bar (206) of the correction device (200R) projects toward the hub (6R) by a certain amount, and the correction bar (206) of the correction device (200L) abuts the hub (6L) and stops due to its resistance. Stick out until.

In detail, as shown in FIG. 8 (B), the correction procedure is to first perform a fixed size correction. That is, the correction bar (206) of the correction device (200R) is made to protrude by a predetermined amount and brought into contact with the hub (6R). Then, since the vehicle body (2) is floatingly supported in the vehicle width direction, it is pushed by the correction bar (206) and the entire vehicle body (2) moves in the vehicle width direction. Therefore, in this state, the angular error of the hub (6R) is eliminated. on the other hand,
Since the right hub (6R) and the left hub (6L) are mechanically connected by a knuckle arm and a tie rod shown in phantom, when the right hub (6R) moves, the left hub (6R) moves.
L) also works together. That is, although the right hub (6R) is adjusted in angle, the left hub (6L) also moves due to the movement of the right hub (6R), and as a result, the toe-in angle error is all left hub (6L). Will be concentrated on.

After that, as shown in FIG. 8C, the correction bar (206) of the correction device (200L) on the left side is pushed out and pressed against the hub (6L) on the left side. Here, "push off" means to push with a pressing force smaller than the pressing force of the correction device (200R) on the right side. Therefore, in this state, the left correction device (200L) acts to determine the position in the vehicle width direction of the right hub (6R) with respect to the right correction device (200R) via the left hub (6L), Since the correction bar (206) of the correction device (200R) on the right side is in contact with the hub (6R), the angle of the hub (6L) cannot be adjusted. Therefore, the eighth
As a result of FIG. (C), the position of the hub (6R) in the vehicle width direction is corrected with respect to the correction device (200R) on the right side.

Therefore, the air supplied to the pipe portion (58) in FIG. 4 is stopped to eliminate the floating support. That is, the movement of the vehicle body (2) in the vehicle width direction is restricted.

After this, the correction device (200
Retract the correction bar (206) of R). Then, the action of the left correction device (200L) becomes remarkable, and the toe-in angle of the left hub (6L) is corrected by the pressing action of the left correction bar (206). However, the toe-in angle of the right hub (6R) also changes in conjunction.

Next, the correction bar (206) on the left side is moved backward to complete the series of correction work.

That is, by the above correction procedure, the right hub (6R) has only an angular error within the allowable range, and the left hub (6L) has only the positional error within the allowable range. Becomes

(Effects of the Invention) According to the present invention as described above, since the protrusion amount of one pressing member that corrects the cutting angle and the position of the hub is fixed, the positional error in the vehicle width direction of one hub is automatically determined. It is not necessary to detect the protrusion amount of the pressing member each time it is corrected, and therefore the number of control axes of the wheel mounting robot can be reduced.

In addition, only one position error in the vehicle width direction remains on one of the hubs on both sides of the vehicle body, and only the angle error remains on the other hub.Therefore, the phase matching claws do not engage with the hub bolt during phase matching,
It has many effects such as no twisting when tightening the nut.

[Brief description of drawings]

FIG. 1 is an overall plan view of a wheel mounting device to which the correction method according to the present invention is applied, FIG. 2 is a side view of the wheel mounting device seen from the front of the vehicle body, and FIG. FIG. 4 is a side view of the vehicle body positioning device, FIG. 5 is a bearing portion of a table, FIG. 6 is a front view of a cutting angle correcting device and a phase adjusting device, and FIG. Figure VIII
Side views seen from the direction, and FIGS. 8A to 8C are plan views illustrating the principle of cutting angle correction. In the drawings, (1) is a wheel, (2) is a vehicle body, (3) is a conveyor device, (4) is a transfer device, (5) is a vehicle body positioning device, (6), (6R), (6L). Is a hub, (60) is a hub bolt, (100) is a robot, (200), (200R), (200
L) is a correction device, and (206) is a correction bar.

Claims (1)

[Claims] 1. A conveyed vehicle body is supported so as to be movable in the vehicle width direction while restricting the position in the front-rear direction at a wheel mounting position, and in this state, one of the pressing members arranged on both sides of the vehicle body has a fixed size. After advancing toward the wheel mounting member on one side, one pressing member is brought into contact with the wheel mounting member, then the other pressing member is advanced toward the wheel mounting member with a predetermined force, and after pressing the wheel mounting member, A method for correcting a wheel mounting member, characterized in that movement of the vehicle body in a vehicle width direction is restricted, and thereafter, the one pressing member is retracted, and then the other pressing member is retracted.