JPH0825366B2 - Hub position detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to automating tire mounting of a wheel.
The present invention relates to a hub position detecting device that detects a hub position of a wheel.

[Conventional technology]

As this type of device, a device is known that detects not only the position of the two-dimensional surface of the hub bolt but also the inclination angle of the hub surface three-dimensionally. Then, such detection data is taught to the robot to automatically install the tires. In this case, the two-dimensional position of the hub bolt can be detected using
As disclosed in 529, the hub bolt is rotated to detect the position of the hub bolt, and the inclination of the hub surface is detected at three points from the reference surface facing the hub surface to the hub surface. Then, the inclinations in the orthogonal plane, for example, in the horizontal direction and the vertical direction are obtained from the difference in distance between the two.

[Problems to be solved by the invention]

Therefore, in the case of a vehicle such as a 4WD-equipped vehicle in which other hubs also rotate in conjunction with rotation of the hub, such position detection becomes difficult. In addition, there are problems that the hub bolt moves after the regulation is released and it takes time to measure. When detecting the position of the hub surface, the distance sensor and the hub bolt may interfere with each other.In addition, in the structure where the bolt mounting part is attached to the hub surface from the back, the surface formed by the hub surface and the bolt tip due to the mounting error. Does not always match, and there is a case where measurement accuracy becomes inconvenient when automating tire mounting.

Therefore, according to the present invention, without restricting the hub bolt position, the surface formed by the bolt tip is three-dimensionally detected with the hub fixed in position, and the hub bolt position on the two-dimensional surface is easily detected. It is an object to provide a hub position detecting device.

[Means and Actions for Solving Problems]

In order to achieve this object, the present invention provides a main body (1) that is driven forward toward a hub surface (1a) position of a vehicle to be loaded.
0, 10a, 10b; 42, 45) has a flat surface having an area capable of contacting the tips of all the hub bolts (2) and has a flat surface.
0) is rotatably supported three-dimensionally with a point on the center line orthogonal to the hub surface (1a) as a center point, and is orthogonal to the reference surface parallel to the hub surface (1a) and this surface. plate scanning with respect to the reference plane and; (44, 47 19 _{1-19 3),} the body (10, 10a, 10b; (20 40) of a sensor for detecting an angle 4
(2, 45) Sensor that detects the amount of displacement due to forward drive (1
6) and first detection data output means (25) for outputting the data detected by each sensor (16, 19 _{1 to} 19 ₃ ; 44, 47) at the time when it is detected that at least three tips are contacted. ) And.

Further, the copying plate (20; 40) is driven to rotate by a drive source (31; 51) around a rotation axis that passes through the center point and is orthogonal to the copying plate, and is located outside the side surface of the hub bolt (2). Non-contact type distance sensor (3
5; 59) is attached to the rotating body (30; 50), and the rotation angle sensor (36; 56) that detects the rotation angle of this rotating body from the rotation reference position, and Rotating body (3
The distance data of the at least three positions sequentially detected by the distance sensor (35; 59) by the rotation of the rotation angle (0; 50) and the rotation angle data detected by the rotation angle sensor (36; 56) at each detection time point. And the detection data output means (37).

[Action]

When the main body (10, 10a, 10b; 42, 45) is driven forward toward the hub (1a), the copying plate (20; 40) is rotatable and thus contacts at least three tips. . Then, the first detection data output means upon detection of the abutment (25), the sensor (19 ₁ to 19 _3; 44, 47) is scanning plate detected; three dependent on the inclination of the (20 40) primary Main body (10, 10a, 10b; 42, 4) detected by the original angle data and sensor (16)
5) Output the displacement amount data.

By rotating the rotating body (30; 50) in response to the contact detection, the distance sensors (35; 59) sequentially come to the rotation angle positions of at least three hub bolts (2), and the second detection data is obtained. The output means (37) outputs these distance data and the rotation angle data detected by the rotation angle sensor (36; 56) at each detection time as data for specifying the position of the hub bolt (2).

Example of Invention

1 to 3 show hub position detection positions according to an embodiment of the present invention.

In FIG. 1 and FIG. 2, 10 is a main body base of this device, and a guide block 13 attached to the back surface thereof.
Is driven forward toward the hub 1 by the cylinder 14 along the guide rod 12 supported by the guide base 15.

In the body frame 10a, a spherical bearing 18 having a rotation center point P at one point on the center line A orthogonal to the center point of the vertical surface 1a of the hub 1 in the standard arrangement state of the vehicle loaded,
It is supported. Then, a circular copying plate 20 having flat surfaces on both sides and having an area including all the hub bolts 2 is fixed in front of the fixed hub 18a fixed inside the spherical bearing, and in parallel with the copying plate 20 at the rear side. Measuring plate 20 with flat sides
a is installed.

The body frame 10b located behind the measuring plate 20a has 3
The distance sensors 19 _{1 to} 19 ₃ are arranged symmetrically with respect to the vertical line B and the horizontal line C passing through the intersection point P ₁ of the vertical plane including them and the center line A and the same distance L. (Fig. 2). These distance sensors 19 _{1 to} 19 ₃ are of an optical type and irradiate the back surface of the copy plate 20 with light to measure the distance from the incident angle of the reflected light.

The cylinder 14 is provided with a drive circuit 14a for driving the copy plate 20 forward to drive at least three hub bolts 2
When the pressure sensor 14b in the cylinder inner chamber detects a pressure increase due to overload, the cylinder 14 is stopped from operating, and the distance sensor 19 at that time is detected by the detection data output means 25. Distance data detected by _{1 to} 19 ₃
Output l ₁ , l ₂ , and l ₃ . Further, the body frame 10b is provided with an optical distance sensor 16 that measures the amount of displacement d of the body position from the reference position by measuring the distance between the position-fixed measurement plates 16a.

As a result, the calculating means 26 calculates the angle α ₁ with respect to the vertical direction by the following formula, as shown in FIG.

Similarly, the angle α ₂ with respect to the horizontal direction is calculated from the following.

Reference numeral 29 denotes a copying plate restraining device in which an L-shaped bracket 29c fixed to the copying plate 20 is fixed to a bolt 29b protruding from a spherical bearing 29a whose center is located on the vertical line of the center point P. This spherical bearing is provided with a side plate 29 depending on the inclination of the copy plate 20.
It slides or rotates along d and is sandwiched by another side plate 29e driven by a cylinder 29f that responds to the pressure detection by the pressure sensor 14b.

Inside the fixed hub 18a in the spherical bearing 18, a rotating body 30 that rotates around the center line of the copying plate 20 that coincides with the center line A in the standard state is supported via the bearings 32 and 33.
This is rotationally driven via a ball joint 32 by a motor 31 attached to the main body frame 10b. An ultrasonic distance sensor 35, for example, which is located outside the side surface of the hub bolt 2 in the radial direction and measures the distance to the side surface, is attached to the horizontal portion of the L-shaped rotating body. A rotation angle sensor 36 for detecting a rotation angle from the rotation reference position is attached to the motor 31.

The distance sensor 35 emits an ultrasonic pulse toward the center line of the copy plate 20 and measures the distance from the time when the reflected signal is generated. In response to the pressure detection of the pressure sensor 14b, the motor 31 is continuously rotated by one rotation from the rotation reference position based on the detection signal of the rotation angle sensor 36 at a rotation speed that does not affect the distance measurement accuracy by the motor control circuit 31a. Be rotated.

The reflection signal of the distance sensor 35 is supplied to the detection data output means 37 via the slip ring of the main body frame 10a together with the reference signal at the time of pulse emission. This output means is composed of a CPU, and as shown in FIG.
5 those of the inner center position of the reflected signal E as a detection signal of the normal to the hub bolt 2 located on the front side of the dashed line for receiving, by measuring the time difference between the reference signal by the clock pulse, the hub bolt 2 ₁ to 2 distance data L ₁ position P ₁ to P ₃ of _3,
Detects L ₂ and L ₃ . Further, as shown in FIG. 5, the output signal of the rotation angle sensor 36 at the time of detection of the regular reflection signal E is converted into rotation angle data β ₁ , β ₂ , β _{3 with} respect to the rotation reference position B.
Output as

Similarly, reference numeral 38 is a CPU-based computing means, and based on the data of the detection data output means 37, as shown in FIG.
The rotation angle with respect to the rotation reference position B ₁ parallel to the center position 0 _{1 of} 1a and the rotation reference position B is calculated. In other words, the hub bolts 2 ₁ to 2 ₃
The positions P ₁ (x ₁ , y ₁ ), P ₂ (x ₂ , y ₂ ) and P ₃ (x ₃ , y ₃ ) of are calculated from the following relation.

_{x 1 = (R-L 1} ) cos (β 1 -π) x 2 = (R-L 2) cos (β 2 -π) x 3 = (R-L 3) cos (β 3 -π) y 1 _{= (R-L 1) sinβ} 1, y 2 = (R-L 1) sinβ 2 y 3 = (R-L 3) sinβ 3 wherein, R: the sensor turning radius then vertical 2 of P _1, P ₂ As the intersection of the bisector and the perpendicular bisector of P ₂ and P ₃ , the center position of the hub surface 1a is 0 ₁ (x, y)
To calculate.

The rotation angle theta ₁ is calculated from the following relation with respect to the rotational reference position B ₁ of the position of the first hub bolt 2 _1.

The operation is as follows.

When the cylinder 14 is driven forward toward the hub surface 1a of the main body 10, 10a, 10b while the hub 1 is in the predetermined position, the copying plate 20 is three-dimensionally rotatable, so that at least three copying plates 20 are provided. Contact the hub bolt 2 of. Pressure sensor 14
b detects this contact and stops the forward drive,
The cylinder 29f of the restraint device is operated to restrain the copying plate 20. Furthermore, a distance sensor for the detection data output means 25
Distance data l ₁ , l ₂ , l ₃ detected by 19 _{1 to} 19 ₃ and body 10,
The displacement amount data d of 10a and 10b is output, and the computing means 38 is caused to output the inclination data α ₁ and α ₂ of the hub surface.

At the same time, the motor 31 is operated and the detection data output means 37
The distance data L ₁ to the hub bolt _{2 1 ~2 3, L 2,} L 3 and rotation beta ₁ at each _position, beta _2, to output a beta _3, calculating means 26
Outputs the actual center position data 0 ₁ and the rotation angle data θ ₁ of the hub 1.

Therefore, by teaching these data to the robot, the robot faces the hub 1 instead of this device,
Adjust the rotation center position and rotation angle of the hand of the robot arm that grips the tire, and attach the mounting hole to the hub bolt 2
To be attached to.

FIG. 6 shows a hub position detecting device according to another embodiment of the present invention.

In the figure, reference numeral 40 is a copy plate, and the receding surface around it.
It is attached to the support plate 41 at 40a. The rotating shaft 41a of the support plate is supported in the horizontal direction by passing through the center point P of the flat surface of the copying plate 40 by bearings 43 installed on both upper sides of the U-shaped main body frame 42. Body frame
42 is further supported by a cross roller bearing 46 housed in the main body base 45 by a pencil-shaped rotating shaft 42a passing through the center point P. A rotation angle sensor 44 for detecting the rotation angle of the copy plate 40 with respect to the horizontal plane is attached to the rotation shaft 41a. On the other hand, a rotation angle sensor 47 that detects a rotation angle with respect to the vertical plane is attached to the rotation shaft 42a.

Reference numeral 50 denotes a gear plate as a rotating body sandwiched between the copy plate 40 and the support plate 41, and a gear 50a is formed around the gear plate. The gear 50a is fixed to the bracket 58 to which the distance sensor 59 is attached and also to the motor fixed to the support plate 41.
It meshes with a gear 52 driven by 51. Therefore, the gear plate 50 is rotationally driven along the V-pulley 54 with the roller 53 arranged at a plurality of positions inside thereof. The output signal of the distance sensor 59 is transmitted via a slip ring (not shown) between the gear plate 50 and the support plate 41. In this case, the motor 51
Is supported by the support plate 41 itself which is three-dimensionally rotatably supported, so that there is no fear of frictionally entraining the copy plate 40 when the gear plate 50 rotates, so that a device for restraining its movement is unnecessary. .

The main body 42, 45 is driven forward toward the hub surface 1a, and the detection signals of both rotation angle sensors 44, 47 at the time when the copy plate 40 abuts the tip of the hub bolt, the respective inclination angles with respect to the orthogonal planes can be known. . From the distance sensor 59 and the rotation angle sensor 56 attached to the motor 51, the distances L ₁ , L ₂ , L ₃ and the rotation angle β
The data of ₁ , β ₂ , and β ₃ are output, and the displacement amount data by the forward drive is also output by the associated sensor.

〔The invention's effect〕

As described above, according to the present invention, in a state in which the hub is positionally fixed with a simple structure, the surface formed by the hub bolt tip can be measured, and the displacement of the hub bolt in the two-dimensional surface can be detected. More precise data is obtained for inserting bolts into their mounting holes during automation. In addition, it can be applied without problems to vehicles in which mutual hubs work together.
Moreover, position detection is performed in a short time when the distance sensor makes one non-contact rotation, and the device has few moving parts and is simple and highly safe. Signal processing enables detection regardless of the number of hub bolts. Become.

[Brief description of drawings]

FIG. 1 is a diagram including a sectional view showing the configuration of a hub position detecting device according to a first embodiment of the present invention, FIG. 2 is a front view and a partial sectional view of the same embodiment, FIG. 3, FIG. FIG. 5 is a view for explaining the operation of the same embodiment, and FIG. 6 is a front view and a partial sectional view of a hub position detecting device according to another embodiment of the present invention. 1a: Hub surface, 2: Hub bolt, 16, 19 _{1 to} 19 ₃ , 35, 59 ... Distance sensor, 20, 40 ... Copy plate, 30 ... Rotating body, 31, 51 ... Motor, 36, 44, 47, 56 ... Rotation angle sensor,
50 ... Gear plate.

Continuation of the front page (56) References JP-A-60-18403 (JP, A) Actually opened 60-42527 (JP, U) Actually opened 56-62510 (JP, U)

Claims (1)

[Claims] 1. A main body, which is driven forward toward a hub surface position of a vehicle to be carried in, has a copying plate having a flat surface having an area capable of contacting the tips of all the hub bolts, the center being orthogonal to the hub surface. A sensor for detecting the angle of the copying plate with respect to a reference plane parallel to the hub surface and a reference plane orthogonal to the reference surface, while allowing the point on the line to be rotatably supported three-dimensionally around the center point, A sensor for detecting the amount of displacement of the main body by the forward drive, and a first detection data output means for outputting the data detected by each sensor at the time when the contact with at least three tips is detected. The drive plate is driven to rotate around a rotation axis that passes through the center point and is orthogonal to the copy plate, and is positioned outside the side surface of the hub bolt to measure the distance to the side surface. You While supporting a rotating body to which a non-contact type distance sensor is attached, a rotation angle sensor for detecting a rotation angle of the rotating body from a rotation reference position, and the rotation of the rotating body after detecting the contact, Hub position characterized in that at least three distance data sequentially detected by the distance sensor and second detection data output means for outputting the rotation angle data detected by the rotation angle sensor at each detection time point are provided. Detection device.