DE102004049470A1 - Automatic assembly device for wheels can assemble wheels in the flow mode or in timing mode during temporary stoppages - Google Patents

Abstract

The assembly device (10) can be fitted to the vehicle (12) in the flow mode, during the preferably continuous movement of the vehicle on a conveyor belt; or in timing mode, during a stoppage or standby period, by the vehicle itself moving along the conveyor belt. The process may be assisted by a camera system (29), receiving data on the progress of the assembly process.

Description

technical area

The The invention relates to a device for automatic wheel mounting according to the preamble of claim 1 and a method according to the Preamble of claim 9.

at Radmontage or wheel mounting is now common, the Wheels with their rims on a vehicle or on the brake discs manually to assemble. The wheels be in a feed belt received by a first assembly worker with a mounting aid and pre-fastened with a screw. A second assembly worker leads the rest Screw in and bolt the wheel completely with another mounting aid, which includes a screwdriver. There are a total of two per vehicle side Assembly workers provided, making a total of four assembly workers needed become.

From the DE 32 46 220 C2 a device for automatically mounting a wheel rim on a wheel hub is known. It is provided that the hole pattern of the wheel hub detected by a television sensor system and thereby a correct position, automatic positioning of the rims by controlling a gripping and mounting device is made possible. The gripping and mounting of the wheel via the gripping and mounting device with a multiple screwdriver. The device has a plurality of gripping arms which grip the wheels at their outer periphery. The wheel is thus included outside. In practical use, there is the problem that significant positional variations due to tolerances of the wheels occur.

In the DE 199 37 243 C1 describes how the wheels of racing cars can be replaced within a few seconds in the supply box at car racing. Furthermore, the search of the filler neck to be optimized by the tank robot.

Presentation of the invention, Task, solution, advantages

Of the Invention is based on the object, a device according to the To provide a preamble of claim 1 and a method according to to make the preamble of claim 9, with a precise location Wheel installation possible is.

These The object is achieved by the characterizing features of claim 1 in conjunction with its generic features or by a procedure solved according to claim 9. Furthermore, this object is achieved by the characterizing features the additional claim 11 in conjunction with its generic features solved.

at the solution according to the invention is the wheel is not outside includes, as known in the art, but the Rim through the middle and by means of the gripping head, the spreads, recorded. This results in a very easy positioning possible, especially according to one preferred embodiment which approaches the brake disk Gripping head by a corresponding configuration of the inner region the brake disc is automatically picked up and centered. in this connection can the usual Used designs of brake discs and for centering the mounting head be used.

By be the construction of the invention Inaccuracies through the tires and through the different ones Rim types no longer pose a problem during positioning.

One Another advantage of the invention is that the outer shape of the wheel does not matter anymore. This allows different wheels without change the gripper or the gripping tool of the device are mounted.

According to one advantageous embodiment of the Device according to the invention is provided that the mounting head to a mounting arm, in particular a mounting robot arm of an industrial robot, rotatable and / or pivotable is attached and indeed to the correct position overlay put of rim bores and threaded holes on the brake disc. Through the industrial robot and the rotatable design of the mounting head can be a precise location aligned with the threaded holes positioning in a simple Be achieved. By attaching screwdrivers the mounting head can These turn around, so that an automatic alignment of the Screwdriver is given. Thus, it is very cheap if the mounting head Screwdriver for fixing of rim bolts are arranged.

preferably, the mounting head is provided with a Abschiebehülse, which are formed is that when screwing by means of the screwdriver at the same time causes a pushing off of the rim from the gripper. This will not the full force when loosening of the wheel from the mounting head alone spent by the screws. This cheap Power distribution causes a gentle assembly of the wheel.

If the gripper has a configuration such that a centering when gripping Hand of an inner portion of the brake disc takes place, then a very precise pre-positioning of the wheel is not necessarily required when it is transported by a conveyor belt to a receiving point, a frame, a mounting table or the like. The industrial robot can accurately pick up the wheel from the receiving point based on the centering.

In a further advantageous embodiment of the device according to the invention this is as a computer-controlled mounting device with at least a camera formed. Preferably, it is with two or three cameras and an image processing system, in particular one Three-dimensional image processing system for spatial coordinate acquisition the threaded holes and thus for fully automated, accurate position wheel assembly Mistake.

The Wheel can parallel by the accuracy of the image processing system be attached to the brake disc. A change through the fall, the Steering angle, the rotational orientation of the brake disc, the position of the wheel carrier and the positioning of a hanger is compensated accordingly by the system.

The Image processing system is thus designed such that a Determining the location of the vehicle and / or the brake disc with in particular three, four to five threaded holes for the wheel bolts and / or the wheel to be mounted takes place.

Especially is appropriate an assembly station with at least one device according to the invention. The assembly station consists of at least one feed belt for the wheels, the to a horizontal Radablage, in particular a frame part ends. The mounting frame includes a centering, so that a pre-positioning given when gripping the mounting frame. The frame part is in the Near the Device arranged and the centering is preferably with provided a stop in the design of a prism. These advantageous measure requires little effort in the implementation and is easy in existing Assembly processes can be integrated. It thus allows a rational installation on a vehicle.

Especially are two opposite, respectively Robots positioned laterally from the vehicle for mounting respectively a rear wheel and a front wheel available, so under cost optimization aspects a quick installation is achieved.

• – einen Zuführungsvorgang der Räder, in die Räder vereinzelt werden bevor das Fahrzeug mit einer Vorder- und/oder Hinterachse eine Montageposition erreicht hat,
• – vorzugsweise auch einen Ermittlungsvorgang der Höhe der Greifposition für den Roboter,
• – einen Greifvorgang, in dem ein Greifer in das Rad innen greift,
• – einen Wartevorgang zur Ermittlung der Position der Gewindebohrungen und/oder der Bremsscheibenposition,
• – einen Schwenkvorgang eines Roboterarmes,
• – einen Positionierungsvorgang des Rades und
• – einen Befestigungsvorgang, in dem das Rad komplett automatisch verschraubt wird.

Particularly effective is an assembly with the following assembly steps or by:

• A feeding operation of the wheels, in which wheels are separated before the vehicle has reached a mounting position with a front and / or rear axle,
• Preferably also a determination process of the height of the gripping position for the robot,
• A gripping operation in which a gripper engages inside the wheel,
• A waiting process for determining the position of the threaded bores and / or the brake disk position,
• A pivoting action of a robot arm,
• - A positioning process of the wheel and
• - A fastening process in which the wheel is screwed completely automatically.

The preferred mounting method allows very little cycle times of less than 55 seconds including a vehicle change.

Also according to the invention provided that a three-dimensional image processing system used is connected to the multiple cameras, on the one hand a Determining the location of the vehicle, the wheel carrier with its hole pattern and to detect the wheel to be mounted and on the other hand, a correction a position of the industrial robot to achieve a different Position by a fall, a steering angle, a vehicle positioning and a position of the wheel carrier and a rotational orientation of the wheel carrier can be compensated.

By this embodiment of the invention is it is possible the rim exactly parallel and in the correct rotational position to the Align the brake disc.

Further advantageous embodiments of the invention are characterized in the subclaims.

Short description of drawings

One embodiment The invention will be explained in more detail with reference to the drawing, wherein further advantageous Developments of the invention and advantages thereof described are.

It demonstrate:

1 a schematic representation of an embodiment of the device according to the invention for wheel mounting on a car,

2 a schematic representation of an embodiment of a mounting head of the device,

3 a schematic representation of the mounting head with spreading elements for gripping a wheel rim, wherein the spreading elements are not spread apart,

4 3 a schematic representation of the mounting head with the spreading elements, wherein the spreading elements are spread apart,

5 a schematic representation of an assembly station with two industrial robots according to the invention in a production line, each with the device according to the invention seen from above and

6 a schematic representation of the assembly station seen from the side.

1 illustrates a device 10 for automatic industrial wheel mounting (Rad 100 with tires) on a wheel carrier, in particular a brake disc 11 of a vehicle 12 , in particular a car. The mounting device 10 is with a mounting head 13 provided with a gripper 14 is equipped and attached to an industrial robot 15 or to a free end of the robot arm 16 is attached.

The gripper 14 is inventively as a center hole 17 a wheel rim 18 , in the 2 is shown in principle, sweeping expander 19 educated. In the 3 and 4 this element is roughly represented.

The mounting head 13 , on the mounting arm or the robot arm 16 is fixed, is rotatably and / or pivotally mounted. This is required for rim bores 20 and mounting holes or threaded holes 21 on the brake disc 11 in the correct position by the robot 15 or its mounting head 13 can be placed on top of each other.

As 2 show is on the mounting head 13 electrically powered screwdrivers 22 for fixing rim screws 23 arranged. Every screwdriver 22 is for example designed such that the screws 23 is supplied from a separating device via a quadruple distributor, not shown. The rim bolts are preferably blown through hoses and each screwdriver 22 fed.

Of the Use of standard screw technology is preferred. Is advantageous also turn all the screws first left then right around to one minimal misalignment in the depth of the gland.

Which is also not shown that the mounting head 13 is provided with a Abschiebehülse. This is designed such that when screwing by means of the screwdriver 22 at the same time pushing off the rim 18 from the gripper 14 causes.

Through a station for changing the nut for the screwdriver 22 the bolt and an additional separation can be processed automatically these screws.

For centering the wheel 100 on the mounting head 13 has the mounting head 13 , especially the gripper 14 , a centering on, with the central rim hole 17 interacts. After centering the wheel 10 on the mounting head 13 , the wheel must be attached to the brake disc 11 be centered. This is done via a central survey 40 ( 2 ). Therefore, the gripper points 14 an embodiment in such a way that a centering on the basis of an inner region of the brake disc 11 he follows.

As 1 Furthermore, the device according to the invention has a design as a computer-controlled mounting device with at least one camera, preferably with two or three cameras 25 . 26 . 28 and an image processing system 30 on.

The first camera 25 For example, it is positioned and adjusted to provide a total image of the vehicle 12 is recorded. A second camera 26 is closer to the brake disc 11 arranged to capture the hole pattern can. At least one more camera 28 is arranged to enable three-dimensional detection, in particular as in the case of taking 3D movies. The third camera 28 is, for example, approximately parallel to the first camera 25 and arranged at about the same distance from the image object, so that the images are slightly offset. This allows image objects to be captured in the correct spatial coordinate assignment (3D effect). Another 3D solution, for example, with two perpendicular cameras that detect vertical planes, is also possible.

The particular three-dimensional image processing system 30 therefore, it is used for spatial coordinate detection of the threaded holes 20 and thus for fully automated, accurate wheel assembly. The image processing system 30 is further designed according to this example, that a space determination of the position of the vehicle 12 , the brake disc 11 in particular three, four to five threaded holes 20 for the wheel bolts 23 and the wheel to be mounted 100 he follows.

If Differences exist between the vehicles to be detected and also differences between front and rear axle exist, these can be measured before each assembly.

As the 3 and 4 illustrate, the mounting head engages 13 with his claw 14 or its spreading element 19 Inside. The expansion element comprises a plurality of expansion parts 31 . 32 or more spreader zones that can be moved resiliently, for example. As shown, the spreading elements can, for example, the rim with a projection 33 and / or a groove 34 ( 4 ) behind.

A preferred variant of a mounting station 50 with the device according to the invention 10 is in the 5 and 6 shown. This is used in a production line, in particular of passenger cars. The assembly station 50 has two feeder belts 35 . 36 for the wheels to be mounted 101 . 102 on. Other wheels 103 to 105 are located in a separation plant for later assembly.

The feed belts end on a horizontal wheel rest, preferably a frame part, wherein the frame part is provided with an unillustrated centering and in the vicinity of the mounting device 10 is arranged. The centering is preferably provided with a stop in the configuration of a prism. This then retracts and releases the wheel. An excavation engages inside the rim 18 and lift the wheel 100 at. The wheel is rotated by the excavation, with a measuring system observing the rotation and stopping it. The wheel 100 is then laid off from the ascent there oriented where it was before.

The assembly station 50 preferably has two opposite, each side of the vehicle 12 positioned robots 39 for mounting one rear wheel and one front wheel of the car.

If the vehicle 12 , preferably on a mounting frame to the wheel mounting device 10 in its spatial position and the spatial position of Radschraubenbohrungen 20 relatively on the brake disc 11 or relative to the vehicle 12 are fixed and the spatial position of the delivered wheel 100 or in particular the rim 18 and in the rim 18 contained holes 20 are fixed, then the actual assembly process, which consists in that the wheel 100 from the mounting head 13 grabbed and the brake disc 11 is supplied.

After bringing the rim 18 the attachment to the brake disc 11 on the existing bead (not shown) for centering the rim, in such a way that the holes 20 the rim 22 and the holes 21 the brake disc on top of each other, so that the screwing process can begin. When screwing the wheel is 100 through the screws 23 to the brake disc 11 drawn. This minimizes the force that the robot has 15 ( 1 ) 38 respectively. 39 on the suspension and thus on the vehicle 12 exercises.

The clock is divided into two stop positions and allows the robot 38 respectively. 39 access to the vehicle at the height of the two wheel suspensions. The work on the vehicle 12 is performed at a standstill, so that influences are largely excluded by the movement of a hanger.

A wheel assembly can still look like this:
It is advantageous to create a list of production data of a control to generate the wheels already at the inlet of the vehicle 12 to be able to record.

First, a feeding operation of the wheels 103 - 105 , The front wheels are separated before the vehicle 12 has reached a mounting position with a front axle.

The robot 38 respectively. 39 possibly performs a change of a nut.

The wheels ( 103 - 105 ) are supplied.

The screws 23 are fed.

The height of the gripping position for the wheels ( 101 . 102 ) is determined.

The robot 38 respectively. 39 moves with the gripper 14 in the wheel ( 100 ) and access it inside.

The screwdrivers 22 turn slowly and the nut runner jumps on the screw 23 ,

The robot 38 respectively. 39 rides the bike ( 100 ) in a waiting position.

The vehicle 12 is stopped and the image processing system 30 determines the position of the brake disc 11 ,

The robot 38 respectively. 39 takes the position corrections and guides the wheel 100 over a flange and sets the screws 23 at.

The wheel 100 is completely screwed.

Of the Robot drives back to the wheel feed.

The vehicle is further promoted and stops with the rear axle in the assembly station 50 at.

Of the Procedure for mounting the rear wheel is with the assembly of the front wheel comparable.

The Concept is highly flexible and also on new vehicle models E87 / E46 and wheels or tires applicable.

The The invention is not limited only to the examples described, but also includes equivalent embodiments. Also, any single feature of the description with a be combined with other described feature.

10

contraption

11

brake disc

12

vehicle

13

mounting head

14

grab

15

industrial robots

16

robot arm

17

center bore

18

wheel rim

19

spreader

20

spoke holes

21

drilling

22

Screwdrivers

23

screw

24

rims screw

25

first camera

26

second camera

27

28

third camera

29

30

Image processing system

31

first spreading

32

second spreading

33

head Start

34

groove

35

first conveyor belt or feed belt

36

second conveyor belt or feed belt

37

38

first robot

39

second robot

40

survey

50

assembly station

100-105

bikes

Claims (11)

Contraption ( 10 ) for automatic wheel mounting on a wheel carrier, in particular a brake disc ( 11 ) of a vehicle ( 12 ), with a mounting head ( 13 ), with a gripper ( 14 ), characterized in that the gripper ( 14 ) as a center hole ( 17 ) a wheel rim ( 18 ) thorough spreading element ( 19 ) is trained. Device according to claim 1, characterized in that the mounting head ( 13 ) on a mounting arm, in particular a mounting robot arm ( 16 ), is rotatably and / or pivotally mounted and that for the correct overlapping of rim bores ( 20 ) and tapped holes ( 21 ) on the brake disc. Device according to claim 2, characterized in that on the mounting head ( 13 ) Screwdriver ( 22 ) for fixing rim screws ( 23 ) are arranged, in particular that the screwdriver ( 22 ) is designed such that screws ( 23 ) are fed from a separating device via a multiple distributor, preferably a four- or five-fold distributor, and the screws ( 23 ) are blown through hoses. Apparatus according to claim 3, characterized in that the mounting head ( 13 ) is provided with a Abschiebehülse, which is designed such that when screwing by means of the screwdriver ( 22 ) at the same time pushing off the rim ( 18 ) from the gripper ( 14 ) causes. Device according to one of the preceding claims, characterized in that the gripper ( 14 ) an embodiment has such that a centering on the basis of an inner region of the brake disc ( 11 ) he follows. Device according to one of the preceding claims, characterized by a design as a computer-controlled mounting device with at least one camera, preferably with two or three cameras ( 25 . 26 . 28 ), and an image processing system ( 30 ), in particular a three-dimensional image processing system, for spatial coordinate detection of the threaded holes ( 21 ) and thus for fully automated, position-accurate wheel assembly, wherein the image processing system ( 30 ) is designed such that a spatial determination of the position of the vehicle ( 12 ) and / or the brake disc ( 11 ) with in particular three, four to five threaded holes ( 21 ) for the wheel bolts and / or the wheel to be mounted ( 100 ) he follows . Assembly station ( 50 ) with at least one device ( 10 ) according to one of the preceding claims, characterized by at least one feed belt ( 35 . 36 ) for the wheels terminating in a horizontal wheel well, centering it in the vicinity of the device ( 10 ) is arranged, and the centering is preferably provided with a stop in the configuration of a prism, wherein the station ( 50 ) preferably two opposing robots each positioned laterally of the vehicle ( 38 . 39 ) for mounting each of a rear wheel and a front wheel has. Assembly station according to claim 7, characterized by an arrangement in a production road of motor vehicles ( 12 ), especially of passenger cars. Method for automatic wheel mounting to a brake disc ( 11 ) of a vehicle ( 12 ) by means of a mounting head ( 13 ), with a gripper ( 14 ), in particular with a device ( 10 ) or an assembly station ( 50 ) according to any one of the preceding claims, characterized in that a passage of the wheel to a central bore ( 17 ) takes place on the basis of a spreading process. Method according to claim 9, characterized by - a feed operation of the wheels ( 103 - 105 ), in the wheels are separated before the vehicle ( 12 ) has reached a mounting position with a front and / or rear axle, preferably also a determination process of the height of the gripping position for the robot ( 15 . 38 . 39 ) - a gripping process in which a gripper ( 14 ) in the wheel ( 100 ) engages inside, - a waiting process for determining the position of the threaded bores ( 21 ) and / or the brake disc position - a pivoting operation of a robot arm ( 16 ), - a positioning operation of the wheel ( 100 ), - a fixing process in which the wheel ( 100 ) is completely automatically screwed. Method for automatic wheel mounting on a wheel carrier, in particular a brake disk ( 11 ) of a vehicle ( 12 ) by means of a mounting head ( 13 ), with a gripper ( 14 ), the mounting head ( 13 ) on a robot ( 38 . 39 ) and is coupled to a television sensor system for detecting a rim hole pattern, so that wheel rim ( 18 ) and wheel carrier are superimposed in the correct position, in particular with a device ( 10 ) or an assembly station ( 50 ) or according to a method according to one of the preceding claims, characterized in that a three-dimensional image processing system ( 30 ), where several cameras ( 25 . 26 . 28 ) is used, on the one hand, a space determination of the position of the vehicle ( 12 ), the wheel carrier with its hole pattern and the wheel to be mounted to capture and on the other hand, a correction of a position of the industrial robot ( 15 . 38 . 39 ), so that a different position by a fall, a steering angle, a vehicle positioning and a position of the wheel carrier and a rotational orientation of the wheel carrier can be compensated.