JP2690590B2 - Wheel hub detection method - Google Patents

Wheel hub detection method

Info

Publication number
JP2690590B2
JP2690590B2 JP2074487A JP7448790A JP2690590B2 JP 2690590 B2 JP2690590 B2 JP 2690590B2 JP 2074487 A JP2074487 A JP 2074487A JP 7448790 A JP7448790 A JP 7448790A JP 2690590 B2 JP2690590 B2 JP 2690590B2
Authority
JP
Japan
Prior art keywords
hub
wheel hub
measurement point
inclination
center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2074487A
Other languages
Japanese (ja)
Other versions
JPH03273102A (en
Inventor
章剛 五十嵐
康人 渡辺
隆次 椋本
保朗 山中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2074487A priority Critical patent/JP2690590B2/en
Publication of JPH03273102A publication Critical patent/JPH03273102A/en
Application granted granted Critical
Publication of JP2690590B2 publication Critical patent/JP2690590B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Description

【発明の詳細な説明】 （産業上の利用分野） 本発明は車両の組立工程等において、車輪の自動組付
ロボット等の位置制御を行なうため、ホイルハブの位
相、中心或はハブ面の傾きを検出するようにした検出方
法に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention controls the position of a wheel hub, such as the phase of the wheel hub, the center, or the inclination of the hub surface, in order to control the position of an automatic wheel assembly robot in a vehicle assembly process or the like. The present invention relates to a detection method for detecting.

（従来の技術） 従来、車両の組立工程等における車輪の自動組付にあ
っては、ホイルの取り付け場所であるホイルハブの中心
とハブボルトの位相を検出して、組付ロボット等の位置
制御を行なうようにしている。しかしこの際、ハブの中
心と位相出し以外にハブ面の傾き誤差の問題があり、例
えばキャンバーとかトーインといったハブ面の傾き設定
は、ホイルを組み付けた後行なうようにしているため、
ホイルを組み付ける段階では、未だハブ面の調整はなさ
れておらず、一定の状態となっていなかった。このため
ホイルのハブボルトに取り付けて、ナットランナで締付
ける際、軸方向が狂って締付け異常が生ずることがあっ
た。そこで例えば特開昭63−68478号のようなタイヤ取
付方法が提案され、この方法では３台のレーザ投光器に
よってハブ面を照射し、これを２台のカメラによって撮
像してハブの位置と傾きを検出するようにしている。(Prior Art) Conventionally, in the automatic assembly of wheels in a vehicle assembly process or the like, the position of the assembly robot or the like is detected by detecting the phase of the hub bolt and the center of the wheel hub where the wheel is attached. I am trying. However, in this case, there is a problem of the inclination error of the hub surface other than the centering of the hub and the phase adjustment.For example, the inclination of the hub surface such as camber or toe-in is set after the wheel is assembled.
At the stage of assembling the wheel, the hub surface was not adjusted yet, and it was not in a certain state. For this reason, when it is attached to the hub bolt of the wheel and tightened with the nut runner, the axial direction may be misaligned and a tightening error may occur. Therefore, for example, a tire mounting method as disclosed in Japanese Patent Laid-Open No. 63-68478 has been proposed. In this method, the hub surface is illuminated by three laser projectors, and this is imaged by two cameras to measure the position and inclination of the hub. I'm trying to detect.

（発明が解決しようとする課題） しかし前述の特開昭63−68478号の場合は、３台のレ
ーザ投光器と２台のカメラを使用し、しかも位相出しと
中心、傾き検出を別々に行なうようにしているため装置
が高価で大がかりとなり、装置の保守も大変になるとい
う問題があった。(Problems to be solved by the invention) However, in the case of the above-mentioned Japanese Patent Laid-Open No. 63-68478, three laser projectors and two cameras are used, and phase extraction, center, and tilt detection are performed separately. Therefore, there is a problem that the device becomes expensive and large-scale, and the maintenance of the device becomes difficult.

（課題を解決するための手段） かかる課題を解決するため、本発明は、ホイルハブの
ハブ面のハブボルトに対し一定の位置関係を有する２点
からハブ面に垂直方向にビーム光を発光させ、これを第
１の計測点の投影板に写して視覚センサで検出し、次い
で第１計測点からビーム方向に所定間隔離れた第２の計
測点の投影板に写して視覚センサで検出するようにし
た。そしてこれら検出値を演算部で処理してハブの位
相、中心或は傾きを求めるようにした。(Means for Solving the Problem) In order to solve the problem, the present invention emits beam light in a direction perpendicular to the hub surface from two points having a fixed positional relationship with the hub bolt on the hub surface of the wheel hub. On the projection plate of the first measurement point and detected by the visual sensor, and then on the projection plate of the second measurement point that is separated from the first measurement point by a predetermined distance in the beam direction and detected by the visual sensor. . Then, these detected values are processed by the arithmetic unit to obtain the phase, center or inclination of the hub.

（作用） 第１の計測点で投影板に写されたビーム光の位置と、
第２の計測点で投影板に写されたビーム光の位置の偏位
をＸ−Y2軸方向に分解して演算することにより、ハブ面
のＸ軸、Ｙ軸まわりの傾き角を検出できる。又、ハブボ
ルトに対し一定の位置関係を有する２点のそれぞれの偏
位量を演算することによって、位相角、中心が求まる。
このようにビーム光の位置を２点で測定するようにした
ため、装置がコンパクトとなり、又、高価な機器が不要
となって安価に構成出来る。又、位相角、ハブ中心、面
の傾きが同時に測定出来るので作業が迅速となる。(Operation) The position of the beam light projected on the projection plate at the first measurement point,
The tilt angle of the hub surface around the X-axis and the Y-axis can be detected by decomposing the deviation of the position of the light beam projected on the projection plate at the second measurement point in the X-Y2 axis direction. Further, the phase angle and the center are obtained by calculating the respective deviation amounts of two points having a fixed positional relationship with the hub bolt.
Since the position of the light beam is measured at two points in this way, the apparatus can be made compact, and expensive equipment can be dispensed with, resulting in a low cost configuration. In addition, the work can be done quickly because the phase angle, the center of the hub, and the inclination of the surface can be measured at the same time.

（実施例） 本発明のホイルハブの検出方法の実施例について添付
した図面に基づき説明する。(Embodiment) An embodiment of a wheel hub detecting method of the present invention will be described with reference to the accompanying drawings.

第１図、第２図は本発明の検出方法に用いる測定装置
の説明図、第３図、第４図は、測定時ホイルハブに嵌着
する嵌着体の正面図、側面図、第５図はホイルハブの側
面図である。1 and 2 are explanatory views of a measuring device used in the detection method of the present invention, and FIGS. 3 and 4 are front views, side views, and 5 of a fitting body fitted to a wheel hub at the time of measurement. FIG. 4 is a side view of the wheel hub.

車両組立工程のホイル組付ステーションでは、コンベ
ア等で搬送される車体にホイルを組付けるが、車体の車
軸両端部には第５図に示すようなディスク板１とホイル
ハブ２が取り付けられている。そしてホイルハブ２のハ
ブ面３には、複数のハブボルト４が突設され、不図示の
ロボットが把持するホイルの取付孔をこのハブボルト４
に挿入させてナットで締め付けるようにしている。この
ためハブボルト４の位置とハブ中心を検出して、ロボッ
ト、ナットランナー等の位置等制御を行なう必要があ
り、本発明の検出方法は、このホイルハブ２のハブ中心
と、ハブボルト４の位相と、ハブ面３の傾きを同時に検
出するよう構成されている。このため第３図、第４図に
示すように本発明では、測定時にハブボルト４に嵌着さ
れ且つビーム発光装置６を備えてなる嵌着体５と、ビー
ム光を測定するための測定体７（第１図に示す。）を備
え、この測定体７の検出信号を不図示の演算部に伝送し
処理するようにしている。At a wheel assembly station in a vehicle assembly process, wheels are assembled to a vehicle body conveyed by a conveyor or the like, and a disc plate 1 and a wheel hub 2 as shown in FIG. 5 are attached to both ends of an axle of the vehicle body. A plurality of hub bolts 4 are provided on the hub surface 3 of the wheel hub 2, and a mounting hole of a wheel gripped by a robot (not shown) is formed in the hub bolt 4.
It is inserted in and is tightened with a nut. Therefore, it is necessary to detect the position of the hub bolt 4 and the center of the hub to control the position of the robot, the nut runner, etc., and the detection method of the present invention uses the hub center of the wheel hub 2, the phase of the hub bolt 4, and the like. It is configured to detect the inclination of the hub surface 3 at the same time. Therefore, in the present invention, as shown in FIGS. 3 and 4, in the present invention, the fitting body 5 fitted to the hub bolt 4 at the time of measurement and provided with the beam emitting device 6, and the measuring body 7 for measuring the light beam. (Shown in FIG. 1) is provided, and the detection signal of the measuring object 7 is transmitted to a calculation unit (not shown) for processing.

嵌着体５は、第３図に示すように、裏面側にハブボル
ト４に嵌合する嵌着孔８を有し、又中心と周縁部の所定
２ケ所に前述のビーム発光装置6,6を備えている。そし
てこのビーム発光装置6,6を取り付けた中心と周縁部の
夫々の位置には、裏面から表面に向けて貫通する貫通孔
9,9が穿孔されている。孔周縁部の貫通孔９は、例えば
何れかのハブボルト嵌着孔８の半径方向延長線上とし、
中心の貫通孔９との間に一定の関係位置を保持させてい
る。As shown in FIG. 3, the fitting 5 has a fitting hole 8 for fitting the hub bolt 4 on the back side, and the beam emitting devices 6 and 6 described above are provided at two predetermined locations in the center and the peripheral portion. I have it. Then, through holes penetrating from the back surface to the front surface are provided at the respective positions of the center and the peripheral portion where the beam emitting devices 6, 6 are attached.
9,9 are perforated. The through hole 9 at the peripheral portion of the hole is, for example, on a radial extension line of any hub bolt fitting hole 8,
A certain relational position is held between the central through hole 9.

一方第１図に示す測定体７は、ハブ面に対向すべく車
体の側方に配設され、投影板といての色ガラス板10と、
視覚センサ11を備えるとともに、例えば駆動モータ13の
ピニオンに噛合するラックによって、ハブ面方向に所定
量接近或は離隔自在とされている。すなわち第１計測点
Ａと第２計測点Ｂとの間の距離は一定間隔l1である。又
第２計測点Ｂの位置もハブ面の位置Ｃから一定距離l2と
されている。尚、図中では、説明上、嵌着体５の位置ま
でをl2としている そして本発明では、まずホイルハブ２に任意の手段で
嵌着体５を嵌着し、ビーム発光装置６を作動させる。す
るとこのビーム発光装置からハブ面３に垂直方向に発光
するビームが第１計測点Ａの色ガラス板10に輝点となっ
て写し出され、視覚センサ11が位置座標を検出する。次
いで測定体７を第２計測点Ｂに移動させて、同様に色ガ
ラス板10に輝点となって写し出されるビーム光の位置座
標を検出して、この信号を演算部に伝送する。この際ハ
ブ面に傾きがあると、第２図のように色ガラス10に投影
される輝点が偏位する。そして演算部で偏位量を演算処
理して中心、位相或は面の傾きを求める。On the other hand, the measuring body 7 shown in FIG. 1 is arranged laterally of the vehicle body so as to face the hub surface, and a colored glass plate 10 as a projection plate,
A visual sensor 11 is provided, and a rack engaging with a pinion of a drive motor 13 allows the rack to be moved toward or away from the hub surface by a predetermined amount. That is, the distance between the first measurement point A and the second measurement point B is the constant interval l 1 . The position of the second measurement point B is also a constant distance l 2 from the position C of the hub surface. Incidentally, in the drawings, for the sake of explanation, the position up to the position of the fitting body 5 is set to l 2. In the present invention, first, the fitting body 5 is fitted to the wheel hub 2 by an arbitrary means, and the beam emitting device 6 is operated. . Then, the beam emitted from the beam emitting device in the direction perpendicular to the hub surface 3 is projected as a bright spot on the colored glass plate 10 at the first measurement point A, and the visual sensor 11 detects the position coordinates. Then, the measuring object 7 is moved to the second measuring point B, the position coordinates of the light beam projected as a bright spot on the colored glass plate 10 are detected, and this signal is transmitted to the arithmetic unit. At this time, if the hub surface is tilted, the bright spots projected on the colored glass 10 are displaced as shown in FIG. Then, the deviation amount is calculated in the calculation unit to obtain the center, the phase or the inclination of the surface.

演算例については次のとおりである。 The calculation example is as follows.

まず面の傾きについて、第６図、第７図を用いて説明
する。First, the inclination of the surface will be described with reference to FIGS. 6 and 7.

第６図に示すように第１計測点Ａのビーム光の輝点が
Ｐであり、第２計測点Ｂでの輝点がＱである場合、水平
方向の偏位量ｘ、垂直方向の偏位量ｙが検出される。こ
のうち水平偏位ｘによって、ハブ面の水平面方向の傾き
を知ることが出来、垂直偏位ｙによって、ハブ面の垂直
面方向の傾きを知ることが出来る。すなわち第７図に示
すように、垂直面方向の傾きβは、第１計測点Ａと第２
計測点Ｂの間の距離l1と、垂直偏位量ｙとの函数で表さ
れ、 となる。同様に水平面方向の傾きαも、 であって、両者を組み合わせ傾きがハブ面の傾きであ
る。As shown in FIG. 6, when the bright point of the beam light at the first measurement point A is P and the bright point at the second measurement point B is Q, the horizontal displacement amount x and the vertical deviation amount are x. The quantity y is detected. Of these, the horizontal deviation x can be used to know the inclination of the hub surface in the horizontal plane direction, and the vertical deviation y can be used to know the inclination of the hub surface in the vertical surface direction. That is, as shown in FIG. 7, the inclination β in the vertical plane direction is the same as the first measurement point A and the second measurement point A.
It is represented by a function of the distance l 1 between the measurement points B and the vertical displacement amount y, Becomes Similarly, the inclination α in the horizontal plane also becomes The inclination of the combination of the two is the inclination of the hub surface.

以上のように、面の傾きは１つのビーム光で検出可能
であるが、ハブ中心と位相の検出にあたっては、２つの
ビーム光の輝点を用いて演算する。すなわち第８図に示
すように第１計測点Ａでの２点がP1,Q1であり、第２計
測点Ｂでの２点がP2,Q2であった時、実際のハブ面位置
ＣでのP,Q座標を求めることが出来る。この際例えばＰ
点がハブ中心、Ｑ点がハブボルトの位置を表すとした場
合、ハブの中心Ｐと位相角φは次のようにして求めるこ
とが出来る。As described above, the inclination of the surface can be detected by one light beam, but the hub center and the phase are calculated by using the bright points of the two light beams. That is, as shown in FIG. 8, when the two points at the first measurement point A are P 1 and Q 1 and the two points at the second measurement point B are P 2 and Q 2 , the actual hub surface is The P and Q coordinates at the position C can be obtained. At this time, for example, P
When the point is the center of the hub and the point Q is the position of the hub bolt, the center P of the hub and the phase angle φ can be obtained as follows.

すなわちＰ点の座標（x,y）は となる。尚、l1は第６図のA,B間の距離、l2はB,C間の距
離である。That is, the coordinates (x, y) of point P are Becomes In addition, l 1 is the distance between A and B in FIG. 6, and l 2 is the distance between B and C.

同様にしてＱ点も求まり、両者の関係から位相角φが
演算される。こうして演算された位置データは組付ロボ
ット、ナットランナ等の制御用として用いられる。Similarly, the Q point is also obtained, and the phase angle φ is calculated from the relationship between them. The position data thus calculated is used for controlling the assembling robot, the nut runner, and the like.

（発明の効果） 以上のように、本発明のホイルハブの検出方法は、従
来のように装置自体に高価な構成部品がないため廉価に
構成出来、又コンパクト化することが出来る。しかも第
１測定点と第２測定点の２点を測定するだけで、ハブ面
の傾き、ハブ中心、位相角を同時に求めることが出来、
作業時間が短縮されて、しかも確実にナットを締付ける
ことが出来る。(Effects of the Invention) As described above, the wheel hub detection method of the present invention can be constructed inexpensively and can be made compact because there are no expensive components in the device itself as in the conventional case. Moreover, the inclination of the hub surface, the hub center, and the phase angle can be obtained at the same time by measuring only the first measurement point and the second measurement point.
The working time is shortened and the nut can be securely tightened.

【図面の簡単な説明】[Brief description of the drawings]

第１図、第２図は本発明の検出方法に用いる測定装置の
説明図、第３図、第４図は測定時にホイルハブに嵌着す
る嵌着体の正面図、側面図、第５図はホイルハブの側面
図、第６図から第８図は演算例を説明するための説明図
である。 尚同図中、２はホイルハブ、３はハブ面、４はハブボル
ト、５は嵌着体、６はビーム発光装置、７は測定体、10
は色ガラス板、11は視覚センサを示す。FIGS. 1 and 2 are explanatory views of a measuring device used in the detection method of the present invention, FIGS. 3 and 4 are front views, side views and FIG. 5 of a fitting body fitted to a wheel hub during measurement. FIG. 6 is a side view of the wheel hub, and FIGS. 6 to 8 are explanatory views for explaining a calculation example. In the figure, 2 is a wheel hub, 3 is a hub surface, 4 is a hub bolt, 5 is a fitting body, 6 is a beam emitting device, 7 is a measuring body, and 10 is a measuring body.
Indicates a colored glass plate, and 11 indicates a visual sensor.

───────────────────────────────────────────────────── フロントページの続き (72)発明者 山中 保朗 埼玉県狭山市新狭山１丁目10番地１ ホ ンダエンジニアリング株式会社内 (56)参考文献 特開 昭63−134384（ＪＰ，Ａ) 特開 昭63−108209（ＪＰ，Ａ) 特開 昭63−68478（ＪＰ，Ａ) 特開 昭59−214703（ＪＰ，Ａ) 特開 昭57−125301（ＪＰ，Ａ) 特開 昭51−140655（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuro Yamanaka 1-10-1 Shin-Sayama, Sayama City, Saitama Prefecture Within Honda Engineering Co., Ltd. (56) Reference JP-A-63-134384 (JP, A) JP JP-A-63-108209 (JP, A) JP-A-63-68478 (JP, A) JP-A-59-214703 (JP, A) JP-A-57-125301 (JP, A) JP-A-51-140655 (JP , A)

Claims (1)

(57)【特許請求の範囲】(57) [Claims] 【請求項１】車両のホイルハブの位相、中心或は傾きを
検出するようにしたホイルハブの検出方法において、こ
の方法は、ホイルハブのハブ面のハブボルトに対し一定
の位置関係を有する２点からハブ面に垂直方向にビーム
光を発光させ、これを第１の計測点の投影板に写して視
覚センサで検出した後、第１計測点からビーム方向に所
定間隔離れた第２の計測点の投影板に写して視覚センサ
で検出し、これら検出値を演算部で処理してハブの位
相、中心或は傾きを求めるようにしたことを特徴とする
ホイルハブの検出方法。1. A wheel hub detecting method for detecting the phase, center or inclination of a wheel hub of a vehicle, the method comprising: from two points having a fixed positional relationship to a hub bolt on the hub surface of the wheel hub. A beam of light is emitted in the direction perpendicular to the projection plate of the first measurement point, which is detected by the visual sensor, and then the projection plate of the second measurement point that is apart from the first measurement point in the beam direction by a predetermined distance A method for detecting a wheel hub, wherein the wheel hub is detected by a visual sensor, and the detected values are processed by an arithmetic unit to obtain the phase, center or inclination of the hub.
JP2074487A 1990-03-23 1990-03-23 Wheel hub detection method Expired - Fee Related JP2690590B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2074487A JP2690590B2 (en) 1990-03-23 1990-03-23 Wheel hub detection method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2074487A JP2690590B2 (en) 1990-03-23 1990-03-23 Wheel hub detection method

Publications (2)

Publication Number Publication Date
JPH03273102A JPH03273102A (en) 1991-12-04
JP2690590B2 true JP2690590B2 (en) 1997-12-10

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Application Number Title Priority Date Filing Date
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JP (1) JP2690590B2 (en)

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* Cited by examiner, † Cited by third party
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CN102818544B (en) * 2012-08-31 2014-11-12 厦门大学 On-line measurement method for pitch circle center of automobile hub bolt hole and central eccentric distance of central hole

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