Automatic installation of a valve in a wheel rim

Abstract

The invention relates to a method for installing a valve (8) in a wheel rim (1), in which method a position of a valve hole in the wheel rim (1) is detected by at least one first sensor device (4) and transmitted to a data processing device. The wheel rim (1) is subsequently conveyed to an assembly station (5) where an installation robot (6) inserts the valve (8) into the valve hole, wherein geometric data of the valve hole is detected by the first sensor device or a second sensor device before the insertion of the valve (8) into the valve hole, and the data processing device uses the data to calculate a movement path for the installation robot (6) and an installation angle for inserting the valve.

Description

[0001] AUTOMATIC ASSEMBLY OF A VALVE IN A WHEEL RIM

[0002] The invention relates to a method for mounting a valve in a wheel rim, comprising a camera station for capturing rim-specific information and an assembly station in which the valve is inserted into a valve hole by an assembly robot. Furthermore, the invention relates to a system for mounting a valve in a wheel rim and a computer program product.

[0003] "Smart" tires are being installed in vehicle wheels—that is, tires equipped with electronic systems. This makes it possible to measure certain parameters, such as air pressure, tire temperature, or the forces exerted on the tire during rolling.

[0004] The electronic systems can be attached directly to the tire itself, for example, in a pocket on the inner wall of the tire. Another way to mount an electronic system inside a tire is to use a patch that is glued to the inner wall of the tire. A third possible approach is to attach the electronic system to the tire's inflation valve. Such valves for detecting tire pressure include TPMS or RDK valves ("tire pressure monitoring systems").

[0005] There are different types of valves available, each designed for a different purpose. One type of valve that is attached by clicking into place is the so-called "snap-in" valve. With such valves, the metal tube insert that encloses the actual valve mechanism is anchored in a valve body, made of rubber, for example. The valve body has a circumferential groove to accommodate the edge of the rim hole. To mount snap-in valves on a rim, tools are known that grip a valve that protrudes into the valve hole and then pull it into the valve hole until the edge of the valve hole snaps into the designated groove of the snap-in valve. To generate the necessary pulling force, a lever is pivotally attached to a coupling part that holds the snap-in valve.When this lever rests against the rim, the valve can be pulled into the valve bore via the coupling part by operating the lever. When using such a tool, care must be taken to ensure its correct positioning relative to the rim so that the generated pulling force acts in the longitudinal direction of the valve bore. If the tool is not applied correctly, the valve will be pulled into the valve bore at an angle, which can lead to damage. To correctly insert the valves, tools operated by a worker are required. One such tool is known, for example, from DE 102018 119 507 A1.

[0006] Furthermore, valves are known that are attached to the rim by screws (so-called clamp valves). The valve body is inserted into the rim hole and secured by a nut that is screwed onto the body from the other side of the rim. This is known from US 5,211,782 - to be installed in one end area in a metal sleeve that serves as a receiving body, and then to secure the metal sleeve in the rim by screwing it with a union nut.

[0007] During the wheel manufacturing process, the TPMS valves are predominantly manually inserted into the valve hole by a worker, aligned, and tightened using a torque screwdriver in a defined screwing process. Incorrect alignment of the valve in the hole, incorrect alignment of the electronic component in the rim well, incorrect or non-coaxial screwing angle, or faulty screwing lead to incorrect valve installation. This can result in damage during tire installation or leaks in the valve seat with gradual pressure loss or even complete loss of pressure in the tire. The invention is based on the object of providing an automatic installation of a valve in a wheel rim.

[0008] The object is achieved by the features of claims 1 and 14. Preferred embodiments are described in the dependent claims.

[0009] The object is achieved according to the invention in that a method for mounting a valve in a wheel rim is provided, comprising detecting a position of a valve hole in the wheel rim by at least one first sensor device and transmitting the position to a data processing device,

[0010] Conveying the wheel rim into an assembly station in which an assembly robot inserts the valve into the valve hole, wherein geometric data of the valve hole are detected by the first sensor device or a second sensor device before the valve is inserted into the valve hole, and the data processing device calculates a travel path of the assembly robot and an installation angle for inserting the valve from the data.

[0011] The method according to the invention enables the automatic and reliable assembly and screwing of valves, in particular TPMS valves, into wheels, especially disc wheels. The method is advantageously designed so that different valve types, valve brands, or union nuts can be applied in a single process, and assembly is not limited to one valve type. Automation eliminates operator influence and thus potential quality impacts. Furthermore, process data is traceable through automation.

[0012] The first sensor device can advantageously be located in a camera station, for example, located upstream of the assembly station. The wheel rim can be transported from the camera station to the assembly station using known conveying means, such as a conveyor belt. It can also be advantageous to transport the wheel rim from the camera station to the assembly station using a robot gripper.

[0013] It is further advantageous if a type designation applied to the wheel rim is visually detected by the first sensor device and transmitted to the data processing device. The first sensor device visually detects product data on the wheel rim. This data includes, for example, rim type data, which is then transmitted to the data processing device. The first sensor device can communicate with the data processing device wired or wirelessly, using known standards for this purpose. Corresponding interfaces are known to those skilled in the art and are implemented in both the sensor device and the data processing device. In a next step, the data processing device can determine a type of valve to be mounted from the type designation and transmit it to a robot controller.The type designation includes information about the rim, so that information about a suitable valve can be determined from, for example, a database stored in the data processing device. It may also be preferred for the data processing device to have access to a database that is not physically stored on the data processing device but is accessible, for example, via networks.

[0014] The position of the valve hole has already been detected by the first sensor device and transmitted to the data processing device. The robot controller of the assembly robot thus knows the position of the valve hole and can move the assembly robot from a home position to the position of the valve hole. In a preferred embodiment, the position of the valve hole and its geometric data in the wheel rim can be detected by a second sensor device attached to the assembly head and transmitted to the data processing device. However, the second sensor device can also be designed as a sensor device that can be pivoted around the wheel rim or, in particular, be movably mounted at the assembly station. In a further embodiment, it can be advantageous if the first and second sensor devices are combined in one station.

[0015] The second sensor device, in particular, performs precise position and angle measurement of the valve hole, which can be performed, for example, from one or both sides of the valve hole, i.e., the second sensor device can be moved to the wheel rim from above and / or below. The geometric data include, in particular, the angle of the valve hole relative to the rim (e.g., its surface, the rim axis, or the like).

[0016] The robot controller communicates with the data processing device by exchanging data and can be a component of the latter. Furthermore, the robot controller naturally serves to control the robots and communicates with them via appropriate interfaces. It is advantageous to have a central robot controller through which all robots can be controlled. However, it can also be advantageous for each robot to have its own controller, which in turn communicates with the data processing device by exchanging data.

[0017] The assembly robot can advantageously be controlled by the robot controller to a storage position for the valve to be assembled in a transfer station, where it can pick up the valve to be assembled. The transfer station is located in the work area of ​​the assembly robot and can serve as a physical object for depositing or picking up the valve to be assembled. To make assembly more efficient, a loading robot can be provided which, based on the detected type designation, is first moved by the robot controller to a valve supply, where it picks up the valve to be assembled and is then moved to the transfer station where the valve is deposited. The transfer station can advantageously have sufficient space for the short-term storage of several valves. This means that, if known, the next valves to be assembled can already be stored here and prepared for transfer to the assembly robot.It can also be advantageous if the assembly robot receives the valve to be assembled from another robot, e.g. the loading robot, in the area of ​​the transfer station.

[0018] To simplify valve assembly, the wheel rim can be clamped by a clamping device depending on the position of the valve hole in the assembly station, such that the valve hole is accessible to the assembly robot. The clamping device can clamp the wheel rim and, advantageously, rotate, lower, or raise it.

[0019] Advantageously, the data processing device has access to the data from the sensor devices, in particular the position and geometric data of the valve bore. From this, the data processing device can determine a travel path of the assembly robot and a mounting angle and transmit these to the robot controller, which guides the assembly robot to the valve bore so that the valve can be inserted into the valve bore by the assembly robot at the specific mounting angle. Because the data processing device receives data from the sensor devices, a travel path or mounting angle can be determined individually for each rim type or for each valve to be mounted. This is particularly advantageous for mixed operations, since different rim types or valves may need to be mounted.

[0020] However, it may also be advantageous for the data processing device to compare the data received from the sensor devices with a database and access any data stored there regarding travel distance and mounting angle. For this purpose, the received sensor data can be compared with sensor data in a database and used if there is a defined minimum percentage of overlap. The percentage of overlap considered sufficient for a travel distance and mounting angle can be determined individually for the rim type or the valve to be mounted.

[0021] It can be advantageous to use a screwing robot to assemble a union nut. For this purpose, it is preferred that the screwing robot, based on the valve type in question, be moved by a robot controller from a home position to a conveyor that provides a union nut suitable for the valve type. To assemble the union nut, the screwing robot can be moved from the conveyor to the clamped rim and then to the assembled valve. In particular, the screwing robot can screw the union nut onto the valve with a torque determined by the type designation.

[0022] It can be provided that the assembly robot after inserting the valve into the valve hole and the screwing robot after screwing on the union nut are moved to their home positions by the robot controller.

[0023] After the union nut is installed, the wheel rim can be conveyed from the assembly station, while a subsequent wheel rim can be conveyed into the camera station at the same time. This keeps cycle times to a minimum.

[0024] The invention further relates to a system for mounting a valve in a wheel rim, comprising a first sensor device for detecting a position of the valve in the wheel rim, an assembly robot which comprises at least one gripper on its arm at the end for gripping the valve and is configured to insert the valve into a valve bore, wherein the first sensor device or a second sensor device detects geometric data of the valve bore.

[0025] The method and system according to the invention enables the automatic and reliable assembly and screwing of valves, especially TPMS valves, into wheels, especially disc wheels. It allows the installation of various valve types, valve brands, or union nuts. Automation eliminates operator influence and thus any potential quality impacts. Furthermore, process data is traceable thanks to automation.

[0026] Regarding the design and advantages of the system, reference is made to the above explanations of the method, which are analogously applicable to the system.

[0027] In one embodiment, the gripper of the assembly robot can have a receptacle for one valve type. However, it may also be preferred for the assembly robot to comprise multiple grippers for different valve types, which are movable, in particular pivotable, relative to the arm of the assembly robot. The gripper can be a rotatable turret system to which multiple grippers for different valve types can be attached.

[0028] It can be advantageous if the assembly robot includes a second sensor device for detecting the position of the valve hole and its geometry in the wheel rim. However, it can also be advantageous if the second sensor device is separate from the assembly robot, e.g. attached to the assembly station. The second sensor device can be designed as a 3D camera or laser scanner. This allows precise position and angle measurement of the valve hole. To detect the position of the valve hole, the first sensor device can be designed as a 2D camera. Alternatively, a laser scanner can be used. The first sensor device serves in particular to detect a type designation of the valve and is advantageously designed for this purpose. The type designation can be in the form of a code or label on the rim.

[0029] A screwing robot can be provided, designed to receive and screw a union nut onto the valve. The screwing robot advantageously has a self-clamping screw head at the end of its arm for clamping the union nut.

[0030] It may be advantageous for the system to include a monitoring device for monitoring the activities performed by the robots.

[0031] The invention further relates to a computer program product comprising instructions that, when executed by a computer, cause the computer to execute the previously explained method with its embodiments. The computer program product can be in the form of software on the data processing device or on a server connected to the data processing device for data exchange. The data processing device can be a computer, a tablet computer, or the like.

[0032] The invention will be explained in more detail below with reference to an embodiment of the invention, which is illustrated in the drawing.

[0033] Figure 1 is a perspective view of an automatic assembly system and

[0034] Figure 2 shows another perspective view of an automatic assembly system.

[0035] A horizontally lying rim 1 is transported via a conveyor belt 2 to a

[0036] The data is fed to a camera station 3 in which a first sensor device 4 is arranged. The sensor device 4 can be designed, for example, as a 2D camera. The first sensor device 4 detects a type designation applied to the rim 1 and transmits it to a data processing device (not shown). The transmission can be wired or wireless. In addition, the first sensor device 4 detects the position of a valve hole present in the rim 1. If the first sensor device 4 is not designed or intended to detect the type designation, the type designation can also be entered manually by a worker into the data processing device or detected by a handheld scanner equipped for this purpose.

[0037] Based on the recorded type designation and the resulting rim type, the data processing device can determine which valve type is intended for this rim type. The comparison can be performed, for example, via a database located on the data processing device. Alternatively, the data processing device can access a database via a network.

[0038] The rim 1 is then transported via a conveyor (not shown) to an assembly station 5, which is connected to the camera station 3 and located in the work area of ​​an assembly robot 6. The rim 1 can be clamped by a schematically illustrated clamping device 7 in the assembly station 5, wherein the clamping device 7 can rotate, raise, and lower the rim 1 so that the valve hole can be reached and machined by the assembly robot 6. The clamping device 7 allows the rim 1 to be clamped in a defined position. Advantageously, the rim 1 is clamped essentially flat on the machined surface of the screwing surface and radially reliably and precisely in the machined valve hole. This provides a preferred reference point.

[0039] The data processing device has determined the valve 8 to be assembled from the type designation of the rim 1 and can determine the storage location of the valve 8 in a transfer station 9. The information about the valve 8 to be assembled can be transmitted to a robot controller, which uses this to determine the travel path of the assembly robot 6 from the home position to the position of the valve 8 to be assembled in the transfer station 9. Alternatively, the robot controller can access existing travel paths that can be stored in the robot controller's memory for an identical valve 8 and an identical rim type.

[0040] The assembly robot 6 is moved by the robot controller to the valve 8 to be assembled in the transfer station 9. The task of transferring the valve 8 can also be performed by a robot (not shown). The assembly robot 6 has a gripper 10 arranged at its end for picking up the valve 8, shown schematically in the figures. This gripper 10 is advantageously designed with multiple elements. This means that the gripper 10 can be designed as a rotatable turret with multiple gripper arms, allowing multiple valves 8 to be picked up at once.

[0041] Next, the assembly robot 6 is moved by the robot controller to the position of the valve hole. There, using a second sensor device (not shown), for example, attached to the assembly head, it can detect the position of the valve hole and its geometric data in the wheel rim 1 and transmit them to the data processing device. The geometric data include, for example, but are not limited to, the position of the longitudinal axis of the valve hole and its angle to the wheel rim axis, the diameter, and the drilling depth. This detection of the valve hole by a second sensor device can occur either after or before the valve 8 is picked up by the assembly robot 6.

[0042] The second sensor device can be designed as a 3D camera, which enables precise determination of the position of the valve hole as well as precise measurement of the geometry of the valve hole. For this purpose, the assembly robot 6 can be moved to the rim 1 from above and / or below. It has proven advantageous if the second sensor device is designed as a high-precision 3D camera, which measures the valve hole from the perspective of the drop center and calculates the actual insertion angle or mounting angle from the determined geometric data. By measuring the valve hole, the non-negligible component geometric deviations, which can arise, for example, from the manufacture of the rims 1 at different production locations, are taken into account. Furthermore, the 3D measurement of the valve hole can be used to account for manufacturer-specific geometric deviations.Conventional automated systems use rim-type-dependent teach positions. Therefore, manufacturing deviations inevitably lead to problems in the assembly process, as no rim-specific measurement of the mounting angle is performed.

[0043] The data acquired by the second sensor device is transmitted to the data processing device, which uses this data to calculate a travel path of the assembly robot 6 for precisely inserting the valve 8 into the valve hole, as well as a mounting angle. The geometries determined by 3D measurement can be used to control the robots used in the process, which operate in particular in master-slave mode. The travel path and the mounting angle are transmitted to the robot controller, which moves the assembly robot 6 such that the valve is inserted into the valve hole at the correct angle. The assembly robot 6 then returns to its home position.

[0044] In the next step, a screwing robot 11, which is also located in the working area of ​​the rim 1, is moved by the robot controller from a home position to a conveyor which, based on the valve type to be installed, provides a union nut matching the valve type. The conveyor can be designed, for example, as a spiral conveyor. The screwing robot 11 can have a special screw insert with self-clamping at its end. After picking up the union nut, the screwing robot 11 is moved by the robot controller to the valve hole, more precisely to the installed valve 8, and screws the union nut tight with a torque specified for the valve 8. The required torque is known for the valve type to be installed. The screwing robot 11 then moves back to its home position.The robots used in the process, in particular the assembly robot 6 and the screwing robot 11, preferably operate in master-slave mode, so that the master-slave control enables the robots 6, 11 to insert the valve 8 into the valve hole and screw on the union nut with high precision and speed. Both robots 6, 11 operate coaxially with the previously measured valve hole axis. Automation eliminates the need for operator influence to ensure the correct mounting angle.

[0045] After mounting the valve 8 and attaching the union nut, the clamping device 7 can release the rim 1. Another conveyor, e.g., a conveyor belt 2, then moves the rim 1 out of the assembly station 5; at the same time, a new rim 1 can be conveyed from the camera station 3 into the assembly station 5.

[0046] To make the process more efficient, another robot, basically a loading robot 12, can be used, which removes the valves 8 to be assembled from a supply and places them in the transfer station 9, where they can then be picked up by the assembly robot 6. The supply can, for example, be provided on shelves that have sensors so that the fill level of the shelf compartments can be detected. To ensure that the shelf compartments are filled with the correct valve types, appropriate safety measures can be provided, for example by reading codes of the shelf compartments or the valve types to be filled. The data processing device receives the necessary information on the travel path of the loading robot 12 from the first sensor device 4 when it reads the rim type and can transmit the data on the valve 8 to be assembled to the robot controller for controlling the loading robot 12.The transfer of the valve 8 to be assembled can be further optimized by providing the transfer station 9 with specific sections or modules for storing the valves 8. The loading robot 12 can also have a camera for detecting the valves 8 and / or modules to be picked up. The valves 8 can be provided in blisters, which are disposed of by the loading robot 12 after the valves 8 are removed. The emptied blisters can be refilled and reinserted into the corresponding shelf compartments.

[0047] The process and system enable the automatic and reliable assembly and screwing of valves 8 into wheels, especially in chaotic mixed operation and when using different valve brands and different union nuts. Automation eliminates operator influence and thus potential quality impacts. The geometry data measured by the sensors and the robot insertion positions can be documented. This allows, for example, the actual geometries to be compared with the data by remeasuring the rim in the event of subsequent complaints about the complete wheel.

Claims

PATENT CLAIMS 1 . Method for mounting a valve (8) in a wheel rim (1), comprising Detecting a position of a valve hole in the wheel rim (1) by at least one first sensor device (4) and transmitting the position to a data processing device, Conveying the wheel rim (1) into an assembly station (5) in which an assembly robot (6) inserts the valve (8) into the valve hole, wherein geometric data of the valve hole are detected by the first sensor device or a second sensor device before the valve (8) is inserted into the valve hole, and the data processing device calculates a travel path of the assembly robot (6) and a mounting angle for inserting the valve from the data.

2. Method according to claim 1, characterized in that a type designation applied to the wheel rim (1) is visually detected by the first sensor device (4) and transmitted to the data processing device.

3. Method according to claim 2, characterized in that the data processing device determines a type of valve (8) to be mounted from the type designation and transmits it to a robot controller.

4. Method according to claim 4, characterized in that the assembly robot (6) is moved by the robot control from a home position to the position of the valve hole and there, by means of a second sensor device attached to the assembly head, detects the position of the valve hole and its geometric data in the wheel rim (1) and transmits it to the data processing device.

5. Method according to one of the preceding claims 1 to 3, characterized in that a second sensor device detects the position of the valve hole and its geometric data in the wheel rim (1) and transmits them to the data processing device.

6. Method according to one of the preceding claims, characterized in that the assembly robot (6) is controlled by the robot control to a storage position of the valve to be assembled in a transfer station (9) and receives the valve (8) to be assembled there.

7. Method according to one of the preceding claims, characterized in that the wheel rim (1) is clamped by a clamping device (7) as a function of the position of the valve hole in the assembly station (5) in such a way that the valve hole is accessible to the assembly robot (6).

8. Method according to one of the preceding claims, characterized in that the data processing device determines a travel path of the assembly robot (6) and an assembly angle from the position and the geometric data and transmits these to the robot control, which controls the assembly robot (6) to the valve hole, so that the valve (8) can be inserted into the valve hole by the assembly robot (6) at the specific assembly angle.

9. Method according to claim 2, characterized in that a screwing robot (11) is moved based on the present valve type by a robot controller from a home position to a conveyor which provides a union nut suitable for the valve type.

10. Method according to claim 9, characterized in that the screwing robot (11) screws the union nut onto the valve (8) with a torque resulting from the type designation.

11. Method according to one of the preceding claims 9 to 10, characterized in that the assembly robot (6) after the valve (8) has been inserted into the valve hole and the screwing robot (11) after the union nut has been screwed on are moved into their home positions by the robot control.

12. Method according to one of the preceding claims, characterized in that a camera station (3) is arranged upstream of the assembly station (5) and the wheel rim (1) is conveyed from the assembly station (5) after the union nut has been screwed on, and at the same time a subsequent wheel rim (1) is conveyed into the camera station (3).

13. Method according to claim 2, characterized in that a loading robot (12) is first moved to a valve supply based on the detected type designation by the robot control and there picks up the valve (8) to be assembled and is then moved to the transfer station (9) for depositing the valve (8).

14. System for mounting a valve (8) in a wheel rim (1), with a first sensor device (4) for detecting a position of the valve (8) in the wheel rim (1), an assembly robot (6) which comprises at least one gripper on its arm at the end for gripping the valve (8) and is designed to insert the valve (8) into a valve hole, wherein the first sensor device or a second sensor device detects geometric data of the valve hole.

15. System according to claim 14, characterized in that the assembly robot comprises several grippers for different valve types, which are movable, in particular pivotable, relative to the arm of the assembly robot.

16. System according to one of the preceding claims 14 or 15, characterized in that the assembly robot comprises a second sensor device for detecting the position of the valve hole and its geometry in the wheel rim.

17. System according to claim 16, characterized in that the second sensor device is designed as a 3D camera or laser scanner.

18. System according to one of the preceding claims 14 to 17, characterized in that the first sensor device is designed to detect a type designation of the valve.

19. System according to one of the preceding claims 14 to 18, characterized in that the system comprises a screwing robot (11) designed to receive and screw a union nut onto the valve.

20. System according to one of the preceding claims 19, characterized in that the screwing robot (11) has a screw head with self-clamping at the end of its arm for clamping the union nut.

21. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 13.

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