System for automatic wheel alignment adjustment

A system for automatic wheel alignment adjustment of a vehicle in an inspection line is provided. The system is disposed under a mounting table mounted with a vehicle and includes a front wheel adjustment apparatus disposed in correspondence with a front wheel of the vehicle and configured to adjust alignment of the front wheel by adjusting a tie-rod and a lock-nut employed in a linkage structure of the front wheel, a rear wheel moving apparatus disposed in correspondence with a rear wheel of the vehicle and slidable in a vehicle width direction, and a rear wheel adjustment apparatus disposed in correspondence with the rear wheel of the vehicle, connectable to the rear wheel moving apparatus, and configured to adjust alignment of the rear wheel by adjusting a cam-bolt and a cam-nut employed in a linkage structure of the rear wheel.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Korean Patent Application No. 10-2019-0120373, filed in the Korean Intellectual Property Office on Sep. 30, 2019, which application is hereby incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a system for automatic wheel alignment adjustment.

BACKGROUND

All components that make up a suspension and steering system in a vehicle must be assembled correctly according to the design specifications of the vehicle, and an interlocking state of these components is the basis of wheel alignment.

The wheel alignment may affect a vehicle's dynamics in various driving circumstances, such as running in a straight line, cornering, braking, and accelerating.

The wheel alignment is composed of elements such as toe, camber, caster, and king pin inclination angle, and they complement each other to reduce the operating force of the steering wheel, provide stability of the steering wheel operation, provide straight line stability of the vehicle, contribute to the steering wheel resilience, and reduce tire wear.

In the related art, in order to adjust the wheel alignment of a vehicle of which production is completed, manual work is generally performed by an operator, but an automation system using an industrial robot to automate the alignment adjustment is under development.

Due to heavy tools used for the wheel alignment adjustment, a large robot having a high payload may be used, and thus the weight of the robot itself may be much more than 100 kg.

Such a heavy and large wheel alignment adjustment apparatus may be difficult to be replaced even if the robot breaks down, and the wheel alignment adjustment apparatus needs to be repaired while the robot is indisposed. In this case, the lack of space often leads to stopping the production line while the robot is being repaired.

SUMMARY

Embodiments of the present invention provide a system for automatic wheel alignment adjustment having advantages of preventing stoppage of a whole system of an inspection line due to malfunctioning of a partial apparatus.

An exemplary system for automatic wheel alignment adjustment of a vehicle in an inspection line is disposed under a mounting table mounted with a vehicle, and the exemplary system may include a front wheel adjustment apparatus, a rear wheel moving apparatus, and a rear wheel adjustment apparatus. The front wheel adjustment apparatus may be disposed in correspondence with a front wheel of the vehicle and configured to adjust alignment of the front wheel by adjusting a tie-rod and a lock-nut employed in a linkage structure of the front wheel.

The rear wheel moving apparatus may be disposed in correspondence with a rear wheel of the vehicle and slidable in a vehicle width direction.

The rear wheel adjustment apparatus may be disposed in correspondence with a rear wheel of the vehicle, connectable to the moving apparatus, and configured to adjust alignment of the rear wheel by adjusting a cam-bolt and a cam-nut employed in a linkage structure of the rear wheel.

The front wheel adjustment apparatus may include a pair of front robots mounted on a front table fixed to a ground and slidable along a vehicle length direction through a plurality of rails formed on an upper surface of the front table, a tie-rod gripper installed to the front robot and configured to adjust the tie-rod, and a lock-nut runner mounted to the front robot and configured to adjust the lock-nut.

Each of the pair of front robots may include a front carriage mounted on the plurality of rails and slidable in a vehicle length direction, a front moving part mounted on the front carriage, movable in the vehicle width direction along the front carriage, and configured to move in an up and down direction, and a front robot arm mounted at the front moving part.

The tie-rod gripper may include a body part mounted to an end of the front robot, a pair of moving brackets installed at the body part to reciprocally move to be closer or farther with respect to each other, and a pair of finger members fixedly installed at each of the moving brackets and formed with gripping grooves for gripping the tie-rod, at surfaces facing each other.

The moving bracket may be reciprocally movable.

The pair of finger members may reciprocally move with respect to each other according to movement of the pair of moving brackets to grip the tie-rod by the gripping grooves.

The lock-nut runner may be installed to the tie-rod gripper through a mounting bracket and is electrically operated.

The lock-nut runner may include a gripping part for gripping the lock-nut, the gripping part being in line with the finger member of the tie-rod gripper.

The lock-nut runner may be operable through wireless communication.

The rear wheel moving apparatus may include a pair of rear robots mounted on a rear table fixed to a ground and slidable along a vehicle width direction through a plurality of rails formed on an upper surface of the rear table, and a coupling part installed to the rear robot and being attachable to and detachable from the rear wheel adjustment apparatus.

Each of the pair of rear robots may include a rear carriage mounted on the plurality of rails and slidable in a vehicle width direction, a rear moving part mounted on the rear carriage, movable in the vehicle length direction along the rear carriage, and configured to move in an up and down direction, and a rear robot arm mounted at the rear moving part.

The rear moving part may be movable in an up and down direction.

The rear wheel adjustment apparatus may be operated by the rear moving part and the rear robot arm.

The coupling part may be attachable to and detachable from an engagement pin of the rear wheel adjustment apparatus.

The rear wheel adjustment apparatus may include a pair of actuating parts fixed to the center table through a pair of supporting stands and movable in an up and down direction, a linkage part connected to an end of a driving shaft of the actuating parts, and an electric power tool connected to an end of the linkage part and including a cam-nut runner and a cam-bolt gripper configured to adjust the cam-nut and the cam-bolt respectively, where a distance between the cam-nut runner and the cam-bolt gripper is adjustable.

The electric power tool may include a tool bracket connected to an end of the linkage part and formed with a slit groove along a length direction, wherein the cam-nut runner is installed at the slit groove, and the cam-bolt gripper is slidably fitted to the slit groove through a moving block, thereby the distance between the cam-nut runner and the cam-bolt gripper becomes adjustable.

The distance between the cam-nut runner and the cam-bolt gripper of the electric power tool is in a range of 60 mm to 88 mm.

According to a system for automatic wheel alignment adjustment according to an exemplary embodiment, when a component apparatus malfunctions, e.g., when any of the front wheel adjustment apparatus, rear wheel moving apparatus, and the rear wheel adjustment apparatus malfunctions, the malfunctioning apparatus may be moved from the working space of alignment adjustment to a new space and may be serviced in the new space place. Therefore, a correctly functioning apparatus may continue its alignment adjustment, and stoppage of a whole system due to malfunctioning of a partial apparatus may be prevented.

Further, effects that can be obtained or expected from exemplary embodiments of the present invention are directly or suggestively described in the following detailed description. That is, various effects expected from exemplary embodiments of the present invention will be described in the following detailed description.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

FIG. 1is a schematic diagram of a system for automatic wheel alignment adjustment according to an exemplary embodiment.FIG. 2is a schematic diagram of a front wheel adjustment apparatus applied to a system for automatic wheel alignment adjustment according to an exemplary embodiment.FIG. 3andFIG. 4are enlarged views of a front wheel adjustment apparatus applied to a system for automatic wheel alignment adjustment according to an exemplary embodiment.FIG. 5is a schematic diagram of a rear wheel moving apparatus applied to a system for automatic wheel alignment adjustment according to an exemplary embodiment.FIG. 6is a schematic diagram of a rear wheel adjustment apparatus applied to a system for automatic wheel alignment adjustment according to an exemplary embodiment.

Referring toFIG. 1, a system for automatic wheel alignment adjustment according to an exemplary embodiment is applied to an inspection line of a manufacturing factory of a vehicle.

The vehicle is moved to a mounting table1along a movement rail (not shown) formed above the mounting table1.

The movement rail may be formed along a length direction of the vehicle, and the vehicle may move on the movement rail, for example, by its own wheels.

The system for automatic wheel alignment adjustment is arranged below the mounting table1where the vehicle is mounted, and when the vehicle is disposed on the mounting table1, the system initiates a wheel alignment adjustment.

At this time the system for automatic wheel alignment adjustment may recognize identification information, e.g., a vehicle identification number (VIN), for identifying the vehicle.

The system for automatic wheel alignment adjustment measures a toe-in value (hereinafter, referred to as a “toe value”) and camber value, with respect to front and rear wheels. As is well-known in the art, the toe value is a value by which a front end of the wheel is biased inward in comparison with a rear end of the wheel, and the camber value is a value by which a top end of the wheel is biased outward in comparison with a bottom end of the wheel.

The system for automatic wheel alignment adjustment according to an exemplary embodiment compares the measured toe and camber values with predetermined toe and camber values, and adjusts alignments of front and rear wheels to compensate the error.

For the alignment adjustment of the front wheels, engagement of a tie-rod and a lock-nut may be adjusted, and for the alignment adjustment of the rear wheels, a cam-bolt and a cam-nut employed in a linkage structure may be adjusted.

A system for automatic wheel alignment adjustment according to an exemplary embodiment includes a front wheel adjustment apparatus10, a rear wheel moving apparatus100, and a rear wheel adjustment apparatus140.

The front wheel adjustment apparatus10is disposed in a basement space below the mounting table1, in correspondence with the front wheel FW of the vehicle.

Referring toFIG. 2, the front wheel adjustment apparatus10includes a front table20, a pair of front robots30, a tie-rod gripper40, and a lock-nut runner50.

The front table20is disposed below the mounting table1, and is fixed to the ground in correspondence with the front wheel FW.

A plurality of rails21are formed on an upper surface of the front table20.

The plurality of rails21may be formed along a vehicle length direction on the upper surface of the front table20to be spaced apart at predetermined intervals in a vehicle width direction.

A pair of front robots30is mounted on the plurality of rails21, where the front robots30are small robots, and are installed to be slidably moved in the vehicle length direction through the rails21.

Each of the front robots30is mounted on a front carriage31fitted to the plurality of rails21.

The front carriage31may be provided with a cable guider37for organizing various cables.

The front carriage31is equipped with a pair of front moving parts33, and each of the front moving parts33is mounted on the front carriage31so as to be movable in the vehicle width direction along the front carriage31.

It has been described above that the front carriage31is fitted to a plurality of rails21formed on the upper surface of the front table20and is movable in the vehicle length direction, and that the front moving parts33are connected to the front carriage31to be movable in the vehicle width direction. However, it may be understood that it is not necessarily limited thereto. The arrangement direction of the rail21on the front table20may be changed so that directions of movement of the front carriage31and the front moving parts33may be interchanged.

That is, the moving directions of the front carriage31and the front moving parts33may be configured to move in any combination of the vehicle width direction or the vehicle length direction.

In addition, the pair of front moving parts33is configured to move in up and down directions while moving in the vehicle length direction along the front carriage31.

The front moving parts33are configured to move in the up and down direction, e.g., by an operation of a cylinder CIA.

The cylinder CIA may be operated, for example, hydraulically or pneumatically.

In addition, a front robot arm35is mounted at respective front moving parts33.

The front robot arm35may be made of multiple joints to facilitate position control.

A tie-rod gripper40for adjusting the tie-rod TR is mounted at an end of each front robot arm35.

The tie-rod gripper40may be configured to operate pneumatically.

Referring toFIG. 3, the tie-rod gripper40includes a body part41, a pair of moving brackets43, and a finger member45.

The body part41is mounted to an end of the front robot arm35.

In addition, the pair of moving brackets43is installed at the body part to reciprocally move to be closer or farther with respect to each other.

The pair of moving brackets43is installed to reciprocate relative to the body part41, e.g., by a cylinder operation.

Referring toFIG. 4, a pair of finger members45is fixedly installed at each of the moving brackets43, and each finger member45is formed with a gripping groove47for gripping the tie-rod TR, at surfaces facing each other.

Thus, each finger member45is configured to reciprocally move according to the operation of the moving bracket43, and thereby to grip the tie-rod TR through the gripping groove47.

A lock-nut runner50is mounted to the tie-rod gripper40.

The lock-nut runner50is mounted to the body part41of the tie-rod gripper40through a mounting bracket51.

The lock-nut runner50includes a gripping part53for gripping the lock-nut LN, which locks the position of the tie-rod to a tie-rod end TRE. The lock-nut runner50may be aligned with the gripping part53since a tie-rod and a lock-nut of a steering system of a vehicle are typically designed to be aligned with each other.

The lock-nut runner50may be configured to be operable through wireless communication.

Alternatively, the lock-nut runner50may be configured to be electrically operated by being connected by wire.

Thus, the lock-nut runner50is configured to move with the tie-rod gripper40to adjust the lock-nut LN connected to the linkage structure of the front wheel FW.

That is, the tie-rod gripper40and the lock-nut runner50are configured to be movable by the front robot in response to the tie-rod TR and the lock-nut LN of the vehicle.

Referring toFIG. 5, the rear wheel moving apparatus100is disposed in correspondence with the rear wheel RW of the vehicle.

The rear wheel moving apparatus100is installed to be slidably movable in the vehicle width direction, and includes a rear table120, a pair of rear robots130, and a coupling part137.

The rear table120is disposed below the mounting table1, and is fixed to the ground in correspondence with the rear wheel RW.

A plurality of rails121is formed on an upper surface of the rear table120.

The plurality of rails121may be formed along the vehicle width direction on the upper surface of the rear table120to be spaced apart at predetermined intervals in the vehicle length direction.

A pair of rear robots130is mounted on the plurality of rails121, where the rear robots130are small robots, and are installed to be slidably moved in the vehicle width direction through the rails121.

The rear robots130are mounted on a rear carriage131fitted to the plurality of rails121, and the rear carriage131is slidably movable in the vehicle width direction along the rails121.

The rear carriage131is equipped with a pair of rear moving parts133, and the rear moving parts133are mounted on the rear carriage131so as to be movable in the vehicle length direction along the rear carriage131.

It has been described above that the rear carriage131is fitted to the plurality of rails121formed on the upper surface of the rear table120and is movable in the vehicle width direction, and that the rear moving parts133are fitted to the rear carriage131. However, it may be understood that it is not necessarily limited thereto. The arrangement direction of the rails121on the rear table120may be changed so that directions of movement of the rear carriage131and the rear moving parts133may be interchanged.

That is, the moving direction of the rear carriage131and the rear moving parts133may be configured to move in any combination of the vehicle width direction or the vehicle length direction.

In addition, the pair of rear moving parts133is configured to move in up and down directions while moving in the vehicle length direction along the rear carriage131.

The rear moving parts133are configured to move in the up and down direction, e.g., by an operation of a cylinder CL2.

The cylinder CL2may be operated, for example, hydraulically or pneumatically.

In addition, a rear robot arm135is mounted at a respective rear moving part133.

The rear robot arm135may be made of multiple joints to facilitate position control.

A coupling part137is mounted at an end of the rear robot arm135. The coupling part137is configured to be coupled to and decoupled from the rear wheel adjustment apparatus140. That is, the coupling part137is attachable to and detachable from the rear wheel adjustment apparatus140.

In other words, the coupling part137is configured to be coupled to and decoupled from a coupling pin148formed on a tool bracket147of the rear wheel adjustment apparatus140to be described later.

The coupling part137may be configured to be coupled to and decoupled from the coupling pin148through an operation of an air cylinder or a hydraulic cylinder.

Therefore, the rear wheel adjustment apparatus140may be operated, e.g., moved or tilted, by the rear moving part133and the rear robot arm135by being coupled through the coupling part137.

Referring toFIG. 6, the rear wheel adjustment apparatus140may be coupled to the rear wheel moving apparatus wo through the coupling pin148, to adjust the cam-bolt and the cam-nut employed in the linkage structure of the rear wheel RW.

The rear wheel adjustment apparatus140includes an actuating part141, a linkage part143, and an electric power tool145.

The actuating part141is fixed to a center table220disposed between the front table20and the rear table120.

The actuating part141is installed on the center table220through a supporting stand221, and is configured to move in the up and down directions.

The linkage part143is connected to an end of the driving shaft of the actuating part141.

In addition, the linkage part143is mounted on a rail223installed in the supporting stand221, and is configured to move up and down along the rail223.

One end of the linkage part143is connected to the driving shaft of the actuating part141, and the other end is connected to the electric power tool145.

The linkage part143includes three link points and two link arms, and thereby, is configured to move the electric power tool145in the front, rear, left, and right directions.

The electric power tool145is connected to an end of the linkage part143through a tool bracket147.

The tool bracket147is formed with a slit groove149along the length direction on an upper surface.

A cam-nut runner150is mounted on one side of the slit groove149of the tool bracket147, and a cam-bolt gripper155is mounted on the other side of the tool bracket147.

At this time, the cam-bolt gripper155is fitted into the slit groove149so as to be slidable by a moving block155a.

That is, the cam-nut runner150is fixedly mounted to the tool bracket147, and the cam-bolt gripper155may slide along the slit groove149of the tool bracket147, e.g., by an operation of a cylinder, by which the distance between the cam-bolt gripper155and the cam-nut runner150is adjusted.

Due to an adjustment of the distance between the cam-bolt gripper155and the cam-nut runner150, the rear wheel adjustment apparatus140may become suitable for any type of vehicles that may have different distances between its cam-bolt and cam-nut.

A distance between the cam-nut runner150and the cam-bolt gripper155may be set in a range of 60 mm to 88 mm.

Therefore, the system for automatic wheel alignment adjustment according to an exemplary embodiment may be applied regardless of specific types of vehicles.

According to a system for automatic wheel alignment adjustment according to an exemplary embodiment, when a component apparatus malfunctions, e.g., when any of the front wheel adjustment apparatus10, the rear wheel moving apparatus100, and the rear wheel adjustment apparatus140malfunctions, the malfunctioning apparatus may be moved from the working space of alignment adjustment to a new space and may be serviced in the new space. Therefore, a correctly functioning apparatus may continue its alignment adjustment, and stoppage of a whole system due to malfunctioning of a partial apparatus may be prevented.

At this time, an operator can manually control the rear wheel adjustment apparatus140, while holding a lower end of the electric power tool145in a state of being decoupled from the rear wheel moving apparatus100.

According to a system for automatic wheel alignment adjustment according to an exemplary embodiment, two front wheels and two rear wheels may be separately adjusted, and thereby, when an apparatus for adjusting alignment for a specific wheel malfunctions, other apparatus for adjusting the remaining wheels may be continuously operated, thereby preventing delay of the wheel alignment adjustment.

For example, when one of the pair of front robots30of the front wheel adjustment apparatus10malfunctions, the other front robot30may adjust both front wheels, by which a stoppage of wheel alignment adjustment may be prevented.

In addition, according to a system for automatic wheel alignment adjustment according to an exemplary embodiment, the rear wheel moving apparatus100and the rear wheel adjustment apparatus140are separately arranged, and thereby, load for moving the rear wheel adjustment apparatus140may be reduced and a robot for moving the rear wheel adjustment apparatus140may be implemented as a small robot. This can reduce the overall size and cost.