Patent Description:
The present disclosure relates generally to wheel/tire assemblies and more specifically to a robotic wheel cleaner for use in a weight apply operation of a wheel/tire assembly process.

Rotating elements are used in many different applications, including, for example, automotive applications. Any weight imbalance in rotating elements may result in undesirable vibration. In the automotive industry, for example, such vibration can undesirably impact wear on vehicle components or create a poor vehicle driving experience for riders in a vehicle. To avoid these issues, it is known to subject rotating elements to a balancing operation. More specifically, using vehicle wheels as an example, a balancing machine may be utilized during the manufacturing process to spin a wheel assembly to determine which, if any, points of the wheel may require more weight to more evenly distribute weight of the assembly, as well as how much weight to apply to each of the identified points.

Once the points for applying weight material have been identified, individual weight segments may be applied in a weight apply operation. The individual weight segments typically include an integrated adhesive backing or other arrangement for adhering the weights to an inside surface of a wheel. However, to ensure that the weight segments properly adhere to the wheel, the inside surface of the wheel should be properly cleaned.

Traditionally, cleaning the inside surface of the wheel has been a manual operation. As such, the operation of a wheel/tire assembly process measurably slows down while the inside surface of the wheel is properly cleaned. What is needed is an automated method of properly cleaning the inside surface that maximizes assembly time.

<CIT> discloses an imbalance compensation method, wherein a scanning lever coupled to the electronic measuring and evaluation circuit is used in the out of balance compensating operation, for the correct positioning of the respective balance weights at the wheel disc, or one more wheel disc measurements are scanned, for storing in the storage of the measuring and evaluation circuit. A cleaning of the compensation position surface at the wheel rim is executed with a cleaning brush which is connected prior to the out of balance compensating operation, where a scanning lever with an angle measurer extends through angle and in a direction, from an initial position parallel to the main shaft to the compensation position surface.

<CIT> discloses a wheel cleaner in accordance with the preamble of claim <NUM> and a weight applicator for a wheel of a tire-wheel assembly. The weight applicator includes an arm portion and an applicator portion connected to the arm portion. The applicator includes a radially-extending flange portion. The radially-extending flange portion is connected to the arm portion. A first plunger portion is movably-connected to the radially-extending flange portion by one of more first radial arms.

The invention is set forth in the independent claims. Embodiments result from the dependent claims and the below description.

A robotic wheel cleaner that is configured for performing a cleaning operation on an inner surface of a wheel while the wheel is in an elevated position is disclosed. The robotic wheel cleaner comprises a selectively moveable arm, and a cleaning tool attached to the moveable arm. The selectively moveable arm is operatively connected to a body portion at a first end thereof. The cleaning tool is operatively connected to a second end of the moveable arm. The cleaning tool further comprises a cleaning pad configured for selectively engaging at least a first predetermined location of a wheel. The cleaning tool is selectively movable along a first predetermined pathway to clean at least a predetermined portion of the wheel. The cleaning tool further comprises a mounting bracket to which a holder element is attached. The cleaning pad is mounted to the holder element. The mounting bracket includes a channel therethrough that receives at least one fastener element to selectively position the holder element along the mounting bracket.

In one exemplary arrangement, the first predetermined pathway is an arc that is less than <NUM> degrees from a center axis of the wheel.

In one exemplary arrangement, the cleaning pad is removably attached to the holder element to allow for selectively replacement of the cleaning pad.

In one exemplary arrangement, the mounting bracket may further comprise indicia that is indicative of the position of the holder element for accommodate various sized wheels.

In one exemplary arrangement, the moveable arm is configured to move to a second predetermined location of the wheel, wherein the cleaning tool is selectively movable along a second predetermined pathway to clean at least a second predetermined portion of the wheel. The second predetermined pathway is positioned approximately <NUM>° from the first predetermined pathway. In one exemplary arrangement the second predetermined pathway is an arc that is less than <NUM> degrees from a center point in the wheel.

In one exemplary arrangement, a force feedback sensor is operatively connected to the cleaning tool. The force feedback sensor is operatively connected to a controller and the controller will prevent the cleaning tool from moving along the first predetermined pathway unless a threshold of force is detected by the force feedback sensor.

A method of performing a cleaning operation for a wheel is also disclosed.

The illustrated embodiments are disclosed with reference to the drawings. However, it is to be understood that the disclosed embodiments are intended to be merely examples that may be embodied in various and alternative forms. The figures are not necessarily to scale and some features may be exaggerated or minimized to show details of particular components. The specific structural and functional details disclosed are not to be interpreted as limiting, but as a representative basis for teaching one skilled in the art how to practice the disclosed concepts.

Referring to <FIG>, an exemplary arrangement of a robotic wheel cleaner <NUM> is shown. The robotic wheel cleaner <NUM> is configured for cleaning at least predetermined portions of a wheel <NUM> so as to ensure that weight material may be properly applied and retained on the wheel <NUM>. For ease of explanation, a cross-sectional view of the wheel <NUM> is shown, with a tire removed. Further, a separate stage for holding the wheel <NUM> during the cleaning operation is omitted. The robotic wheel cleaner <NUM> may include at least a first articulated joint <NUM>, a second articulated joint <NUM>, and a wrist <NUM>. An arm <NUM> is positioned between the second articulated joint <NUM> and the wrist <NUM>. A cleaning tool <NUM> is selectively attachable to the wrist <NUM> of the robotic wheel cleaner <NUM>. Details of the cleaning tool <NUM> will be described in further detail below. A controller (not shown) may be operatively connected to the robotic wheel cleaner <NUM> to control its operation.

The second articulated joint <NUM> is mounted to a body portion <NUM> that is operatively connected to a foot member <NUM> via the first articulated joint <NUM>. The foot member <NUM> is connected to a base portion <NUM>. In one exemplary arrangement, the foot member <NUM> is rotatably-connected to the base portion <NUM> such that the foot member <NUM> may be pivoted relative to the base portion <NUM>. This pivoting motion allows for the body portion <NUM> and arm <NUM> to be pivoted with respect to the base portion <NUM>. Further, the body portion <NUM> is also hingedly connected to the foot member <NUM> such that the body portion <NUM> may be articulated vertically relative to the base portion <NUM> (as may be seen in <FIG>).

In one exemplary embodiment, the arm <NUM> may be connected to the body portion <NUM> such that the arm <NUM> may be articulated in any desirable upward or downward position relative the body portion <NUM>. Referring to <FIG>, in one exemplary arrangement, the body portion <NUM> may include a yoke member <NUM> that defines a channel <NUM> between opposing wall members <NUM>. An end portion <NUM> of the arm <NUM> is disposed within the channel <NUM> and pivotly attached thereto at second articulated joint <NUM>.

The foot member <NUM> also includes a yoke member <NUM> that defines a channel <NUM> between opposing wall members <NUM>. An end portion <NUM> of the body portion <NUM> is disposed within the channel <NUM> and pivotly attached thereto at the first articulated joint <NUM>.

Mounted to the wrist <NUM> is a cleaning tool <NUM>. Details of the wrist <NUM> and cleaning tool <NUM> will be discussed in greater detail in connection with <FIG>. Wrist <NUM> includes a moveable canister <NUM> (best seen in <FIG>) into which a movable mount element <NUM> is positioned. The moveable canister <NUM> is positioned at an operational end <NUM> of the arm <NUM> and is movable a predetermined amount about a first axis A-A. The movable mount element <NUM> is rotatably about a second axis B-B that is generally perpendicular to the first axis A-A. An adapter plate <NUM> is secured to a top end <NUM> of the movable mount element <NUM>. A portion of the cleaning tool <NUM>, namely mounting bracket <NUM>, is operably connected to mount element <NUM>. In one example, a force sensing unit <NUM> may be positioned between the adapter plate <NUM> and the mounting bracket <NUM>.

As best seen in <FIG>, further details of the cleaning tool <NUM> will be discussed. Cleaning tool <NUM> comprises the mounting bracket <NUM> to which a holder element <NUM> is attached. The holder element <NUM> carries a cleaning implement such as a cleaning pad <NUM> at an operational end <NUM> of the holder element <NUM>. In one exemplary arrangement, the cleaning pad <NUM> is removably attached to the holder element <NUM> to allow for replacement of a used cleaning pad <NUM>. In one example, the cleaning pad <NUM> may be secured to a mounting plate <NUM> that is selectively attached to the holder element <NUM> by fasteners (not shown) extending through a portion of the holder element <NUM>. However, other mechanisms for attaching a cleaning pad <NUM> to the operational end <NUM> of the holder element <NUM> are also contemplated.

In one example, the mounting bracket <NUM> may further include a channel <NUM> (shown <FIG>) therethrough. The channel <NUM> may receive at least one fastener element <NUM> to selectively position the holder element <NUM> along the mounting bracket <NUM> to selectively adjust the cleaning tool <NUM> for use with various sized wheels. More specifically, the fastener element <NUM> may be loosened to allow the holder element <NUM> to slide along the mounting bracket <NUM> to various positions. In one exemplary arrangement, the mounting bracket <NUM> may be provided with indicia (such as markings or etchings) that are indicative of certain standard wheel sizes to allow for quick and easy adjustment. For example, the indicia may be provided on a top surface of the mounting bracket <NUM> that an edge of the holder element <NUM> may be aligned with. A non-operational end <NUM> of the mounting bracket <NUM> is fixedly connected to the force sensing unit <NUM> by one or more fasteners <NUM>.

Turning to <FIG>, as well as <FIG>, a cleaning operation utilizing the robotic wheel cleaner <NUM> will now be described in connection with process flow <NUM>. More specifically, the purpose of the robotic wheel cleaner <NUM> is to clean at least selected areas on an inner surface <NUM> of a wheel <NUM> where balance weights (not shown) are to be applied so that the balance weights properly wet-out and adhere properly to predetermined locations of the wheel <NUM>. As the balance weights need only be applied at certain locations, to provide an efficient cleaning process, the robotic wheel cleaner <NUM> may only need to operate to clean predetermined areas of the inside surface of the wheel <NUM>. Thus, in one exemplary arrangement, the process <NUM> starts with the initial step <NUM> of identifying the predetermined locations of the wheel <NUM> to which weights are to be applied. These locations may be identified in any suitable manner. Once identified, the location information is programmed into the controller.

Once the predetermined locations of the wheel <NUM> are identified, the wheel <NUM> may be positioned at a cleaning station (not shown) such that the wheel <NUM> is in an elevated position, with an open end <NUM> of the wheel facing downwardly, as shown in <FIG>. In some exemplary arrangements, step <NUM> may be performed in the same location that the remaining steps of the cleaning operation are performed.

In step <NUM>, the robotic wheel cleaner <NUM> may be initially positioned in a non-cleaning configuration. The non-cleaning configuration is illustrated in <FIG>. As illustrated in <FIG>, the arm <NUM> is lowered such that the cleaning tool <NUM> is clear of a bottom edge <NUM> of the wheel <NUM>.

Next, in step <NUM>, the robotic wheel cleaner <NUM> is actuated so as to move the cleaning tool <NUM> to a first plane cleaning start position. The first plane cleaning start position is illustrated in <FIG>. As illustrated in <FIG>, the body portion <NUM> is moved into an extended position and the arm <NUM> is pivoted at second articulated joint <NUM> such that the operation end <NUM> is moved upwardly toward the open end <NUM> of the wheel <NUM>. In this configuration, the cleaning tool <NUM> is positioned within the wheel <NUM>. The cleaning pad <NUM> is moved against a first plane <NUM> of the inner surface <NUM> of the wheel <NUM>. The force sensing unit <NUM> may be used to enable not only proper placement of the cleaning pad <NUM>, but ensure full application of the cleaning pad <NUM> against the first plane <NUM>. More specifically, the force sensing unit <NUM> may be configured with a positon feedback will not initiate a cleaning operation until the sensing unit <NUM> detects a threshold force.

Once the cleaning pad <NUM> is seated against the first plane <NUM>, a first cleaning operation is undertaken in step <NUM>. More specifically, the cleaning pad <NUM> of moved across the first plane <NUM> until it reaches a first plane stop position. The first plane stop position is shown in <FIG>. To accomplish this action, the mount element <NUM> is rotated in a first direction. The rotation of the mount element <NUM> causes the cleaning tool <NUM> to rotate along the arc of the first plane <NUM>. In one exemplary arrangement, the arc of the first plane <NUM> is less than <NUM>° with respect to a central axis extending through the wheel <NUM>. In another exemplary arrangement, the arc of the first plane <NUM> is less than <NUM>°. Further, the first plane cleaning start position and the first plane stop position are located on either side of the predetermined location of the balance weights to ensure a fully cleaned area.

Because the balance weights only need to be positioned at predetermined positions, the cleaning pad <NUM> only needs to clean along the area where the balance weight is to be applied. In this manner, the time for performing the cleaning operation may be reduced over prior art systems as only a small area requires cleaning.

Once the predetermined location of the first plane <NUM> is cleaned, the process <NUM> moves to step <NUM>. In step <NUM>, the robotic wheel cleaner <NUM> lowers the cleaning tool <NUM> to a second plane cleaning start position. As illustrated in <FIG>, the body portion <NUM> is moved into a retracted position and the arm <NUM> is pivoted at second articulated joint <NUM> such that the operation end <NUM> of the arm <NUM> is moved downwardly below the open end <NUM> of the wheel <NUM>. In this configuration, the cleaning tool <NUM> is partially positioned within the wheel <NUM>. More specifically, in one arrangement, the cleaning pad <NUM> is positioned within the wheel <NUM>. The cleaning pad <NUM> is moved against a second plane <NUM> of the inner surface <NUM> of the wheel <NUM>. The second plane start position is positioned approximately <NUM> degrees from the first plane start position and spaced vertically from the first plane start position. Again, the force sensing unit <NUM> may be used to enable not only proper placement of the cleaning pad <NUM>, but ensure full application of the cleaning pad <NUM> against the second plane <NUM>.

Once the cleaning pad <NUM> is seated against the second plane <NUM>, a second cleaning operation is undertaken in step <NUM>. More specifically, the cleaning pad <NUM> is moved across the second plane <NUM> until it reaches a second plane stop position. The second plane stop position is shown in <FIG>. To accomplish this action, the mount element <NUM> is rotated in a second direction (that may be opposite the first direction). The rotation of the mount element <NUM> causes the cleaning tool <NUM> to rotate along the arc of the second plane <NUM>.

In step <NUM>, the robotic wheel cleaner <NUM> is lowered back into the non-cleaning configuration such that the arm <NUM> is lowered until the cleaning tool <NUM> is clear of a bottom edge <NUM> of the wheel <NUM>.

Once the predetermined areas of the wheel <NUM> are cleaned, the sections of the weight material may be delivered to a weight apply apparatus/member, such as a robotic end of arm tool weight apply apparatus (not shown). In one exemplary arrangement, the cleaning pad <NUM> may be mounted on the same end of arm tool weight apply apparatus such that the weight may be applied to the first plane <NUM> immediately after the first cleaning operation, and the weight may be applied to the second plane <NUM> immediately after the second cleaning operation. With this configuration, the weight application operation may be accomplished in quicker time than traditional weight application processes. Further, as the controller has the locations stored for applying the balance weights, there will be no need to reconfirm application locations if a different weight apply robot it used. Moreover, the footprint of a weight apply operation equipment may be reduced with the present arrangement.

In yet another exemplary configuration, the holder element <NUM> of the cleaning tool <NUM> may be removed from the mounting bracket <NUM> after the cleaning operation <NUM> and replaced with the weight apply apparatus.

Claim 1:
A robotic wheel cleaner (<NUM>) configured for performing a cleaning operation on an inner surface (<NUM>) of a wheel (<NUM>) while the wheel (<NUM>) is in an elevated position, comprising:
a selectively moveable arm (<NUM>) that is operatively connected to a body portion (<NUM>) at a first end thereof;
a cleaning tool (<NUM>) that is operatively connected to a second end of the moveable arm (<NUM>);
wherein the cleaning tool (<NUM>) further comprises cleaning pad (<NUM>) configured for selectively engaging at least a first predetermined location of an inside surface of a wheel (<NUM>), wherein the cleaning tool (<NUM>) is selectively movable along a first predetermined pathway to clean at least a predetermined portion of the inside surface of the wheel (<NUM>);
wherein the cleaning tool (<NUM>) further comprises a mounting bracket (<NUM>) to which a holder element (<NUM>) is attached, wherein the cleaning pad (<NUM>) is mounted to the holder element (<NUM>);
characterized in that
the mounting bracket (<NUM>) includes a channel (<NUM>) therethrough that receives at least one fastener element (<NUM>) to selectively position the holder element (<NUM>) along the mounting bracket (<NUM>).