Apparatus and methods for robotically servicing a vehicle wheel

Abstract

A robot tool for servicing a wheel positioned adjacent the robot tool and having an axis of rotation. The tool has a chassis which can be moved in any of rectilinear, curvilinear and spin motion on a support surface. A base mounted can be tilted from level and can be raised and lowered relative to the chassis. A wheel servicing sub-system mounted to the base has an operational axis and an interface part for mechanically engaging a corresponding interface part of a wheel being serviced in a mechanical engagement permitting wheel servicing by the servicing sub-system when the operational axis is aligned with the wheel axis of rotation.

What is claimed is: 
     
         1 . A robot tool for servicing a wheel having a central axis of rotation when the wheel is positioned adjacent the robot tool, the robot tool comprising:
 a chassis having a roller set for supporting the chassis on a supporting surface, a first drive to the roller set operable to effect any of rectilinear, curvilinear and spin motion of the chassis on the supporting surface,   a base mounted on the chassis, a second drive to effect tilt of the base from a level position to a tilted position, and a third drive to effect a change of height of the base relative to the supporting surface,   a first servicing sub-system mounted to the base for servicing the wheel, the first servicing sub-system having a first operational axis and a first interface part for mechanically engaging a second interface part of the wheel in a first mechanical engagement permitting servicing of the wheel by the first servicing sub-system,   wherein the first, second and third drives are collectively operable to align the operational axis with the wheel axis of rotation.   
     
     
         2 . The robot tool as claimed in  claim 1 , wherein the first drive has respective first and second roller drives for driving first and second ones of the rollers about generally horizontal axes. 
     
     
         3 . The robot tool as claimed in  claim 2 , wherein the roller drives are independent of one another and permit different rotational speeds as between the first and second rollers. 
     
     
         4 . The robot tool as claimed in  claim 2 , wherein the roller drives are independent of one another and permit rotation in different rotational directions as between the first and second rollers. 
     
     
         5 . The robot tool as claimed in  claim 2 , wherein the first drive has third and fourth roller drives to independently angularly rotate the respective first and second rollers about vertical axes. 
     
     
         6 . The robot tool as claimed in  claim 1 , wherein the base is connected to the chassis by a linkage, the base having a tool support plate supporting the first servicing sub-system, the third drive sub-system operable to adjust the linkage thereby to effect said height change. 
     
     
         7 . The robot tool as claimed in  claim 6 , wherein the second drive sub-system is operable to tilt the tool support plate about any of a plurality of horizontal axes. 
     
     
         8 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-system is a wheel mounting sub-system having at least three grippers deployable to grip an outer tread surface of a wheel to be serviced, the grippers located on a circle centered on the operational axis. 
     
     
         9 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-system is a tire inspection sub-system. 
     
     
         10 . The robot tool as claimed in  claim 9 , wherein the tire inspection sub-system includes at least one camera co-mounted with at least one of the grippers. 
     
     
         11 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-system is a tire pressure regulating sub-system. 
     
     
         12 . The robot tool as claimed in  claim 11 , wherein the tire pressure measuring and regulating sub-system has the interface part thereof mounted on a support frame, the support frame mounted for rotation about the operational axis. 
     
     
         13 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-system is a wheel balancing sub-system. 
     
     
         14 . The robot tool as claimed in  claim 13 , further comprising a clamping assembly for clamping the wheel to be serviced at the center of a rim thereof, the clamping assembly mounted for rotation about the operational axis. 
     
     
         15 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-system is a fastener attaching and detaching sub-system operable respectively to fix and releasing fasteners to and from a wheel supporting member thereby respectively to clamp and unclamp a wheel to and from the wheel supporting member, the fastener attaching and detaching sub-system having a plurality of parallel rotatable spindles having respective sockets for engaging such fasteners, the parallel rotatable spindles positioned in a circular array with the circle thereof centered on the operational axis. 
     
     
         16 . The robot tool as claimed in  claim 1 , wherein the wheel servicing sub-systems is a fastener storage repository. 
     
     
         17 . The robot tool as claimed in  claim 16 , wherein the repository has a storage station having a plurality of fastener storage seats in a circular array, the storage station rotatable about a mounting for movement of the storage stations from standby positions to operational positions in which the circle of the circular array is centered on the operational axis. 
     
     
         18 . The robot tool as claimed in  claim 1 , further comprising a jacking sub-system for raising a part of a vehicle to enable removal or mounting of a wheel to be serviced. 
     
     
         19 . The robot tool as claimed in  claim 1 , wherein a component of the first wheel servicing sub-system is so mounted on the robot tool to permit movement thereof to a standby position to avoid blockage or interference with components and units of a second wheel servicing sub-system upon deployment of the second wheel servicing sub-system.