Robotic apparatus and method for mounting a valve stem on a wheel rim

A method for assembling a valve stem to a wheel rim having an aperture formed therein comprising the steps of:

• determining a location of the aperture relative to a gauging station by positioning the rim on a rotatable table, directing an optical sensor at the rim, rotating the table and the rim, and stopping rotation of the table and rim when the optical sensor is directed at the aperture;
• coaxially aligning a central axis of the aperture and a longitudinal axis of the valve stem with respect to one another prior to insertion of the valve stem through the aperture;
• and
• moving the valve stem relative to the rim along a programmable path of travel during the coaxially aligning step and along the aligned axes to insert the valve stem through the aperture, the path of travel defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

An apparatus for assembling a valve stem to a wheel rim having an aperture formed therein comprising:

• means for determining a location of the aperture relative to a gauging station;
• means for coaxially aligning the central axis of the aperture and a longitudinal axis of the valve stem with respect to one another prior to insertion of the valve stem through the aperture;
• and
• means for moving the valve stem relative to the rim along a programmable path of travel including alignment of the central axis of the aperture with the longitudinal axis of the valve stem and along the aligned axes to insert the valve stem through the aperture, the path of travel defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

An apparatus for assembling a valve stem to a wheel rim having an aperture formed therein comprising:

• means for determining a location of the aperture relative to a gauging station, said means for determining comprising a rotatable table for selectively rotating the rim and an optical sensor to detect the location of the aperture as the rim is rotated;
• means for coaxially aligning the central axis of the aperture and a longitudinal axis of the valve stem with respect to one another prior to insertion of the valve stem through the aperture;
• and
• means for moving the valve stem relative to the rim along a programmable path of travel including alignment of the central axis of the aperture with the longitudinal axis of the valve stem and along the aligned axes to insert the valve stem through the aperture, the path of travel defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

An apparatus for assembling a valve stem to a wheel rim having an aperture formed therein comprising:

• means for determining a location of the aperture relative to a gauging station;
• means for coaxially aligning the central axis of the aperture and a longitudinal axis of the valve stem with respect to one another prior to insertion of the valve stem through the aperture;
• and
• means for moving the valve stem relative to the rim alone a programmable path of travel including alignment of the central axis of the aperture with the longitudinal axis of the valve stem and alone the aligned axes to insert the valve stem through the aperture, the path of travel defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled;
• means for grasping the valve stem with the robotic manipulator computer-controlled and having a valve-stem-gripper-attachment articulatable and positionable to be in a predetermined orientation with respect to the aperture in the rim;
• means for orienting the aperture of the wheel rim in a predetermined location as a result of movement of the rim at the gauging station prior to the valve stem being inserted by the robotic manipulator.

A method for assembling a valve stem to a wheel rim having an aperture formed therein comprising the steps of:

• determining the location of the valve stem aperture in the rim;
• and
• operably engaging the valve stem with a robotic manipulator;
• moving the valve stem relative to the rim along a programmable path of travel;
• coaxially aligning the valve stem and the aperture;
• and
• inserting at least a portion of the valve stem through the aperture in the rim, wherein the path of travel is defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

A method for assembling a valve stem to a wheel rim having an aperture formed therein comprising the stems of:

• determining the location of the valve stem aperture in the rim by inserting a mechanical probe into the aperture prior to insertion of the valve stem through the aperture to verify the location of the apertures;
• operably engaging the valve stem with a robotic manipulator;
• moving the valve stem relative to the rim alone a programmable path of travel;
• coaxially aligning the valve stem and the aperture;
• and
• inserting at least a portion of the valve stem through the aperture in the rim, wherein the path of travel is defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

An apparatus for assembling a valve stem to a wheel run having an aperture formed therein comprising:

• means for determining the location of the valve stem aperture in the rim;
• and
• means for operably engaging the valve stem;
• means for moving the valve stem relative to the rim along a programmable path of travel;
• and
• means for coaxially aligning the valve stem and the aperture to insert at least a portion of the valve stem through the aperture in the rim, wherein the path of travel is defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled.

An apparatus for assembling a valve stem to a wheel rim having an aperture formed therein comprising:

• means for determining the location of the valve stem aperture in the rim;
• and
• means for operably engaging the valve stem;
• means for moving the valve stem relative to the rim along a programmable path of travel;
• and
• means for coaxially aligning the valve stem and the aperture to insert at least a portion of the valve stem through the aperture in the rim, wherein the oath of travel is defined with a programmable robotic manipulator having an arm capable of compound, multi-axial movement and having a plurality of programmed paths corresponding to a plurality of different size wheel rim and valve stem combinations to be assembled;
• said means for operably engaging the valve stem including means for grasping the valve stem with the robotic manipulator computer-controlled and having a valve-stem-gripper-attachment articulatable and positionable to be in a predetermined orientation with respect to the aperture in the rim;
• and
• means for orienting the aperture of the wheel rim in a predetermined location with respect to a gauging station as a result of rotational movement of the rim until the aperture is located with respect to the gauging station prior to inserting the valve stem;
• and
• said grasping means including the valve-stem-gripper-attachment in a predetermined position with respect to the gauging station as a result of articulation and positioning of the valve-stem-gripper-attachment by the robotic manipulator prior to inserting the valve stem.