Automated removal and placement of vehicle wheels and tires

Abstract

Systems, methods and apparatus for automated vehicle wheel removal and replacement are provided. One system includes a computer system with applications for scheduling the replacement of tires for the vehicle. An electronically controlled lift device and robotic apparatus is configured for interaction with the computer system. The lift device mechanically adjusts arms for placement on lift points of vehicles. The robotic apparatus detects positioning of lug nut configuration for a wheel, removes lug nuts, and then removes the wheel from the wheel hub with gripping arms. The wheel and tire are then handed off to a separate tire changing machine. When a new tire is replaced the robotic apparatus then mounts the wheel to the original wheel hub, and then secures the lug nuts to the lug nut bolts.

What is claimed is: 
     
         1 . A method of vehicle wheel removal and replacement comprising:
 positioning a tooling end of a robotic apparatus having a wrench to a first wheel removal position of a first wheel of a vehicle, the first wheel having bolt holes and the first wheel being attached to a first wheel hub of the vehicle via a first plurality of wheel fasteners fastened to the first wheel hub, the first wheel having a first affixed tire; and   performing a first wheel removal and replacement procedure comprising:
 removing the first plurality of wheel fasteners from the first wheel hub using the wrench; and 
 after a first new tire has been placed onto the first wheel, and the wheel has been placed onto the first wheel hub by the robotic apparatus, while supporting the tire with the robotic apparatus, replacing the first plurality of wheel fasteners onto the first wheel hub using the wrench. 
   
     
     
         2 . The method of  claim 1 , further comprising the operations of:
 positioning the tooling end of the robotic apparatus to a second wheel removal position of a second wheel of the vehicle, the second wheel having bolt holes and the second wheel being attached to a second wheel hub of the vehicle via a second plurality of wheel fasteners fastened to the second wheel hub, the second wheel having a second affixed tire; and   performing a second wheel removal and replacement procedure comprising:
 removing the second plurality of wheel fasteners from the second wheel hub using the wrench; and 
 after a second new tire has been placed onto the second wheel, and the second wheel has been placed onto the second wheel hub by the robotic apparatus, replacing the second plurality of wheel fasteners onto the second wheel hub using the wrench. 
   
     
     
         3 . The method of  claim 2 , further comprising the operations of:
 moving the robotic apparatus in a linear fashion from the first wheel removal position to the second wheel removal position.   
     
     
         4 . The method of  claim 2 , further comprising the operations of:
 after the first plurality of wheel fasteners have been replaced onto the first wheel hub, automatically moving the robotic from the first wheel removal position to the second wheel removal position.   
     
     
         5 . The method of  claim 1 , wherein the tooling end comprises any one of the following: a tire deflation apparatus, a tire inflation apparatus, a valve stem cap removal apparatus, a valve stem cap installation apparatus, a valve core removal apparatus, and a valve core installation apparatus. 
     
     
         6 . The method of  claim 1 , further comprising the operations of:
 obtaining one or more images of a portion of the vehicle via one or more cameras.   
     
     
         7 . The method of  claim 7 , further comprising the operations of:
 determining, based on the one or more obtained images, whether the wheel has damage.   
     
     
         8 . The method of  claim 7 , further comprising the operations of:
 determining, based on the one or more obtained images, an orientation of the wheel.   
     
     
         9 . The method of  claim 7 , further comprising the operations of:
 determining, based on the one or more obtained images, side wall information of the tire.   
     
     
         10 . The method of  claim 7 , further comprising the operations of:
 determining, based on the one or more obtained images, a rotational direction of the tire.   
     
     
         11 . The method of  claim 7 , further comprising the operations of:
 determining, based on the one or more obtained images, a lug nut pattern of the wheel.   
     
     
         12 . The method of  claim 1 , further comprising the operations of:
 receive an input indicating at least a make and model of the vehicle; and   based on the received input, determine one or more available tires for the vehicle.   
     
     
         13 . The method of  claim 1 , further comprising the operations of:
 instructing a vehicle lifting device to lift the vehicle to a height above a ground surface; and   the performing the first wheel removal and replacement procedure.   
     
     
         14 . The method of  claim 1 , further comprising the operations of:
 gripping the first new tire with a tire gripper attached to the tire gripper to support the tire while the first plurality of wheel fasteners are being replaced onto the first wheel hub using the wrench.   wherein the tooling end comprises a multi-socket head configured to remove multiple lug nuts at the same time.   
     
     
         15 . A method of vehicle wheel removal and replacement comprising:
 positioning a tooling end of a robotic apparatus having a wrench to a first wheel removal position of a first wheel of a vehicle, the first wheel having bolt holes and the first wheel being attached to a first wheel hub of the vehicle via a first plurality of wheel fasteners fastened to the first wheel hub, the first wheel having a first affixed tire;   performing a first wheel removal and replacement procedure comprising:
 removing the first plurality of wheel fasteners from the first wheel hub using the wrench; and 
 after a first new tire has been placed onto the first wheel, and the wheel has been placed onto the first wheel hub by the robotic apparatus, while supporting the tire with the robotic apparatus, replacing the first plurality of wheel fasteners onto the first wheel hub using the wrench; and 
   positioning the tooling end of the robotic apparatus to a second wheel removal position of a second wheel of the vehicle, the second wheel having bolt holes and the second wheel being attached to a second wheel hub of the vehicle via a second plurality of wheel fasteners fastened to the second wheel hub, the second wheel having a second affixed tire; and   
       performing a second wheel removal and replacement procedure comprising:
 removing the second plurality of wheel fasteners from the second wheel hub using the wrench; and 
 after a second new tire has been placed onto the second wheel, and the second wheel has been placed onto the second wheel hub by the robotic apparatus, replacing the second plurality of wheel fasteners onto the second wheel hub using the wrench. 
 
     
     
         16 . The method of  claim 15 , further comprising the operations of:
 receive an input indicating at least a make and model of the vehicle; and   based on the received input, determine one or more available tires for the vehicle.   
     
     
         17 . The method of  claim 15 , further comprising the operations of:
 instructing a vehicle lifting device to lift the vehicle to a height above a ground surface; and   the performing the first wheel removal and replacement procedure.   
     
     
         18 . The method of  claim 15 , further comprising the operations of:
 gripping the first new tire with a tire gripper attached to the tire gripper to support the tire while the first plurality of wheel fasteners are being replaced onto the first wheel hub using the wrench.   wherein the tooling end comprises a multi-socket head configured to remove multiple lug nuts at the same time.   
     
     
         19 . The method of  claim 15 , further comprising the operations of:
 receive an input indicating at least a make and model of the vehicle; and   based on the received input, determine one or more available tires for the vehicle.   
     
     
         20 . The method of  claim 15 , further comprising the operations of:
 instructing a vehicle lifting device to lift the vehicle to a height above a ground surface; and   the performing the first wheel removal and replacement procedure.