JPS61110606A - Spike driving apparatus - Google Patents

Abstract

PURPOSE:To improve the efficiency in spike driving work by detecting the position of a spike hole by processing the image obtained by a camera which photographs the tread part of a tire and driving spikes in succession into the spike holes by a driving means according to the result of the above-described detection. CONSTITUTION:In spike driving work, a tire T is loaded in erection onto a tire loading board 26, which is raised by the operation of a cylinder 25, and the axis line of the tire T and that of a right-side rim 4 are allowed to accord with. Then, a left-side rim 20 is advanced rightward, and the tire T is nipped between the both rims 4 and 20. Then, a light 31 is lighted-up, and the tread part is photographed by two cameras 32, and the images of a spike hole and the concaved part of the tread pattern which are photographed dark and the image of the tread outer-surface photographed bright are processed by a processing means 33, and the position of the spike hole is obtained. A robot 35 is transfer-controlled according to the result of the above-described processing, and after the tilt angle of a gun 41 is controlled, a spike is driven into the spike hole by the gun 41.

Description

[Detailed Description of the Invention] Ll''! ``un'' This invention relates to a spike mounting device for driving spikes into spike holes of a tire.

Conventionally, as a spike attachment device, for example, Japanese Patent Application Laid-open No. 1'v1
The one described in Japanese Patent No. 57-95203 is known. This device includes a tire support mechanism for rotating a tire having spike holes formed in the tread portion, a spike driving means support portion, and a mounting position adjustable on the spike driving means support portion and attached to the tread portion. It is equipped with six spike driving means that can be approached and separated. In order to drive a spike into a spike hole using such a device, one worker must first manually drive the two workers in the front row.
(Aligning the spike driving means of ll with the spike hole) Next, the six spike driving means are brought close to the tire at the same time, and after driving the spikes, are separated from the tire.
Next, the tire is rotated by a predetermined angle. Then, repeat this operation one after another to drive the spikes into all the spike holes.

However, in the above-mentioned spike mounting device, in order to perform high-speed driving, six @ spike driving means are placed close to each other and these spike driving means are operated simultaneously. When it is desired to drive a large number of spikes into a region 1, for example, when it is desired to drive spikes into a small tire, there is a problem that the spike driving means interfere with each other during driving into the phase 7r, making it impossible to mount the spikes. Furthermore, when starting the driving operation, the worker must manually align the spike driving means and the spike hole, resulting in a problem of low work efficiency. Furthermore, if the position and number of spike holes change due to a change in the type of tire, the work efficiency will be reduced because the position of each spike must be adjusted accordingly. There is a problem that it becomes low.

1 will try. Heko's invention solves the conventional problem of not being able to drive a large number of spikes into a narrow area, and furthermore, the spike driving efficiency (pe) is low.

8. These problems are due to the rotation means for rotating the tire around its axis, which has many spike holes formed in the tread.
A camera that photographs the tread of the tire, a processing means that processes the image taken by the camera and detects the position of the spike holes, and operates based on the position signal from the first processing stage to drive spikes into each spike hole in sequence. This can be solved by providing one driving means.

First, the tread of the tire is photographed with a camera, and the photographed image is processed by a processing means to detect the position of the spike hole.Next, a signal regarding the position of the detected spike hole is sent from the processing means. Sent to means. Based on this signal, the driving means is actuated to drive a spike into the spike hole whose position has been detected.Next, the rotating means is actuated to rotate the tire by a predetermined angle around the axis. Then, by repeating the above-mentioned operation, the spikes are driven into all the spike holes.At this time, since the spikes are driven into the spike holes by one driving means, there is no possibility that the driving means will interfere with the driving. As a result,
A large number of spikes can be fired into a small area. Furthermore, when this spike mounting device starts operating, the processing means processes the image taken by the camera to detect the position of the spike hole, and also sends a signal regarding the position of the spike hole to the driving means. Since the driver moves the driving means to the spike hole, there is no need for the operator to align the driving means and the spike hole at the start of driving.Furthermore, even if the type of tire changes The positions of the spike holes are detected individually by processing the image taken by the camera by the processing means, and the position information of each spike hole is sent to the driving means, so that the placement position of the driving means can be adjusted. You can deal with this without having to.

1 real example Hereinafter, one embodiment of the present invention will be described based on the drawings.

In figure 11.2, l is a frame which has a left side wall 2 and a right side wall 3 which are parallel to each other. A right rim 4 is rotatably supported on the right wall 3, and a sprocket 5 is attached to the right rim 4. An air passage (not shown) is formed in the right rim 4 for supplying and filling air into the tire T, which will be described later. A tire rotation motor 8 is fixed to the upper end of the right side wall 3, and a sprocket 7 is attached to the output shaft of this motor 6.
is fixed. A chain 8 is passed between this sprocket 7 and the sprocket 5.

As a result, the right rim 4 is rotated by the operation of the motor 8. A screw block 11 is installed on the left side wall 2 facing the right side rim 4.
is fixed to the screw block 11, and a screw shaft 12 having a thread formed on the outer periphery of the rear end is screwed into the screw block 11. Sprocket 13 splined to the tip of screw shaft 12
is rotatably supported on the left side wall 2. The screw shaft 1
A movable body 14 is rotatably connected to the tip of the movable body 14, and a guide block 15 fixed to the left side 92 is attached to the movable body 14.
A guide rod 18 passing through is fixed. Reference numeral 17 denotes a tire clamping motor fixed to the upper end of the left side wall 2, and a sprocket 18 is fixed to the output shaft of this motor 17. A chain 19 is passed between the sprocket 18 and the sprocket 13, and as a result, when the motor 17 operates and the screw shaft 12 rotates, the movable body 14 approaches and moves away from the right rim 4. do. A left rim 20 facing the right rim 4 is rotatably supported on the movable body 14, and the left rim 20 and the right rim 4 are made of a tire having a tread portion with a large number of spike holes having a circular cross section. Support the tire T from both sides) and move the tire T around the axis! Rotate by angle. The aforementioned right rim 4, motor 6, chain 8, screw shaft 12,
Movable body 14, motor 17, chain 19. left rim 20
constitutes a rotating stage 21 as a whole. 25 is solid at the bottom of the frame l! A tire stand 26 on which a tire T is placed is fixed to the tip of the piston rond of this cylinder 25, and this tire stand 2B
A guide rod 27 is attached to the. Then, by operating the cylinder 25, the tire stand 2B is moved to the cylinder 25.
rise. A pair of lights 31 are installed above the tire T, and these lights 31 illuminate the tread portion of the tire T. Further, two cameras 32 separated from each other are installed near the lie 31, and these cameras 32 separately photograph the i/red portion of the tire T. The image taken by the camera 32 is processed as an electric signal by the processing means 3.
3. Sent to, for example, a microcomputer. The processing means 33 processes the image to determine whether or not it is a spike hole, as will be described later, and then obtains the spatial coordinates of the centers of the spike holes, up to six at a time. 35 is 1 as a driving means
This robot 35 is a processing means 33
actuated based on a signal regarding the location of the spike hole from;
Spikes are driven into the detected spike holes in sequence. The robot 35 has a base 36, and there are screws on the base 36◆
A body 38 is supported so as to be movable up and down in the direction of the arrow C via the rose portion 37 and rotatable in the direction of the arrow B about the rotation axis A. An arm 38 is supported by the body 38 so as to be slidable in the direction of the arrow, and the arm 39 can protrude from the body 38 or retract into the body 38.

A hand 40 is supported at the tip of the arm 38 and swings in the direction of arrow F about a rotation axis E, and a gun 41 for driving spikes is attached to this hand 40. As described above, the robot 35 has four axes, that is, rotation as indicated by arrow B, lifting and lowering as indicated by arrow C, sliding a1 as indicated by arrow, and rotation as indicated by arrow F.

Next, the operation of one embodiment of the present invention will be explained.

First, the tire T without spikes is placed upright on the tire stand 26''. Next, the cylinder 2
5 to raise the tire T by 1" and align the axis of the tire T with the axis of the right rim 4.Next, operate the motor 17 to bring the left rim 20 closer to the right rim 4, and The tire T is held between the rim 20 and the right rim 4 from both sides. Next, from the air passage in the right rim 4,
Supply and fill air inside. At this time, the arm 38 of the robot 35 is retracted, and therefore only the tread portion of the tire T is within the field of view of the camera 32, and the robot 35
5 is the 0th order in which no part is included, and the tread portion of the tire T is photographed by two cameras 32. At this time, in the image taken by the camera 32, the parts corresponding to the spike holes and the dents in the tread pattern are dark (
On the other hand, the portion corresponding to the outer surface of the tread portion is bright (white) due to the illumination of the light 31. The image of the tread portion photographed by this camera 32 is sent to the processing means 33 in the form of a signal.
3 performs binarization of the image and distinguishes it into either a dark area or a bright area. Next, this processing means 33
In order to remove noise, such as dents in a tread pattern, the system determines whether the area of a dark region is within a predetermined range, and recognizes dark regions outside the predetermined range as noise. In this embodiment, it is determined whether the area of the dark area is 80% or more of the cross-sectional area of the spike hole input in advance, and if the area is less than 80%, it is rounded down. Then, the processing means 33 determines whether the dark area is close to a circle and performs noise removal again.
The method (algorithm) for this judgment is 1, for example, one that judges whether the ratio of the length and width of the dark area is within a certain range centered around 1, or the area of the dark area is determined by the circumference length. There is a method that determines whether the value divided by is within a predetermined range centered on a set value determined by the hole diameter of the spike hole. At this time, it is a good idea to mask unnecessary parts using a window to improve processing speed and improve the reliability of recognizing whether or not it is a spike hole.In this way, When a dark region photographed with a spike hole is picked up from the images sent from each camera 32, the spatial coordinates of the center of each spike hole are calculated from these two images using a stereo vision method. If the spatial coordinates of the spike hole S determined as described above are, for example, (-a, -b) on the XY seat as shown in FIG. 3, these spatial coordinates are sent to the robot 35. . At this time, the processing means 33
Since the information regarding the size of the gun 4! shown in FIG. This value is also sent to the robot 35.

Here, the inclination angle θ is the intersection angle between the equatorial plane M and a straight line connecting the spike hole S and the center of the tire T, that is, the intersection of the rotational axis of the tire T and the equatorial plane M. However, such an inclination angle θ is determined because the spike hole S extends along the straight line described above. is sent to the robot 35, the robot 35 operates each axis to move the gun 41 on the X axis shown in FIG.
It is moved to just above the point a) and is tilted by an angle θ with respect to the equatorial plane M of the tire T. At this time, the processing means 33 calculates the angle α from the information regarding the size of the tire T and the Y coordinate value (-b), and sends this angle signal to the motor 8 to rotate the tire T by the angle α. This angle α is the angle in the circumferential direction from the straight line N connecting the origin O of the xY coordinates and the center of the tire T shown in FIG. 3 to the straight line P connecting the spike hole S and the center of the tire T. .

As a result, the spike hole S reaches directly below the gun 41. Next, each axis of the robot 35 is actuated to move the gun 41 toward the center of the tire T, and the spike is driven into the spike hole S. , as mentioned above, the spike hole S
Since a maximum of six positions can be determined at the same time, spikes are driven into the other five spike holes S one after another in the same manner as described above. At this time, the spikes that were driven into
Since the light from the light 31 is reflected, it becomes a bright area on the image and double spikes do not occur.
returns to the initial position and moves out of the field of view of the camera 32, and a signal is sent from the processing means 33 to the motor 6 to rotate the tire T by a predetermined angle.Next, after photographing the tread portion in the same manner as described above, Detection of the spike hole S and driving of the spike are performed. By repeating such an operation, when all the spike holes S are filled with spikes, the tire T is rotated once while being photographed by the camera 32. At this time, the spikes driven into the spike holes S reflect light and become a bright area similar to the outer surface of the tread portion, so it is possible to inspect whether or not there are any remaining spike holes S by the rotation. 0th, tire T
After removing the air from the tire, separate the left rim 20 from the right rim 4 and remove the tire T with spikes driven into all the spike holes S.Next, install a new tire T and perform the spike installation process again. .

In the above-described embodiment, two cameras 32 were installed, and the spatial coordinates of the spike hole were determined from the images of these cameras 32 using a stereo vision method, but in this invention, only one camera may be used. In this case, information regarding the size of the tire T is input in advance to the processing means 33, and the spatial coordinates of the spike hole are determined from this information and an image taken by one camera. Further, in the above-mentioned embodiment, the case where the light 31 and the camera 32 are installed above the tire T was explained, but in the present invention, one or both of the light and the camera is installed on the arm 3B of the robot 35, for example. In addition, in the above-mentioned embodiment, the case where the robot 35 has four axes was explained, but in this invention, the gun 41 of the robot 35 is further arranged as shown by arrow G in FIG. It is also possible to rotate the tire T on five axes.In this way, even if the spike hole whose position has been detected is far from the X-axis shown in FIG. You can drive spikes without moving to 1-. That is, in this case, the above-mentioned 4
actuate the two axes to move the gun 41 to the spatial coordinates of the spike hole S (
-a, -b), and move the equatorial plane M
The gun 41 is tilted by an angle θ with respect to the vertical plane, and the fifth vehicle (swinging in the G direction) is operated to tilt the gun 41 by an angle α with respect to the vertical plane. At this time, the angle α is the value of the Y coordinate (
-b), the processing means 33 calculates this value, and sends this value to the robot 35. Furthermore, in the above embodiment,
When driving a spike, each axis of the robot 35 is actuated to move the gun 41 along the spike hole S, but in this invention, the gun 41 alone can be moved in the radial direction of the tire T. The spikes may also be driven in. If a spike supply device for supplying spikes is connected to the robot 35 of such a spike mounting device, the spike driving work can be completely automated and unmanned.

(2) As explained above, according to the present invention, it is possible to drive a large number of spikes into a narrow area, and it is also possible to improve the working efficiency of spike driving.

[Brief explanation of drawings]

FIG. 1 is a front view showing an embodiment of the present invention. Fig. 2 is a right side view thereof, Fig. 3 is a plan view of the tire to explain the invention in detail, Fig. 4 is a side view of the tire to explain its operation, and Fig. 5 is an illustration of its operation. FIG. 21...Rotating means 32...Camera 33...
Processing means 35... Drive means (robot) T... Tire

Claims (1)

[Claims] A rotating means for rotating a tire having a large number of spike holes formed in the tread around an axis, a camera for photographing the tread of the tire, and a processing means for processing the image photographed by the camera to detect the positions of the spike holes. and one driving means that operates based on a position signal from the processing means and drives the spikes into each spike hole in sequence.