JPH0541366Y2 - - Google Patents
Info
- Publication number
- JPH0541366Y2 JPH0541366Y2 JP18279587U JP18279587U JPH0541366Y2 JP H0541366 Y2 JPH0541366 Y2 JP H0541366Y2 JP 18279587 U JP18279587 U JP 18279587U JP 18279587 U JP18279587 U JP 18279587U JP H0541366 Y2 JPH0541366 Y2 JP H0541366Y2
- Authority
- JP
- Japan
- Prior art keywords
- tire
- robot hand
- tires
- rotating element
- circumferential groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007591 painting process Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Description
【考案の詳細な説明】
産業上の利用分野
本考案は、タイヤを車体側のブレーキ回転要素
に自動的に組付けるにあたり、タイヤ側（ロード
ホイール側）のボルト穴位置を検出する装置に関
する。[Detailed Description of the Invention] Industrial Application Field The present invention relates to a device for detecting the position of a bolt hole on the tire side (road wheel side) when automatically assembling the tire to a brake rotating element on the vehicle body side.
従来の技術
例えば第２図に示すように、車体１の搬送ライ
ンのラインサイドに予め用意されたタイヤＷ，
W1をタイヤ取付ロボツト２のロボツトハンド３
で把持する一方、車体１側のブレーキ回転要素
（例えばブレーキドラム）４の位置、すなわちタ
イヤＷを固定するためのハブボルト５の３次元位
置を２台のカメラ６で検出し、この検出した位置
情報に基づいてロボツトハンド３に把持されてい
るタイヤＷをブレーキ回転要素４に組付けるよう
にしたシステムが試られている。BACKGROUND ART For example, as shown in FIG. 2, tires W,
W 1 to tire mounting robot hand 3 of robot 2
While gripping it with the two cameras 6, the position of the brake rotating element (for example, brake drum) 4 on the vehicle body 1 side, that is, the three-dimensional position of the hub bolt 5 for fixing the tire W, is detected using two cameras 6, and the detected position information is Based on this, a system has been tried in which a tire W held by a robot hand 3 is assembled to a brake rotating element 4.
この場合、車体１側のブレーキ回転要素４の位
置に応じて、ロボツトハンド３側に把持されてい
るタイヤＷの位置が補正されるものであるから、
その前提としてロボツトハンド３に対するタイヤ
Ｗの回転方向の位相合わせが行なわれた状態でタ
イヤＷが把持されていなければならない。 In this case, the position of the tire W held by the robot hand 3 is corrected according to the position of the brake rotating element 4 on the vehicle body 1.
As a prerequisite for this, the tire W must be gripped in a state in which the phase of the rotational direction of the tire W with respect to the robot hand 3 is aligned.
そこで、第２図および第３図に示すように、先
ずタイヤ供給コンベア７により送られてきたタイ
ヤＷ，W1を傾動可能なタイヤ受台８上にロケー
トピン９にて位置決めし（この時、タイヤ受台８
は水平姿勢位置にある）、タイヤ受台８の上方に
設置されたカメラ１０でタイヤＷを撮像して複数
のボルト穴１１の位置を検出する。これにより、
タイヤ受台８上のタイヤＷ，W1の現在の回転角
位置が特定される。 Therefore, as shown in FIGS. 2 and 3, the tires W and W 1 sent by the tire supply conveyor 7 are first positioned on the tiltable tire pedestal 8 using the locate pins 9 (at this time, the tires are pedestal 8
is in a horizontal position), the tire W is imaged by a camera 10 installed above the tire holder 8, and the positions of the plurality of bolt holes 11 are detected. This results in
The current rotational angle positions of the tires W, W1 on the tire pedestal 8 are specified.
そして、ロボツトハンド３へのタイヤＷ，W1
の受渡しを容易にするべくタイヤ受台８を第２図
に示すように所定角度だけ傾動させるとロボツト
ハンド３がそのタイヤＷ，W1を受取りにゆき、
ロボツトハンド３は先に検出したボルト穴１１の
位置情報に応じてその回転角位置が補正された上
で、タイヤ受台８上のタイヤＷ，W1を把持する。
これにより、タイヤＷ，W1の位相とロボツトハ
ンド３の位相とが一致することになる。なお、第
３図の１２は照明用のリングライト、１３はベー
スである。 Then, tires W, W 1 to robot hand 3
In order to facilitate the handing over of the tires W, W1, the robot hand 3 goes to pick up the tires W, W1 by tilting the tire pedestal 8 by a predetermined angle as shown in FIG.
The robot hand 3 grips the tires W, W1 on the tire pedestal 8 after its rotation angle position is corrected according to the previously detected position information of the bolt hole 11.
As a result, the phases of the tires W, W1 and the phase of the robot hand 3 match. In addition, 12 in FIG. 3 is a ring light for illumination, and 13 is a base.
考案が解決しようとする問題点
第３図に示すように、タイヤ受台８上に位置決
めされたタイヤＷ，W1をカメラ１０で撮像する
にあたり、タイヤ受台８の受面８ａが単純平面で
あるために撮像画像上でのボルト穴１１と背景と
のコントラストが明確とならず、パターン認識を
行なつた場合に誤認識を生じやすい。これは、ボ
ルト穴１１を一旦透過した光が受面８ａで反射し
てしまうためと考えられる。Problems to be Solved by the Invention As shown in FIG. 3, when the camera 10 takes an image of the tires W, W1 positioned on the tire pedestal 8, the receiving surface 8a of the tire pedestal 8 is a simple plane. Because of this, the contrast between the bolt hole 11 and the background on the captured image is not clear, and when pattern recognition is performed, erroneous recognition is likely to occur. This is thought to be because the light that has once passed through the bolt hole 11 is reflected by the receiving surface 8a.
本考案は、タイヤ受台の受面の形状を改良する
ことによつてボルト穴の誤認識を防止しようとす
るものである。 The present invention aims to prevent erroneous recognition of bolt holes by improving the shape of the receiving surface of the tire holder.
問題点を解決するための手段
本考案は、前述したように所定の待機位置にあ
るタイヤをロボツトハンドにより把持してこれを
車体側のブレーキ回転要素に組付けるにあたり、
待機位置のタイヤ受台に位置決めされたタイヤを
カメラにて撮像し、その視覚情報を画像処理して
ロードホイール上の複数のボルト穴位置を検出す
る装置において、タイヤ受台の受面に、ボルト穴
の配列サークルに応じた周溝を形成したことを特
徴としている。Means for Solving the Problems As mentioned above, the present invention uses a robot hand to grip a tire in a predetermined standby position and assemble it to a brake rotating element on the vehicle body.
In a device that uses a camera to image a tire positioned on a tire cradle in a standby position and processes the visual information to detect multiple bolt hole positions on a road wheel, bolts are placed on the tire cradle's cradle. It is characterized by the formation of a circumferential groove that corresponds to the arrangement circle of the holes.
作 用
この構造によると、周溝の奥行のためにカメラ
画面上でのハブボルトと背景とのコントラストが
明確になる。Effect According to this structure, the contrast between the hub bolt and the background on the camera screen becomes clear due to the depth of the circumferential groove.
実施例
第１図は本考案のより具体的な一実施例を示す
図で、第３図と実質的同一部分には同一符号を付
してある。Embodiment FIG. 1 is a diagram showing a more specific embodiment of the present invention, and substantially the same parts as in FIG. 3 are given the same reference numerals.
本実施例においては、タイヤＷ，W1が位置決
めされるタイヤ受台８の受面８ａに、ロードホイ
ール１４側の複数のボルト穴１１の配列サークル
に対応するように所定深さの周溝１５を形成して
ある。そして、周溝１５の内周面には反射防止対
策として例えばつや消しの黒色塗装を施してあ
る。この反射防止対策としては、上記の塗装処理
に代えて、周溝１５の内周面を粗面や梨地面とし
たり、あるいはゴムを貼着することもできる。 In this embodiment, a circumferential groove 15 of a predetermined depth is formed on the receiving surface 8a of the tire holder 8 on which the tires W, W1 are positioned, so as to correspond to the arrangement circle of the plurality of bolt holes 11 on the road wheel 14 side. has been formed. The inner circumferential surface of the circumferential groove 15 is coated with, for example, a matte black coating as an anti-reflection measure. As an anti-reflection measure, instead of the above-mentioned painting process, the inner circumferential surface of the circumferential groove 15 may be made into a rough surface or a satin surface, or rubber may be pasted thereon.
この実施例構造によると、カメラ１０にて画像
処理するにあたり、周溝１５の奥行のためにカメ
ラ画面上でのボルト穴１１とその背景とのコント
ラストが明確となり、ボルト穴１１の認識が容易
となる。 According to the structure of this embodiment, when image processing is performed by the camera 10, the depth of the circumferential groove 15 makes the contrast between the bolt hole 11 and its background clear on the camera screen, making it easy to recognize the bolt hole 11. Become.
考案の効果
以上のように本考案においては、カメラ画面上
でのボルト穴と背景とのコントラストが明確とな
ることから、認識誤差が小さくなつて認識率が向
上する。その結果、実際にタイヤを相手側のブレ
ーキ回転要素に組付ける際に取付不良等のトラブ
ルがなくなり、タイヤ取付作業の完全自動化に大
きく寄与できる。Effects of the invention As described above, in the present invention, the contrast between the bolt hole and the background on the camera screen becomes clear, so the recognition error is reduced and the recognition rate is improved. As a result, when actually assembling the tire to the mating brake rotating element, troubles such as poor attachment are eliminated, making it possible to greatly contribute to complete automation of tire attachment work.
第１図は本考案の検出装置の一実施例を示す構
成説明図、第２図は上記検出装置を含むタイヤ取
付システム全体の概略説明図、第３図は従来の検
出装置の構成説明図である。
１……車体、３……ロボツトハンド、４……ブ
レーキ回転要素、８……タイヤ受台、８ａ……受
面、１０……カメラ、１１……ボルト穴、１４…
…ロードホイール、１５……周溝、Ｗ，W1……
タイヤ。
Fig. 1 is an explanatory diagram showing the configuration of an embodiment of the detection device of the present invention, Fig. 2 is a schematic explanatory diagram of the entire tire mounting system including the above-mentioned detection device, and Fig. 3 is an explanatory diagram of the configuration of a conventional detection device. be. DESCRIPTION OF SYMBOLS 1... Vehicle body, 3... Robot hand, 4... Brake rotating element, 8... Tire pedestal, 8a... Receiving surface, 10... Camera, 11... Bolt hole, 14...
...Road wheel, 15... Circumferential groove, W, W 1 ...
tire.
Claims (1)
により把持してこれを車体側のブレーキ回転要素
に組付けるにあたり、待機位置のタイヤ受台に位
置決めされたタイヤをカメラにて撮像し、その視
覚情報を画像処理してロードホイール上の複数の
ボルト穴位置を検出する装置において、前記タイ
ヤ受台の受面に、ボルト穴の配列サークルに応じ
た周溝を形成したことを特徴とするタイヤ取付装
置におけるボルト穴位置検出装置。 When a robot hand grasps a tire at a predetermined standby position and assembles it to the brake rotating element on the vehicle body, a camera images the tire positioned on the tire cradle at the standby position, and the visual information is captured in the image. Bolts in a tire mounting device, characterized in that a circumferential groove is formed in the receiving surface of the tire holder in accordance with the arrangement circle of the bolt holes in the device for detecting the positions of a plurality of bolt holes on a road wheel. Hole position detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18279587U JPH0541366Y2 (en) | 1987-11-30 | 1987-11-30 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18279587U JPH0541366Y2 (en) | 1987-11-30 | 1987-11-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0187204U JPH0187204U (en) | 1989-06-08 |
| JPH0541366Y2 true JPH0541366Y2 (en) | 1993-10-20 |
Family
ID=31474239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18279587U Expired - Lifetime JPH0541366Y2 (en) | 1987-11-30 | 1987-11-30 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0541366Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2572324B2 (en) * | 1991-11-28 | 1997-01-16 | 本田技研工業株式会社 | Hub bolt hole position detector |
-
1987
- 1987-11-30 JP JP18279587U patent/JPH0541366Y2/ja not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0187204U (en) | 1989-06-08 |
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