| 摘要 |
<p>PURPOSE:To insert a tire into a hub bolt surely by providing a camera which detects the position of the hub boly via the wheel center hole of the tire held on a tire holding arm on the longitudinal axial line encircled by nut runners. CONSTITUTION:A camera 17 arranged on the longitudinal axial line A of a device detects the position of the hub bolt 15 projected from a hub via a wheel center hole 12. In an image processing device 18, a pattern matching is performed by selecting two bolts 15a, 15b for instance from the image of an uptaken bolt 15, the misregistrations x1, y1 from the present device center are operated by finding the center O of the hub, while the phase shift (for instance, the angle theta between the bolt 15a and y axis) between the bolt 15 and the present hub hole 13 is operated. A control circuit 19 outputs the signal of moving a robot arm 8 so that the hub center O and longitudinal axial line A may coincide to a tire fitting robot from the data of this position and phase, outputting a signal so that the phases of each hole 13 and bolt 15 coincide to a motor 6.</p> |
