| 摘要 |
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. |
