JP7696285B2 - SHIFT AMOUNT CONTROL SYSTEM, SHIFT AMOUNT CONTROL METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to a shift amount control system, a shift amount control method, and a program.

The following Patent Document 1 describes a state determination device that controls a camera attached to a robot arm to a predetermined position to capture an image of a mark, and determines the control state of the robot arm based on the amount of deviation of the mark from a predetermined position.

JP 2020-108909 A

By using the in-pipe condition determination device of Patent Document 1, the amount of misalignment can be corrected and the robot can continue to operate. However, there is a limit to the accuracy with which the amount of misalignment can be detected by imaging with an imaging device such as a camera. For this reason, it is difficult to adopt this device in systems that require high accuracy in controlling the amount of shift of an operated part such as a robot arm.

In consideration of the above, the present invention aims to provide a shift amount control system, a shift amount control method, and a program that can control the shift amount with higher accuracy than shift amount control using an imaging device.

The shift amount control system of the first embodiment includes a control unit that operates an operated unit of a winding device that winds a tire component around a drum based on an input value of a shift amount, an acquisition unit that moves the operated unit based on the input value and acquires the measured position of an observation line formed in a predetermined shape on an index body using a two-dimensional displacement meter arranged on an end effector of the operated unit, and a correction unit that calculates the positional deviation of the displacement meter relative to the attachment point of the end effector on the operated unit based on the difference between the initial measurement position of the observation line acquired by the acquisition unit and the measurement position of the observation line after the winding device is driven a predetermined number of times, and corrects the input value.

In the first embodiment of the shift amount control system, the control unit operates the operated part of the winding device based on the input value of the shift amount. This causes the operated part to move according to the input shift amount, and the tire component is wound around the drum.

Here, in the process of repeatedly using the winding device, the end effector may become misaligned with respect to the attachment point of the end effector on the operated part due to mechanical vibrations, the end effector's own weight, etc. When the end effector becomes misaligned, the control point of the end effector also becomes misaligned. If such a misaligned state is left unattended, it becomes difficult to wind the tire component precisely in the exact position on the drum.

In the shift amount control system, the control unit moves the operated unit based on the input value of the shift amount, and the two-dimensional displacement meter measures the position of the observation line formed in a predetermined shape on the indicator body. The correction unit then corrects the input value based on the difference between the initial measurement position of the observation line and the measurement position of the observation line after the winding device has been driven a predetermined number of times. This makes it possible to reduce the effects of misalignment even when the end effector is misaligned.

In this way, in the shift amount control system of the first embodiment, the input value of the shift amount is corrected using the measurement value from the two-dimensional displacement meter. Therefore, the shift amount can be controlled with high accuracy compared to shift amount control using only a camera, for example.

In the second embodiment of the shift amount control system, the acquisition unit acquires the position of the control point of the end effector relative to the two-dimensional displacement gauge by measuring the measuring jig attached to the end effector using the two-dimensional displacement gauge, and the correction unit further corrects the input value based on the deviation of the acquired position of the control point of the end effector from a set value.

In the second embodiment of the shift amount control system, a measuring tool is used to measure the position of the control point of the end effector relative to the two-dimensional displacement gauge. The correction unit then further corrects the input value based on the deviation of the position of the control point of the end effector from a set value. This improves the control accuracy of the shift amount.

In the third embodiment of the shift amount control system, the observation line is formed by a square recess and a circular recess formed in the indicator body.

In the third embodiment of the shift amount control system, the observation line is formed by a square recess and a circular recess. That is, the shift amount control system has observation lines of two different shapes. Therefore, when a deviation occurs in the position of the end effector, the amount of deviation detected by each of the two observation lines differs depending on the degree of deviation. This makes it easier to grasp how the end effector is deviated.

In the fourth aspect of the shift amount control system, the observation lines are formed on both opposing sides of the index body.

In the fourth aspect of the shift amount control system, the observation lines are formed on both opposing sides of the index body, so that the amount of deviation can be grasped by bringing the end effector close to both sides of the index body.

The fifth aspect of the shift amount control method includes the steps of: operating an operated part of a winding device that winds a tire component around a drum based on an input value of the shift amount; acquiring the measured position of an observation line formed at a predetermined interval on an indicator body using a two-dimensional displacement meter disposed on an end effector of the operated part; and calculating the positional deviation of the displacement meter relative to the attachment point of the end effector on the operated part based on the difference between the initial measurement position of the acquired observation line and the measurement position of the observation line after the winding device is driven a predetermined number of times, and correcting the input value.

In the fifth aspect of the shift amount control method, the control unit operates the operated part of the winding device based on the input value of the shift amount. This causes the operated part to move according to the input shift amount, and the tire component is wound around the drum.

Here, in the process of repeatedly using the winding device, the end effector may become misaligned with respect to the attachment point of the end effector on the operated part due to mechanical vibrations, the end effector's own weight, etc. When the end effector becomes misaligned, the control point of the end effector also becomes misaligned. If such a misaligned state is left unattended, it becomes difficult to wind the tire component precisely in the exact position on the drum.

In the shift amount control method, the control unit moves the operated unit based on an input value of the shift amount, and the two-dimensional displacement meter measures the position of the observation line formed in a predetermined shape on the indicator body. The correction unit then corrects the input value based on the difference between the initial measurement position of the observation line and the measurement position of the observation line after the winding device has been driven a predetermined number of times. This makes it possible to reduce the effects of misalignment even when the end effector is misaligned.

In this way, in the fifth aspect of the shift amount control method, the input value of the shift amount is corrected using the measurement value from the two-dimensional displacement meter. Therefore, the shift amount can be controlled with high accuracy compared to shift amount control using only a camera, for example.

The program of the sixth aspect causes the computer to function as a control unit that operates an operated unit (robot arm or end effector) of a winding device that winds a tire component around a drum based on an input value of a shift amount, an acquisition unit that moves the operated unit based on the input value and acquires the measured position of an observation line when measuring the position of an observation line formed at a predetermined interval on an index body (master block) using a two-dimensional displacement meter arranged on the end effector of the operated unit, and a correction unit that calculates the positional deviation of the displacement meter relative to the attachment point of the end effector on the operated unit based on the difference between the initial measurement position of the observation line acquired by the acquisition unit and the measurement position of the observation line after the winding device has been driven a predetermined number of times, and corrects the input value.

In the sixth aspect of the program, the control unit operates the operated part of the winding device based on the input value of the shift amount. This causes the operated part to move according to the input shift amount, and the tire component is wound around the drum.

Here, in the process of repeatedly using the winding device, the end effector may become misaligned with respect to the attachment point of the end effector on the operated part due to mechanical vibrations, the end effector's own weight, etc. When the end effector becomes misaligned, the control point of the end effector also becomes misaligned. If such a misaligned state is left unattended, it becomes difficult to wind the tire component precisely in the exact position on the drum.

In this program, the control unit moves the operated unit based on the input value of the shift amount, and the two-dimensional displacement gauge measures the position of the observation line formed in a predetermined shape on the indicator body. The correction unit then corrects the input value based on the difference between the initial measurement position of the observation line and the measurement position of the observation line after the winding device has been driven a predetermined number of times. This makes it possible to reduce the effects of misalignment even when the end effector is misaligned.

In this way, in the program of the sixth aspect, the input value of the shift amount is corrected using the measurement value from the two-dimensional displacement meter. This allows the shift amount to be controlled with higher accuracy than, for example, shift amount control using only a camera.

The seventh aspect of the shift amount control system includes a winding device that winds a tire component around a drum, an operated part provided on the winding device, an end effector arranged on the operated part, an index body on which observation lines are formed at a predetermined interval, a two-dimensional displacement meter arranged on the end effector and measuring the position of the observation line, a control unit that operates the operated part based on an input value of the shift amount, an acquisition unit that acquires the measured position of the observation line when moving the operated part based on the input value and measuring the position of the observation line using the two-dimensional displacement meter, and a correction unit that calculates the positional deviation of the displacement meter relative to the attachment point of the end effector on the operated part based on the difference between the initial measurement position of the observation line acquired by the acquisition unit and the measurement position of the observation line after the winding device is driven a predetermined number of times, and corrects the input value.

In the seventh aspect of the shift amount control system, the control unit operates the operated part of the winding device based on the input value of the shift amount. This causes the operated part to move according to the input shift amount, and the tire component is wound around the drum.

Here, in the process of repeatedly using the winding device, the end effector may become misaligned with respect to the attachment point of the end effector on the operated part due to mechanical vibrations, the end effector's own weight, etc. When the end effector becomes misaligned, the control point of the end effector also becomes misaligned. If such a misaligned state is left unattended, it becomes difficult to wind the tire component precisely in the exact position on the drum.

In the shift amount control system, the control unit moves the operated unit based on the input value of the shift amount, and the two-dimensional displacement meter measures the position of the observation line formed in a predetermined shape on the indicator body. The correction unit then corrects the input value based on the difference between the initial measurement position of the observation line and the measurement position of the observation line after the winding device has been driven a predetermined number of times. This makes it possible to reduce the effects of misalignment even when the end effector is misaligned.

In this way, in the seventh aspect of the shift amount control system, the input value of the shift amount is corrected using the measurement value from the two-dimensional displacement meter. Therefore, the shift amount can be controlled with high accuracy compared to shift amount control using only a camera, for example.

The shift amount control system, shift amount control method, and program of the present invention can control the shift amount with higher accuracy than shift amount control using a camera.

1 is a cross-sectional view showing a tire manufactured by a shift amount control system, a shift amount control method, and a program according to an embodiment of the present invention. 1 is a perspective view showing a shift amount control system according to an embodiment of the present invention; 1 is a perspective view showing a configuration of a robot of a shift amount control system according to an embodiment of the present invention. FIG. 2 is a perspective view showing a configuration of an end effector of the shift amount control system according to the embodiment of the present invention. 1 is a perspective view showing a state in which a control point of an end effector is disposed at a winding position where a bead wire is wound around an annular member in a shift amount control system according to an embodiment of the present invention. FIG. FIG. 1A is a perspective view showing a state in which the center of rotation of a winding drum is marked out using a tracking device in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a perspective view showing a state in which the position of a control point of an end effector is detected using the tracking device. 1A is a front view showing a master block in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a cross-sectional view taken along line BB of FIG. FIG. 2 is a plan view showing a planar arrangement of a master block in the shift amount control system according to the embodiment of the present invention. 2 is a block diagram showing an electrical configuration of a shift amount control device in the shift amount control system according to the embodiment of the present invention; FIG. 1 is a block diagram showing a functional configuration of a shift amount control device in a shift amount control system according to an embodiment of the present invention; 1A is a table showing a shift amount database in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a graph showing an error table and an approximation function derived from the shift amount database. 1A is a table showing a weight corresponding shift amount database in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a graph showing an error table and an approximation function derived from the weight corresponding shift amount database. 1A is a perspective view showing a state in which a tracking device is used to detect multiple positions of a control point of an end effector in a shift amount control system according to an embodiment of the present invention. FIG. 1 is a perspective view showing a state in which a control point is brought close to a master block in a shift amount control system according to an embodiment of the present invention; 1 is a perspective view showing a state in which the position of an observation line of a master block is detected using a two-dimensional displacement meter in a shift amount control system according to an embodiment of the present invention. FIG. 11 is a perspective view showing another state in which the position of the observation line of the master block is detected using a two-dimensional displacement meter in the shift amount control system according to the embodiment of the present invention. FIG. 5 is a flowchart showing a shift amount correction process using a tracking device in the shift amount control system according to the embodiment of the present invention. 5 is a flowchart showing a shift amount correction process using a two-dimensional displacement meter in the shift amount control system according to the embodiment of the present invention. 11 is a graph showing an approximation function corrected by a shift amount correction process using a two-dimensional displacement meter in the shift amount control system according to the embodiment of the present invention. FIG. 2 is a perspective view showing the origin of a mechanical interface coordinate system and the origin of a tool coordinate system in the shift amount control system according to the embodiment of the present invention. 1 is a perspective view showing a state in which a control point is brought close to a master block in a shift amount control system according to an embodiment of the present invention; 1 is a perspective view showing a state in which the position of an observation line of a master block is detected using a two-dimensional displacement meter in a shift amount control system according to an embodiment of the present invention. FIG. 1A is an oblique view showing another state in which the position of the observation line of the master block is detected using a two-dimensional displacement meter in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a graph showing the deviation between the initial value and the measured value. 1A is an oblique view showing another state in which the position of the observation line of the master block is detected using a two-dimensional displacement meter in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a graph showing the deviation between the initial value and the measured value. 5 is a flowchart showing a shift amount correction process using a two-dimensional displacement gauge and a master block in the shift amount control system according to the embodiment of the present invention. 1 is a perspective view showing a jig for grasping a positional deviation between a two-dimensional displacement gauge and the origin of a tool coordinate system in a shift amount control system according to an embodiment of the present invention. FIG. 1A is a side view showing the positional deviation in the Y direction between a two-dimensional displacement gauge and the origin of a tool coordinate system in a shift amount control system according to an embodiment of the present invention, and FIG. 1B is a side view showing the positional deviation in the X direction between a two-dimensional displacement gauge and the origin of the tool coordinate system. 5 is a flowchart showing a shift amount correction process using a two-dimensional displacement gauge and a master block in the shift amount control system according to the embodiment of the present invention. 5 is a flowchart showing a shift amount correction process using a two-dimensional displacement gauge and a jig in the shift amount control system according to the embodiment of the present invention.

Below, a shift amount control system, a shift amount control method, and a program according to an embodiment of the present invention will be described with reference to the drawings. Components indicated with the same reference numerals in each drawing are the same components. However, unless otherwise specified in the specification, each component is not limited to one, and there may be multiple components.

In addition, explanations of configurations and symbols that are duplicated in each drawing may be omitted. Note that the present invention is not limited to the following embodiments, and may be implemented with appropriate modifications, such as omitting configurations or replacing them with different configurations, within the scope of the purpose of the present invention.

<Tires>
FIG. 1 shows a pneumatic tire (hereinafter referred to as tire 100) that can be manufactured by a production system including a winding device 20 described later. In FIG. 1, the tire 100 is shown mounted on an applicable rim (not shown), inflated to a specified internal pressure, and in an unloaded state.

Here, "applicable rim" refers to the standard rim for the applicable size (Measuring Rim in the ETRTO Standards Manual, Design Rim in the TRA Yearbook) that is an industrial standard valid in the region where the tire is produced and used, and is described or will be described in the future in the JATMA Yearbook of the Japan Automobile Tire Manufacturers Association (JATMA) in Japan, the Standards Manual of the European Tire and Rim Technical Organization (ETRTO) in Europe, and the Yearbook of the Tire and Rim Association, Inc. (TRA) in the United States. (That is, the above "rim" includes not only current sizes, but also sizes that may be included in the above industry standards in the future. Examples of "sizes to be described in the future" include sizes listed as "FUTURE DEVELOPMENTS" in the 2021 edition of ETRTO.) However, in the case of sizes not listed in the above industry standards, it refers to a rim with a width that corresponds to the bead width of the tire.

In addition, "prescribed internal pressure" refers to the air pressure (maximum air pressure) that corresponds to the maximum load capacity of a single wheel for the applicable size and ply rating as stated in the above JATMA etc., and for sizes not stated in the above industrial standards, "prescribed internal pressure" refers to the air pressure (maximum air pressure) that corresponds to the maximum load capacity specified for each vehicle on which the tire is mounted.

The tire 1 has a tread portion 3, a pair of shoulder portions 4, a pair of sidewall portions 5, a pair of bead portions 6, and a toroidal carcass 2 extending between them. The tire 1 also has a belt 3A inside the tread portion 3, on the tire radial outside of the carcass 2. One of the pair of bead portions 6 is connected to one of the two sidewall portions 5 (serial sidewall portion). The other of the pair of bead portions 6 is connected to the other of the two sidewall portions 5 (anti-serial sidewall portion). Note that one (or the other) of the two sidewalls is not shown in FIG. 1.)

A bead 7 is embedded in each of the pair of bead portions 6. The bead 7 is embedded inside the folded portion of the carcass 2. The bead 7 is formed by winding at least one bead wire 8 around the center axis of the tire. The tire 1 also has a pair of bead fillers 9. Each of the bead fillers 9 is disposed adjacent to the bead 7 on the outer side in the tire radial direction (one (or the other) of the pair of bead fillers 9 is not shown in FIG. 1). That is, the bead filler 9 is also embedded inside the folded portion of the carcass 2.

Note that the pneumatic tires that can be manufactured using the production system including the winding device 20 according to the present invention are not limited to the tire 1 having the structure shown in FIG. 1. The production system including the winding device 20 according to the present invention can be used to manufacture tires of various configurations as long as the tire configuration includes a configuration in which a linear member is wound, as described below.

<Shift amount control system>
2 shows a shift amount control system 80 according to an embodiment of the present invention. The shift amount control system 80 includes a shift amount control device 10, a winding device 20, a tracking device 30, and a displacement measuring device 40.

The shift amount control system 80 is a system for improving the accuracy of winding a linear member such as a bead wire 8 (see FIG. 1) around a tire 1 (specifically, an annular member M described below) by the winding device 20. The shift amount control device 10 controls the shift amount of the winding device 20 when winding the bead wire 8 around the annular member M. The shift amount control device 10 also controls to correct the shift amount of the winding device 20.

The tracking device 30 and the displacement measuring device 40 are devices for obtaining information necessary for the shift amount correction by the shift amount control device 10. In FIG. 2, both the tracking device 30 and the displacement measuring device 40 are illustrated for convenience, but as described below, the tracking device 30 and the displacement measuring device 40 are not necessarily used at the same time. In other words, the shift amount control system 80 also includes a configuration in which either the tracking device 30 or the displacement measuring device 40 is omitted.

<Winding device>
The winding device 20 is a production facility formed to include a robot 22 and a winding drum 26 .

(Winding drum)
The winding drum 26 is a support portion that supports the annular member M formed of an unvulcanized rubber tire. The above-mentioned bead wire 8 is supplied to the annular member M from the end effector 24.

2, the tire center axis CL1 is arranged along the X direction, and the winding drum 26 and the robot 22 are arranged along this X direction, but the embodiment of the present invention is not limited to this. The arrangement shown in FIG. 2 is an example that is suitable for convenience of explanation, and for example, as shown in FIG. 8, the winding drum 26 and the robot 22 may be arranged along the Y direction perpendicular to the X direction.

(Robot configuration)
The robot 22 is a tire production device that has a robot arm 112 and an end effector 24. The end effector 24 is attached to the tip of the robot arm 112.

As shown in FIG. 3, the robot 22 includes a robot arm 112 having at least one joint 111 (joints 111a to 111f) and an end effector 24. In this embodiment, the end effector 24 is attached to the tip E112 of the robot arm 112.

The robot 22 has six or more degrees of freedom. In this embodiment, the robot 22 is a six-axis robot. The robot arm 112 has a first arm 112a, a second arm 112b, a third arm 112c, a fourth arm 112d, a fifth arm 112e, a sixth arm 112f, and a seventh arm 112g.

The robot 22 is a six-axis robot and has six joints (111a to 111f). The first joint 111a, for example, connects the second arm 112b to the first arm 112a so that the second arm 112b can pivot. The second joint 111b, for example, connects the third arm 112c to the second arm 112b so that the third arm 112c can swing forward and backward.

The third joint 111c, for example, connects the fourth arm 112d to the third arm 112c so that the fourth arm 112d can swing up and down. The fourth joint 111d, for example, connects the fifth arm 112e to the fourth arm 112d so that the fifth arm 112e can pivot. The fifth joint 111e connects the sixth arm 112f to the fifth arm 112e so that the sixth arm 112f can swing up and down.

The sixth joint 111f, for example, rotatably connects the seventh arm 112g to the sixth arm 112f. The tip of the seventh arm 112g constitutes the tip E112 of the robot arm 112. An end effector 24 can be attached to the tip of the seventh arm 112g.

With these configurations, the robot 22 has degrees of freedom in three linear directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, in the XYZ-axis coordinate system shown in Figure 2, and has degrees of freedom around three axes, the X-axis direction, the Y-axis direction, and the Z-axis direction.

Here, the X-axis, Y-axis, and Z-axis are mutually orthogonal. According to this embodiment, for example, the Z-axis can be set to be parallel to the vertical direction. According to this embodiment, the X-axis and Y-axis can be set to be parallel to the tire center axis line CL1 when the tire center axis line CL1 is included in a horizontal plane. Furthermore, according to this embodiment, the X-axis and Y-axis can be set to be parallel to the tire width direction center line when the tire center axis line is included in a horizontal plane and the tire width direction center line is viewed on the horizontal plane.

(Overview of Winding Device Control)
The movements of the robot 22 and the winding drum 26 that form the winding device 20 are associated with and controlled by the shift amount control device 10. However, the robot 22 and the winding drum 26 may each be controlled by a separate control device. In this case, it is preferable that the individual control devices are capable of two-way communication with each other.

The winding drum 26 includes a rotation drive unit 26A that rotates the annular member M. The rotation drive unit 26A can rotate the annular member M about the tire center axis line CL1. In this embodiment, the rotation drive unit 26A can rotate the annular member M at predetermined angle intervals about the tire center axis line CL1 in accordance with a command from the shift amount control device 10. Alternatively, it can rotate the annular member M steplessly.

The shift amount control device 10 controls the position of the robot 22 so that the end effector 24 is located at a predetermined position according to the rotation angle of the annular member M. The robot 22 follows a command from the shift amount control device 10 to move the end effector 24 to a target position according to the rotation angle of the annular member M.

(End effector configuration)
4 is a schematic diagram showing an example of the configuration of the end effector 24 according to the embodiment of the present invention. The end effector 24 is a device including a joint portion 24A, an introduction portion 24B, and a discharge portion 24C.

The joint part 24A is a part that is rotatably attached to the tip E112 of the robot arm 112. The introduction part 24B is a part that is fixed to the joint part 24A and introduces the bead wire 8 (see FIG. 1) into the end effector 24. The discharge part 24C is a part that is connected to the introduction part 24B via the driving rotation part 29 and discharges the bead wire 8 introduced from the introduction part 24B from the end effector 24 and sends it out toward the annular member M (see FIG. 2).

Here, the discharge section 24C includes a support section 24b fixed to the drive rotation section 29, a winding roller 23a, and a two-dimensional displacement gauge 42.

The winding roller 23a is arranged so as to be freely rotatable relative to the support portion 24b. Although not shown, a circumferential groove is formed on the outer circumferential surface of the winding roller 23a. The bead wire 8 is held in the circumferential groove of the winding roller 23a.

The winding roller 23a can send the bead wire 8 (see Figures 1 and 2) that flows through the end effector 24 to the outside of the end effector 24. This allows the bead wire 8 sent out from the winding roller 23a to be attached to the annular member M by pressing the winding roller 23a against the annular member M shown in Figure 2.

Therefore, by rotating the end effector 24 around the annular member M while pressing the winding roller 23a against the annular member M, the bead wire 8 can be wound around the annular member M. Alternatively, by rotating the annular member M while pressing the winding roller 23a against the annular member M, the bead wire 8 can be wound around the annular member M.

In the shift amount control system 80, when the bead wire 8 is wound around the annular member M, the annular member M is rotated sequentially by a predetermined angle around the tire center axis CL1 of the rotation drive unit 26A of the winding drum 26.

In addition, in the shift amount control system 80, the robot 22 is controlled to a predetermined position according to the rotation angle of the annular member M so that the winding roller 23a of the end effector 24 is positioned at the target position on the annular member M where the bead wire 8 should be wound.

In other words, the shift amount control system 80 according to this embodiment controls the position of the robot 22 while rotating the annular member M so that the winding roller 23a of the end effector 24 is positioned at a predetermined position according to the rotation angle of the annular member M.

In this embodiment, the position where the bead wire 8 is wound around the annular member M depends on the position of the winding roller 23a of the end effector 24. As shown in FIG. 4, in the end effector 24, the winding roller 23a is positioned so that the position P (also called the "control point P") where the bead wire 8 is discharged is on the tire center axis CL2 of the joint portion 24A and the drive rotation portion 29.

The discharge section 24C also has an actuator 23b (hereinafter also referred to as the "winding roller actuator 23b") for moving the winding roller. The winding roller actuator 23b can press the winding roller 23a against the annular member M by pressing the winding roller 23a toward the annular member M. The winding roller actuator 23b can also move the winding roller 23a away from the annular member M, thereby separating the winding roller 23a from the annular member M.

This allows the pressure on the bead wire 8 between the winding roller 23a and the annular member M to be adjusted or released. In this embodiment, the winding roller actuator 23b is configured as an air cylinder. With the air cylinder, changes in the uneven shape formed on the base surface of the annular member M (the surface of the annular member M against which the winding roller 23a is pressed) can be absorbed by the expansion and contraction of the air cylinder.

However, the winding roller actuator 23b can be an actuator such as a hydraulic cylinder or a motor actuator. Also, according to the present invention, the winding roller actuator 23b can be omitted.

The two-dimensional displacement meter 42 is an information acquisition unit for obtaining peripheral information about the annular member M. The end effector 24 according to this embodiment has a two-dimensional displacement meter 42 at the tip end of the support portion 24b. The two-dimensional displacement meter 42 constitutes part of the displacement measuring device 40, which will be described later.

The two-dimensional displacement meter 42 is a laser displacement meter that uses a light cutting method, and measures the shape of the object by irradiating the surface of the object with a band-shaped laser light and receiving the reflected light. In this embodiment, the two-dimensional displacement meter 42 collects information about the surroundings of the annular member M to which the bead wire 8 is attached. Examples of the surrounding information of the annular member M (hereinafter also referred to as "object surrounding information") include the area, length, width, color, position, and shape of the annular member M. The object surrounding information obtained from the two-dimensional displacement meter 42 is input to the shift amount control device 10. The shift amount control device 10 controls the robot 22 and the winding drum 26 to attach the bead wire 8 to the annular member M based on the object surrounding information.

<Shift amount>
The shift amount control device 10 shown in FIG. 2 operates an operated portion of a winding device 20 that winds a bead wire 8, which is a tire component, around a winding drum 26, based on an input value of the shift amount.

The "operated part of the winding device 20" refers to the robot arm 112 and the end effector 24. The "input value of the shift amount" refers to the amount of movement of the control point P input by the user in the shift amount control device 10 via the input unit 14, which will be described later. The "amount of movement" includes the amount of movement along the three linear directions of the X-axis, Y-axis, and Z-axis directions described above, and also includes the amount of movement in the three rotational directions around the X-axis, Y-axis, and Z-axis.

(Shift amount error)
FIG. 5 shows a state in which the shift amount control device 10 is controlling the robot arm 112 and the end effector 24 to wind the bead wire 8 around the annular member M of the winding drum 26 .

At this time, the shift amount control device 10 controls the movement of the control point P of the end effector 24 from a predetermined initial position (called "benchmark P0") to a position P1 where the winding work is performed, based on the input value of the shift amount.

However, the actual shift amount of the robot arm 112 and the end effector 24 may have an error with respect to the input value. For example, if the distance that the control point P actually moves (actual shift amount) differs from the input value, the control point P moves to a position that is shifted from the position P1 where the winding operation is performed.

If the bead wire 8 is wound in this state, it may affect the uniformity of the tire 1. Therefore, it is necessary to reduce the error between the actual shift amount of the control point P and the input value.

In the following description, we will first explain the configurations of the tracking device 30 and the displacement measuring device 40 used to reduce the error between the actual shift amount of the control point P and the input value. Next, we will explain the electrical and functional configurations of the shift amount control device 10 that controls the wrapping device 20, the tracking device 30, and the displacement measuring device 40.

Then, we explain how the shift amount control device 10 controls the winding device 20, tracking device 30, and displacement measuring device 40 to reduce the error between the actual shift amount of the control point P and the input value.

<Tracking device>
6 shows a tracking device 30. The tracking device 30 includes a tracker body 32 and a reflector 34. The tracker body 32 measures the three-dimensional position of the reflector 34 using a laser beam and an angular encoder.

The laser beam emitted from the tracker body 32 is reflected by the reflector 34. The tracker body 32 detects the beam reflected by the reflector 34 and returns, and calculates the distance from the tracker body 32 to the reflector 34, and the azimuth angle and apex angle of the angle encoder. The method of using the tracking device 30 will be described later.

<Displacement measuring device>
2, the displacement measuring device 40 includes the above-mentioned two-dimensional displacement gauge 42 and an index body (master block 44). The configuration of the two-dimensional displacement gauge 42 is as described above.

The displacement measuring device 40 is a device that measures the positions of observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1, and 44M2 (see Figure 7) formed on the master block 44 described below using a two-dimensional displacement meter 42, and detects the difference between the measured positions and the actual positions of these observation lines.

(Master block configuration)
As shown in Fig. 7, the master block 44 is a substantially L-shaped plate-like member, and is manufactured, for example, by cutting out metal or resin. The master block 44 is disposed such that the in-plane direction of the plate is in the up-down direction. Note that the X, Y, and Z directions shown in Fig. 7 and the X, Y, and Z directions in the explanation of the master block 44 are for convenience only, and do not necessarily coincide with the X, Y, and Z directions shown in other figures.

Observation lines 44X1, 44X2, and 44X3 are formed on the master block 44. Observation lines 44X1 and 44X3 are straight lines formed by the X-direction ends of the master block 44. Observation line 44X2 is a straight line formed by a groove 44A formed in the master block 44. Observation lines 44X1, 44X2, and 44X3 are straight lines along the Z direction, and are arranged at a predetermined interval X1 (for example, X1 = 100 [mm]) from each other.

Furthermore, observation lines 44Z1, 44Z2, and 44Z3 are formed on the master block 44. Observation lines 44Z1 and 44Z3 are straight lines formed by the Z-direction ends of the master block 44. Observation line 44Z2 is a straight line formed by a groove 44B formed in the master block 44. Observation lines 44Z1, 44Z2, and 44Z3 are straight lines along the X-direction, and are arranged at a predetermined distance Z1 (for example, Z1 = 100 [mm]) from each other.

Furthermore, observation lines 44M1 and 44M2 are formed on the master block 44 at positions sandwiched between observation lines 44X1, 44X2, 44Z1, and 44Z2. Observation lines 44M1 and 44M2 are index lines formed in a predetermined shape on the master block 44.

Of these, observation line 44M1 is a line formed by a substantially rectangular recess 44C (e.g., a square shape with rounded corners) formed in master block 44. Also, observation line 44M2 is a line formed by a circular recess 44D formed in recess 44C.

These observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1 and 44M2 are formed on both Y-direction sides (opposite sides) of the master block 44.

(Master block placement)
8 shows an example of a planar arrangement of the robot 22, the winding drum 26, and the master block 44. As indicated by an arrow K1 in this figure, the control point P of the winding roller 23a starts from a predetermined position and moves to a benchmark P0 or a position P1 (see FIG. 5) where the winding operation is performed by operating the robot arm 112 and the end effector 24 of the robot 22.

The locus of control point P indicated by the solid arrow K1 shows the approach path to the serial side of tire 1 (see Figure 1). The approach path to the anti-serial side is indicated by the dashed arrow K1.

The trajectory of control point P indicated by arrow K1 is realized by driving each arm of the robot arm 112 (first arm 112a, second arm 112b, third arm 112c, fourth arm 112d, fifth arm 112e, sixth arm 112f and seventh arm 112g) and each joint 111a to 111f as required.

Here, the robot 22 operates the joint 111a between the first arm 112a and the second arm 112b, so that the second arm 112b, the third arm 112c, the fourth arm 112d, the fifth arm 112e, the sixth arm 112f, the seventh arm 112g, and the end effector 24 rotate integrally as shown by the arrow K3 (see also FIG. 3).

At this time, the position of the control point P also moves according to the rotation angle α of the joint 111a, as shown by the arrow K4. The master block 44 is placed in a position that allows it to move from the destination control point P along the trajectory shown by the arrow K2. The rotation angle α can be set to any value.

The trajectory indicated by arrow K2 is a trajectory in which the movements of the arms and joints in the robot arm 112 are substantially identical to the trajectory indicated by arrow K1. "Substantially the same" includes the cases where they are the same and the cases where they are almost the same.

As an example in which the movements of each arm and each joint in the robot arm 112 are almost identical, FIG. 8 shows an example in which the movement distance L1 approaching the winding drum 26 on the trajectory indicated by the arrow K1 is different from the movement distance L2 approaching the master block 44 on the trajectory indicated by the arrow K2. Except for the movement distances L1 and L2, the two trajectories are identical.

It is preferable to position the master block 44 so that both the upper and lower ends of the master block 44 are located within the range of motion in which the control point P moves up and down when the bead wire 8 is wound.

<Electrical configuration of the shift amount control device>
9 shows a block diagram showing the electrical configuration of the shift amount control device 10. The shift amount control device 10 includes a CPU (Central Processing Unit: Processor) 11, a memory 12 as a temporary storage area, a non-volatile storage unit 13, an input unit 14 such as a keyboard and a mouse, a display unit 15 such as a liquid crystal display, a medium reading and writing device (R/W) 16, a communication interface (I/F) unit 18, and an external I/F unit 19. The CPU 11, the memory 12, the storage unit 13, the input unit 14, the display unit 15, the medium reading and writing device 16, the communication I/F unit 18, and the external I/F unit 19 are connected to each other via a bus B1. The medium reading and writing device 16 reads information written in the recording medium 17 and writes information to the recording medium 17.

(Storage part)
The storage unit 13 is realized by a hard disk drive (HDD), a solid state drive (SSD), a flash memory, etc. A shift amount control program 13A is stored in the storage unit 13 as a storage medium. The shift amount control program 13A is stored in the storage unit 13 by setting a recording medium 17 in which the shift amount control program 13A is written to the medium reading and writing device 16, and the medium reading and writing device 16 reading the shift amount control program 13A from the recording medium 17. The CPU 11 reads the shift amount control program 13A from the storage unit 13, expands it in the memory 12, and sequentially executes the processes of the shift amount control program 13A.

(Shift amount database)
A shift amount database 13B is stored in the storage unit 13. As shown in Fig. 11A, the shift amount database 13B is a database in which a plurality of correspondence relationships between input values and actual shift amounts are stored.

Specifically, the shift amount database 13B records input values A1, A2, A3, ... of the shift amount of the control point P input to the control unit 11A, and also records the shift amounts B1, B2, B3, ... of the reflector 34 controlled by each input value (the shift amount of the control point P, or the actual shift amount of the robot arm 112 and the end effector 24).

The storage unit 13 also stores an arithmetic expression for correcting the shift amount of the control point P using each value stored in the shift amount database 13B. According to this arithmetic expression, an approximation function F(A) showing the relationship between the input value A and the shift amount error can be derived from the error table shown in FIG. 11(B) which is derived from the correspondence between the input values A1, A2, A3, ... and the shift amounts B1, B2, B3, ....

(Weight-based shift amount database)
The shift amount database 13B may be replaced with a weight-based shift amount database 13C shown in FIG.

The weight-corresponding shift amount database 13C is a database that stores multiple correspondences between the weight of the operated part (the robot arm 112 and the end effector 24) and the actual shift amount.

Specifically, the weight-corresponding shift amount database 13C records the input values A1, A2, A3, ... of the shift amount of the control point P input to the control unit 11A, records the shift amounts B1, B2, B3, ... of the reflector 34 controlled by each input value (the shift amount of the control point P, or the actual shift amount of the robot arm 112 and the end effector 24), and records the weights C1, C2, C3, ... of the operated parts (the robot arm 112 and the end effector 24).

Even in this case, the storage unit 13 stores an arithmetic formula for correcting the shift amount of the control point P using each value stored in the weight-corresponding shift amount database 13C. According to this arithmetic formula, an approximation function F(C) showing the relationship between weight C and shift amount error can be derived from the error table shown in FIG. 12(B), which is derived from the correspondence between weights C1, C2, C3, ... and shift amounts B1, B2, B3, ....

In consideration of the fact that the shift amount error varies according to the input value of the shift amount as shown in the approximate function F(A), it is preferable to store an arithmetic formula in the storage unit so that this approximate function F(C) is derived for each predetermined input value. In addition, in the present invention, it is not necessarily necessary to have the shift amount database 13B or the weight-corresponding shift amount database 13C.

(Input section)
In the input unit 14, a user performs an operation for starting and ending the shift amount control program 13A. As described above, in the input unit 14, a user performs an operation for inputting a shift amount of the control point P. The user is, for example, an administrator of the shift amount control system 80.

(Display)
Information (e.g., input buttons) for starting and ending the shift amount control program 13A is displayed on the display unit 15. Note that in the case where the shift amount control program 13A is automatically started, for example, when the shift amount control system 80 is started without depending on the user's operation, and in the case where the input operation of the shift amount of the control point P is input via another system, the input unit 14 and the display unit 15 are not necessarily required.

<Functional configuration of the shift amount control device>
Next, the functional configuration of the shift amount control device 10 according to this embodiment will be described with reference to Fig. 10. As shown in Fig. 10, the shift amount control device 10 includes a control unit 11A, a correction unit 11B, a first acquisition unit 11C, a second acquisition unit 11D, and a third acquisition unit 11E. The CPU 11 of the shift amount control device 10 executes a shift amount control program 13A to function as the control unit 11A, the correction unit 11B, the first acquisition unit 11C, the second acquisition unit 11D, and the third acquisition unit 11E.

(Control Unit)
The control unit 11A operates the operated parts (robot arm 112 and end effector 24) of the winding device 20, which winds a bead wire 8 (see Figure 1) as a tire component around a winding drum 26, based on the input value of the shift amount of the control point P input via the input unit 14, etc.

The control unit 11A also operates the operated parts (robot arm 112 and end effector 24) of the winding device 20 based on the input values (corrected input values) corrected by the correction unit 11B described below.

Furthermore, the control unit 11A controls the tracker body 32 in the tracking device 30 to cause the tracker body 32 to measure the shift amount of the reflector 34 (in other words, the shift amount of the control point P, or the actual shift amount of the robot arm 112 and the end effector 24).

Furthermore, the control unit 11A controls the two-dimensional displacement meter 42 in the displacement measuring device 40 to cause the two-dimensional displacement meter 42 to measure the positions of observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1, and 44M2 (see Figure 7) formed on the master block 44 at a predetermined interval (100 mm) and at a predetermined position.

The control unit 11A can control the winding device 20 and the tracker main body 32 in a coordinated manner. Similarly, the control unit 11A can control the winding device 20 and the two-dimensional displacement meter 42 in a coordinated manner.

(Displacement Amount Acquisition Unit)
The displacement amount acquisition unit 11F includes a first acquisition unit 11C, a second acquisition unit 11D, and a third acquisition unit 11E.

The first acquisition unit 11C acquires the shift amount of the reflector 34 measured by the tracker body 32 in the tracking device 30 (in other words, the shift amount of the control point P, or the actual shift amount of the robot arm 112 and the end effector 24). A method for measuring the shift amount of the reflector 34 by the tracker body 32 will be described later.

The shift amount of the reflector 34 acquired by the first acquisition unit 11C is associated with the input value of the shift amount of the control point P input to the control unit 11A, and is stored in the shift amount database 13B (see FIG. 11(A)) in the storage unit 13 described above.

In addition, if the weight-corresponding shift amount database 13C (see FIG. 12A) is stored in the memory unit 13, the shift amount of the reflector 34 acquired by the first acquisition unit 11C is associated with the weight of the robot arm 112 and the end effector 24 and stored in the weight-corresponding shift amount database 13C. Note that, if the present invention does not include the shift amount database 13B or the weight-corresponding shift amount database 13C, it is not necessary to include the first acquisition unit 11C either. In this case, it is not necessary to provide a tracking device 30.

The second acquisition unit 11D acquires the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 (see FIG. 7) measured by the two-dimensional displacement meter 42 arranged on the end effector 24. The method of measuring the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 by the two-dimensional displacement meter 42 will be described later.

The measurement value acquired by the second acquisition unit 11D is the measurement value when the operated part (robot arm 112 and end effector 24) is moved based on the input value corrected by the correction unit 11B described later. Note that, in the present invention, it is not necessarily required to have the second acquisition unit 11D.

The third acquisition unit 11E acquires the positions of the observation lines 44M1 and 44M2 (see FIG. 7) measured by the two-dimensional displacement meter 42 arranged on the end effector 24. The method of measuring the positions of the observation lines 44M1 and 44M2 by the two-dimensional displacement meter 42 will be described later.

The third acquisition unit 11E also acquires the position of the control point P of the end effector 24 relative to the two-dimensional displacement gauge 42 by measuring the measuring jig 50 (see FIG. 25) attached to the end effector 24 using the two-dimensional displacement gauge 42. The method of measuring the measuring jig 50 using the two-dimensional displacement gauge 42 will be described later.

(Correction unit)
The correction unit 11B corrects the input value to the control unit 11A based on the difference between the “input value” of the shift amount of the control point P input to the control unit 11A and the shift amount of the reflector 34 acquired by the first acquisition unit 11C (in other words, the shift amount of the control point P, or the “actual shift amount” of the robot arm 112 and the end effector 24).

A specific correction flow will be described later, but when the shift amount of the control point P is input to the control unit 11A via the input unit 14 or the like, the correction unit 11B uses the shift amount database 13B stored in the storage unit 13 and an arithmetic expression to derive the approximation function F(A) shown in FIG. 11(B). The correction unit 11B further calculates the shift amount error by substituting the input value input to the control unit 11A into this approximation function F(A). The correction unit then corrects the shift amount input to the control unit 11A by the calculated error amount, and re-inputs the corrected input value to the control unit 11A.

Then, as described above, the control unit 11A operates the operated parts (robot arm 112 and end effector 24) of the winding device 20 based on the input value corrected by the correction unit 11B (corrected input value). Note that if the first acquisition unit 11C is not provided, the correction unit 11B does not perform the correction process of the input value based on the shift amount of the reflector 34.

The correction unit 11B further corrects the input values to the control unit 11A based on the difference between the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 acquired by the second acquisition unit 11D and the actual positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3. A specific correction flow will be described later. Note that if the second acquisition unit 11D is not provided, the correction unit 11B does not perform the correction process of the input values based on the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3.

Furthermore, the correction unit 11B calculates the positional deviation of the two-dimensional displacement meter 42 relative to the attachment point of the end effector 24 to the robot arm 112 (the tip E112 of the robot arm 112) based on the difference between the initial measurement positions of the observation lines M1 and M2 acquired by the third acquisition unit 11E and the measurement positions of the observation lines M1 and M2 after the winding device 20 has been driven a predetermined number of times, and corrects the input value to the control unit 11A. A specific correction flow will be described later.

Furthermore, the correction unit 11B further corrects the input value to the control unit 11A based on the deviation of the position of the control point P of the end effector 24 acquired by the third acquisition unit 11E from the set value. The specific correction flow will be described later.

<How to use the tracking device>
In order to measure the actual shift amount of the control point P using the tracking device 30, first, as shown in Fig. 6(A), a reflector 34 is attached to the winding drum 26. In response to an instruction input by a user to the input unit 14 or the like, the control unit 11A controls the tracker main body 32 in the tracking device 30 to irradiate a laser beam from the tracker main body 32. At the same time, the control unit 11A controls the rotation drive unit 26A to rotate the winding drum 26.

As a result, the position of the tire center axis CL1, which is the center of rotation of the winding drum 26 (position in the YZ plane), is marked out as the reference point P2. The first acquisition unit 11C acquires the position of the reference point P2.

The position of reference point P2 does not have to be the center of rotation of the winding drum 26, as long as the position can be identified. For example, any location on the winding drum 26 (preferably a location that does not move) can be set as reference point P2. In this case, there is no need to rotate the winding drum 26 to mark out reference point P2.

Next, as shown in FIG. 6(B), a reflector 34 is attached to the end effector 24. The reflector 34 is preferably installed near the control point P. The control unit 11A controls the tracker body 32 in the tracking device 30 in response to an instruction input by the user to the input unit 14 or the like, and irradiates a laser beam from the tracker body 32. This causes a measurement point P3 indicating the position of the reflector 34 to be detected. The first acquisition unit 11C acquires the position of the measurement point P3.

Then, as shown in FIG. 13, the control unit 11A controls the robot 22 (at least one of the robot arm 112 and the end effector 24) to move the control point P. In this example, the control point P is moved along the Z-axis direction. At this time, the control unit 11A controls the robot 22 based on the input value of the shift amount to move the control point P multiple times. For example, if the input value of the shift amount is 100 [mm], the shift amount control device 10 controls the robot 22 to move the control point P multiple times by 100 [mm] each time.

The control unit 11A also controls the tracker body 32 to emit a laser beam from the tracker body 32 each time the control point P is moved. This detects the positions of the reflectors 34 (measurement points P4, P5, ...). The first acquisition unit 11C acquires the positions of the measurement points P4, P5, ....

Here, the first acquisition unit 11C calculates and acquires, for example, the "distance along the Z-axis direction between reference point P2 and measurement point P3," the "distance along the Z-axis direction between reference point P2 and measurement point P4," and the "distance along the Z-axis direction between reference point P2 and measurement point P5" from the positions of reference point P2, measurement points P3, P4, and P5.

The first acquisition unit 11C also calculates and acquires the "distance along the Z-axis direction between measurement point P3 and measurement point P4" from these differences, i.e., the "actual shift amount" by which control point P moves from measurement point P3 to P4. Similarly, the first acquisition unit 11C calculates and acquires the "actual shift amount" by which control point P moves from measurement point P4 to P5.

The actual shift amount of the control point P thus obtained is associated with the input value of the shift amount and stored in the shift amount database 13B stored in the memory unit 13.

The control unit 11A also performs similar control of the robot 22 by moving the control point P laterally (e.g., in the X direction or Y direction) as necessary. It also performs similar control by rotating the control point P around the X axis, Y axis, and Z axis. As a result, the shift amount database 13B stores the actual shift amount of the control point P for each movement direction.

(Shift amount correction flow using a tracking device)
Fig. 16 shows a flow of the shift amount correction process 200 using the tracking device 30. In response to an execution instruction from a user via the input unit 14, the CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, thereby executing the shift amount correction process shown in Fig. 16.

When execution of the shift amount control program 13A begins, in step 202, the CPU 11 emits a laser beam from the tracker body 32, rotates the winding drum 26, and obtains the reference point P2, as described above.

Next, the CPU 11 waits for receipt of a tracking instruction from the user. For example, the user removes the reflector 34 from the winding drum 26, places it on the end effector 24, and inputs a tracking instruction. The CPU 11 determines whether or not a tracking instruction has been received, and if the determination is positive, the process proceeds to step 206. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 204 until the determination is positive.

In step 206, the CPU 11 emits a laser beam from the tracker body 32 and drives the robot 22 to obtain the positions of the measurement points P3, P4, P5, ... as described above.

In this example, the control point P is moved in the Z direction to obtain the positions of the measurement points P3, P4, P5, ..., but the CPU 11 uses similar control to move the control point P laterally (Y direction in Figure 13) to obtain the positions of the measurement points.

In step 208, the CPU 11 obtains the actual shift amount of the control point P from the positions of the reference point P2 and the measurement points P3, P4, P5, ... as described above, and stores it in the shift amount database 13B in association with the input value of the shift amount.

In step 210, the CPU 11 determines whether a predetermined amount of combinations of the input shift amount and the actual shift amount (combinations for each movement direction) have been stored, and if the determination is affirmative, the process proceeds to step 212. On the other hand, if the determination is negative, the process returns to step 202. The "predetermined amount" is the amount required to derive the approximate function F(A) shown in FIG. 11(B) using the calculation formula described below.

In step 212, the CPU 11 derives an approximation function F(A) using the shift amount database 13B stored in the memory unit 13 and an arithmetic expression. The approximation function F(A) is derived for each movement direction.

In step 214, the CPU 11 waits for an input value to be received from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether or not the input value has been received, and if the determination is affirmative, the process proceeds to step 216. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 214 until the determination is affirmative.

In step 216, the CPU 11 calculates the shift amount error by substituting the input value input in step 214 into the approximation function F(A) derived in step 212. Then, the CPU 11 re-inputs the corrected input value to the control unit 11A.

For example, if the input value input in step 214 is 100 [mm] and the shift amount error calculated using the approximation function F(A) is 5 [mm], the expected shift amount is 105 [mm]. In this case, the CPU 11 re-inputs a corrected input value to the control unit 11A so that the expected shift amount becomes 100 [mm]. The CPU 11 (control unit 11A) controls the robot 22 based on this corrected input value.

The shift amount correction process 200 ends when the CPU 11 controls the robot 22 based on the corrected input value.

<How to use the displacement measuring device>
In order to measure the positions of observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 of the master block 44 using the displacement measuring device 40, first, as described using Figure 8, the control unit 11A controls the robot 22 to bring the control point P close to the master block 44.

Then, as shown in FIG. 14, the control unit 11A controls the two-dimensional displacement meter 42 to irradiate the master block 44 with a laser beam. This causes a measurement point Q1 indicating the position of the observation line 44X1 in the master block 44 to be detected, as shown in FIG. 15A. The second acquisition unit 11D acquires the position of the measurement point Q1.

Next, the control unit 11A controls the robot 22 (at least one of the robot arm 112 and the end effector 24) to move the control point P. In this example, the control point P is moved along the X-axis direction.

At this time, the control unit 11A controls the robot 22 based on the input value of the shift amount to move the control point P. For example, if the input value of the shift amount is 100 [mm], the shift amount control device 10 controls the robot 22 to move the control point P by 100 [mm]. In this example, the interval X1 (100 [mm]) along the X direction between the observation lines 44X1 and 44X2 is used as the input value of the shift amount.

Then, the control unit 11A controls the two-dimensional displacement meter 42 to irradiate the master block 44 with a laser beam. This detects a measurement point Q2 that indicates the position of the observation line 44X2 in the master block 44. The second acquisition unit 11D acquires the position of the measurement point Q2.

Furthermore, by similar control, the second acquisition unit 11D acquires the position of the measurement point Q3, which indicates the position of the observation line 44X3 in the master block 44.

Furthermore, although not explained further, the second acquisition unit 11D can also acquire the positions of measurement points R1, R2, and R3 (see FIG. 14) indicating the positions of observation lines 44Z1, Z2, and Z3 in the master block 44 by similar control.

Here, if the actual shift amount L1 of the control point P in the X direction differs from the input value X1, the X direction position of the measurement point Q1 relative to the irradiation part 42A of the two-dimensional displacement gauge 42 before the movement and the X direction position of the measurement point Q2 relative to the irradiation part 42A of the two-dimensional displacement gauge 42 after the movement will be misaligned.

(Shift amount correction flow using a displacement measuring device)
17 shows a flow of the shift amount correction process 220 using the displacement measuring device 40. The shift amount correction process 220 is executed after the shift amount correction process 200 using the tracking device 30 described above. The shift amount correction process 220 is executed continuously while the robot 22 is driven to perform the winding process of the bead wire 8 (see FIG. 1). That is, the shift amount correction process 220 is executed immediately after the shift amount correction process 200 is completed.

After the shift amount correction process 200 is completed, the CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, thereby executing the shift amount correction process 220 shown in FIG. 17.

When the shift amount control program 13A starts to be executed, in step 222, the CPU 11 determines whether the winding device 20 has been driven a predetermined number of times. Specifically, the CPU 11 counts the number of times the winding device 20 has been driven using the number of tires 1 produced, the number of bead wires 8 wound, the number of repeated operations of the robot 22, the number of rotations of the winding drum 26, etc. as indicators.

The CPU 11 determines whether the winding device 20 has been driven a predetermined number of times, and if the determination is affirmative, the process proceeds to step 224, where the robot 22 is controlled to move the control point P closer to the master block 44. The process then proceeds to step 226. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 222 until the determination is affirmative.

In step 226, the CPU 11 emits a laser beam from the two-dimensional displacement gauge 42 and drives the robot 22 to obtain measurement points Q1, Q2, and Q3 (see FIG. 15), as described above.

In this example, for convenience of illustration, a case will be described in which the robot 22 is driven laterally (Y direction in FIG. 13) to acquire the positions of the measurement points in the shift amount correction process 200 (see FIG. 16) using the tracking device 30. In this case, the CPU 11 acquires measurement points Q1, Q2, and Q3 that are lined up in the X direction in FIG. 15.

In the shift amount correction process 200, when the robot 22 is driven in the "Z direction" to obtain the positions of the measurement points, the CPU 11 obtains the measurement points R1, R2, and R3 aligned in the Z direction. In addition, in the shift amount correction process 200, when the robot 22 is driven in the Z direction and in the lateral direction (X direction or Y direction) to obtain the positions of the measurement points, the CPU 11 obtains the measurement points R1, R2, R3 and the measurement points Q1, Q2, and Q3.

In step 228, the CPU 11 corrects the approximation function F(A) using measurement points Q1, Q2, and Q3.

Specifically, the CPU 11 calculates the actual shift amount L1 when the control point P shown in FIG. 15A moves based on the shift amount input value X1 (the input value corrected in the shift amount correction process 200). The actual shift amount L1 is calculated from the position of the irradiation unit 42A before the control point P moves, the position of the measured measurement point Q1, the position of the irradiation unit 42A after the control point P moves based on the input shift amount X1, and the position of the measurement point Q2 relative to the irradiation unit 42A.

The CPU 11 corrects the approximation function F(A) based on the difference between this actual shift amount L1 and the actual spacing X1 along the X direction between the observation lines 44X1 and 44X2, and derives the approximation function G(A) shown in FIG. 18.

In step 230, the CPU 11 waits for an input value to be received from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether or not the input value has been received, and if the determination is affirmative, the process proceeds to step 232. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 230 until the determination is affirmative.

In step 232, the CPU 11 calculates the shift amount error by substituting the input value input in step 230 into the approximation function G(A) corrected in step 228. Then, the CPU 11 re-inputs the corrected input value to the control unit 11A. The CPU 11 (control unit 11A) controls the robot 22 based on this corrected input value.

In step 234, the CPU 11 determines whether the end timing of the shift amount correction process 220 has arrived, and if the determination is affirmative, the shift amount correction process 220 ends. As one example, this end timing is detected when the driving of the winding device 20 stops. If the determination is negative in step 234, the process returns to step 222.

As shown in FIG. 15B, the control point P may not move parallel to the in-plane direction of the master block 44 (along the X direction in the example shown in FIG. 15B) due to the influence of the control accuracy of the robot 22 and the placement accuracy of the master block 44.

In such a case, in step 226, the CPU 11 calculates an "actual shift amount T1" from the calculated shift amount L1 and the shift amount H1 moved in the Y direction.
The shift amount H1 can be obtained from the Y direction position of the measurement point Q1 relative to the irradiation unit 42A of the two-dimensional displacement gauge 42 and the Y direction position of the measurement point Q2 relative to the irradiation unit 42A of the two-dimensional displacement gauge 42 after movement.

The actual shift amount T1 can be calculated by executing the formula √{(L1)2+(H1)2} using the acquired actual shift amount L1 and shift amount H1.

＜Effects＞
In the shift amount control system 80 according to the embodiment of the present invention, the control unit 11A operates an operated part (at least one of the robot arm 112 and the end effector 24) of the winding device 20 based on an input value of the shift amount. As a result, the operated part moves according to the input shift amount, and the bead wire 8 (see FIG. 1 ) as a tire member is wound around the annular member M of the winding drum 26.

As shown in FIG. 13, the tracking device 30 measures the actual shift amount of the operated part. If there is an error between this actual shift amount and the input value, it is difficult to wind the bead wire 8 at the correct position on the annular member M. Therefore, the correction unit 11B corrects the input value based on the difference between the input value and the actual shift amount. This makes it possible to reduce the error between the actual shift amount and the input value.

Furthermore, in the shift amount control system 80, the operated part is moved based on the input value corrected by the correction part, and as shown in Figures 14 and 15, the two-dimensional displacement meter 42 measures the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 formed at a predetermined interval on the master block 44 as an index body.

If there is a discrepancy between the measured observation line position and the actual observation line position, it is difficult to precisely wind the bead wire 8 at the correct position on the annular member M. Therefore, the correction unit 11B further corrects the input value based on the difference between the measured observation line position and the actual observation line position. This makes it possible to further reduce the error between the actual shift amount and the input value.

In this way, in the shift amount control system 80 according to this embodiment, the input value of the shift amount is corrected in two stages using the measurement values from the tracking device 30 and the two-dimensional displacement meter 42. Therefore, the shift amount can be controlled with high accuracy compared to shift amount control using only an imaging device, for example.

In addition, in the shift amount control system 80 according to this embodiment, a plurality of correspondence relationships between input values and actual shift amounts are stored in the shift amount database 13B shown in FIG. 11(A). Then, the correction unit 11B corrects the input value based on the information stored in the shift amount database 13B. This improves the accuracy of the correction of the input value compared to the case where the correspondence relationship between the input value and the actual shift amount is measured only once.

In this embodiment, the shift amount control system 80 is equipped with the shift amount database 13B or the weight-based shift amount database 13C, but the embodiment of the present invention is not limited to this. For example, these databases are not necessarily required.

In this case, steps 208 and 210 in the shift amount correction process 200 shown in FIG. 16 are omitted, and the approximate function F(A) shown in FIG. 11(B) is derived using only the positions of the measurement points P3, P4, P5, ... acquired in step 206. Any arithmetic formula can be used to derive this approximate function F(A).

In this embodiment, the control unit 11A controls the tracker body 32, but the embodiment of the present invention is not limited to this. For example, the tracker body 32 may be controlled by a device other than the shift amount control device 10.

In this case, the measurement points P3, P4, P5, etc. may be input to the first acquisition unit 11C of the shift amount control device 10 by the user. Alternatively, the user may calculate the "actual shift amount" of the control point P moving from measurement point P3 to P4 and from measurement point P4 to P5 from the positions of measurement points P3, P4, and P5, and input this to the first acquisition unit 11C.

In addition, if the control unit 11A does not control the tracker main body 32, steps 202 to 206 are omitted in the shift amount correction process shown in FIG. 16. Then, when the shift amount correction process 200 is executed, the process starts from step 208, in which the actual shift amount derived from the user's input of measurement points P3, P4, P5, etc. is stored in the shift amount database 13B.

<Tool coordinate system position deviation>
In this embodiment, as shown in FIG. 19, a control point P of the winding roller 23a is disposed at a position on the rotation center axis CL2 of the joint portion 24A and the drive rotation portion 29.

At the tip E112 of the robot arm 112, the center of rotation of the joint 24A is defined as the origin O1, and the position of the control point P is defined as the origin O2. The origin O1 is the origin of a coordinate system (so-called mechanical interface coordinate system) defined based on the mechanical interface surface of the robot 22. The origin O2 is the origin of a coordinate system (so-called tool coordinate system) defined for the end effector 24, and is the position of the control point P.

Here, during repeated use of the winding device 20 (see FIG. 2), mechanical vibrations, the weight of the end effector 24, etc. may cause the end effector 24 to shift position relative to the tip E112 of the robot arm 112, where the end effector 24 is attached.

When the end effector 24 is displaced, the control point P of the end effector is also displaced. In other words, the origin O2 of the tool coordinate system is displaced relative to the origin O1 of the mechanical interface coordinate system. If such a displaced state is left unattended, it becomes difficult to wind the bead wire 8 (see FIG. 1) precisely at the correct position on the annular member M.

In addition, during repeated use of the winding device 20 (see FIG. 2), the mechanical interface surface (origin O1) of the robot 22 may become misaligned with respect to its initial position. In general, it is difficult to maintain the mechanical interface surface in its initial position, and for example, the positioning accuracy of the mechanical interface surface determined by the manufacturer of the robot 22 may be limited within a specified operating time.

For this reason, when using the robot 22 over a long period of time, there is a possibility that the positional deviation of the origin O2 of the tool coordinate system may accumulate with the deviation of the origin O1 of the mechanical interface coordinate system.

Therefore, in this embodiment, in order to reduce the effect of the positional deviation of the origin O2, the above-mentioned two-dimensional displacement meter 42 is used to grasp the positional deviation of the origin O2 and the input value input to the control unit 11A is corrected by the method described below.

To grasp the amount of positional deviation of origin O2 relative to origin O1, at least the amount of positional deviation of irradiation unit 42A in the two-dimensional displacement meter 42 relative to origin O1 is grasped. Then, preferably, the amount of positional deviation of control point P (origin O2) relative to irradiation unit 42A is further grasped.

In the following explanation, first, a method for determining the positional deviation of the irradiation unit 42A relative to the origin O1 and correcting the input value input to the control unit 11A will be described. Next, a method for determining the positional deviation of the control point P (origin O2) relative to the irradiation unit 42A and correcting the input value input to the control unit 11A will be described.

(Measurement of the positional deviation of the irradiation part relative to the origin of the mechanical interface coordinate system)
20 , the control unit 11A controls the robot 22 to move the control point P closer to the master block 44. Then, the control unit 11A controls the two-dimensional displacement meter 42 to irradiate the master block 44 with a laser beam.

As a result, as shown in FIG. 21, measurement points F1 and F4 are detected, which indicate the position of observation line 44M1 in master block 44. Similarly, measurement points F2 and F3 are detected, which indicate the position of observation line 44M2. The second acquisition unit 11D acquires the positions of measurement points F1, F2, F3, and F4.

The positions of measurement points F1, F2, F3, and F4 are obtained as Z direction positions relative to the irradiation unit 42A of the two-dimensional displacement meter 42. Distances a0, b0, c0, and d0 shown in FIG. 21 are the Z direction distances between the irradiation unit 42A and measurement points F1, F2, F3, and F4, respectively, and these values are stored in the memory unit 13 as the "initial measurement positions" of measurement points F1, F2, F3, and F4.

Figure 22 (A) shows a state in which the positions of measurement points F1, F2, F3, and F4 are measured with the irradiation unit 42A misaligned. In the state shown in this figure, the irradiation unit 42A is misaligned in the Z-axis direction.

When the irradiation unit 42A is misaligned in this way, the measured distances a1, b1, c1, and d1 will be different from the distances a0, b0, c0, and d0, as shown in FIG. 22(B). Note that in FIG. 22(B), the relationship between the initial value and the measured value when the initial value and the measured value are equal is shown by a straight line.

Similarly, FIG. 23(A) shows a state in which the positions of measurement points F1, F2, F3, and F4 are measured with the irradiation unit 42A misaligned after the initial value is measured. In the state shown in this figure, the irradiation unit 42A is misaligned around the Y-axis direction.

Even if the irradiation unit 42A is misaligned in this way, the measured distances a2, b2, c2, and d2 will be different values from the distances a0, b0, c0, and d0, as shown in Figure 23 (B).

(Shift amount correction flow)
24 shows a flow of a shift amount correction process 240 for grasping the positional deviation of the irradiation unit 42A with respect to the origin O1 and correcting the input value input to the control unit 11A. The timing of execution of the shift amount correction process 240 is not particularly limited, but as an example, it is executed after the shift amount correction process 200 using the tracking device 30 described above, similarly to the shift amount correction process 220.

The shift amount correction process 240 is executed continuously while the robot 22 is driven to perform the winding process of the bead wire 8 (see FIG. 1). In other words, the shift amount correction process 240 is executed immediately after the shift amount correction process 200 is completed.

The CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, thereby executing the shift amount correction process 240 shown in FIG. 24.

When execution of the shift amount control program 13A starts, in step 242, the CPU 11 controls the robot 22 to bring the control point P closer to the master block 44. Then, the process proceeds to step 244.

In step 244, the CPU 11, as described above, irradiates a laser beam from the two-dimensional displacement meter 42 and obtains the measurement points F1, F2, F3, and F4. The CPU 11 also stores the distances a0, b0, c0, and d0 (see FIG. 21) indicating the positions of these measurement points F1, F2, F3, and F4 as the "initial measurement positions" of the Z-direction distances between the irradiation unit 42A and the measurement points F1, F2, F3, and F4.

Next, in step 246, the CPU 11 determines whether the winding device 20 has been driven a predetermined number of times. Specifically, the CPU 11 counts the number of times the winding device 20 has been driven, using as indicators the number of tires 1 produced, the number of bead wires 8 wound, the number of repeated operations of the robot 22, the number of rotations of the winding drum 26, etc. This "predetermined number of times" may be the same as or different from the number counted in step 222 of the shift amount correction process 220.

The CPU 11 determines whether the winding device 20 has been driven a predetermined number of times, and if the determination is positive, the process proceeds to step 248, where the CPU 11 controls the robot 22 to bring the control point P closer to the master block 44. Then, the process proceeds to step 250. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 246 until the determination is positive.

In step 250, the CPU 11 emits a laser beam from the two-dimensional displacement meter 42 as described above, and obtains measurement points F1, F2, F3, and F4.

Next, in step 252, the CPU 11 calculates the positional deviation of the irradiation unit 42A from the origin O1 based on the difference between the "initial measurement position" measured in step 244 and the "measurement position value" measured in step 250 (e.g., distances a1, b1, c1, and d1 (see FIG. 22) or distances a2, b2, c2, and d2 (see FIG. 23)). Furthermore, the CPU 11 derives a correction value for correcting the input value input to the control unit 11A based on this calculated value.

In step 254, the CPU 11 waits for an input value to be received from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether or not the input value has been received, and if the determination is affirmative, the process proceeds to step 256. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 254 until the determination is affirmative.

In step 256, the CPU 11 corrects the shift amount using the correction value derived in step 252, and re-inputs the corrected input value to the control unit 11A. The CPU 11 controls the robot 22 based on this corrected input value.

In step 258, the CPU 11 determines whether the end timing of the shift amount correction process 220 has arrived, and if the determination is affirmative, the shift amount correction process 240 ends. As one example, this end timing is detected when the driving of the winding device 20 stops. If the determination is negative in step 258, the process returns to step 246.

(Measurement of the positional deviation of the origin of the tool coordinate system relative to the irradiated part)
In order to grasp the positional deviation of the origin O2 with respect to the irradiation unit 42A, a measuring tool 50 shown in Fig. 25 is used. The measuring tool 50 has a measuring unit 52 that irradiates a laser beam from the irradiation unit 42A. The measuring unit 52 has an irradiated surface 52A facing the irradiation direction and an upper surface 52B along the irradiation direction. In addition, a part of the irradiated surface 52A is an inclined surface 52C inclined toward the rear side in the irradiation direction.

By irradiating the inclined surface 52C of the irradiated surface 52A with a laser beam, the third acquisition unit 11E can acquire the dimensions of the portion irradiated by the laser beam. These dimensions are the dimension 50a along the Y direction of the irradiated portion of the measurement unit 52, and the dimension 50b along the Z axis direction from the irradiation unit 42A to the end of the measurement unit 52 in the Z direction.

In FIG. 25, for the sake of convenience in explaining the configuration of the measuring jig 50, the measuring jig 50 and the end effector 24 are shown separated from each other, but the measuring jig 50 is used in a state in which it is close to or in contact with the end effector 24. Also, the measuring jig 50 is used in a state in which it is positioned relative to the origin O2. In other words, the distance between each point on the measuring jig 50 and the origin O2 can be grasped without relying on a laser beam or the like.

To grasp the positional deviation of the origin O2 relative to the irradiation part 42A, it is necessary to grasp the distance 40A along the X direction between the irradiation part 42A and the origin O2, as shown in FIG. 26(A). This distance 40A can be grasped by measuring the dimension 50a and identifying the position in the X direction where the laser beam is irradiated.

In addition, to grasp the positional deviation of the origin O2 relative to the irradiation unit 42A, it is necessary to grasp the distance 40B along the Y direction between the irradiation unit 42A and the origin O2, as shown in FIG. 26(B). This distance 40B can be grasped by measuring the dimension 50b and identifying the Y direction position of the irradiation unit 42A where the laser beam is irradiated.

(Shift amount correction flow)
27 shows a flow of a shift amount correction process 260 for determining the positional deviation of the origin O2 with respect to the irradiation unit 42A and correcting the input value input to the control unit 11A. The shift amount correction process 260 is executed when a user instructs execution of the shift amount correction process 260 via the input unit 14 or the like.

The CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, thereby executing the shift amount correction process 260 shown in FIG. 24.

In step 262, as described above, the CPU 11 irradiates a laser beam from the two-dimensional displacement meter 42 and obtains the dimension 50a along the Y direction of the irradiated portion of the measurement unit 52, and the dimension 50b along the Z axis direction from the irradiation unit 42A to the Z-direction end of the measurement unit 52.

Next, in step 264, the CPU 11 calculates the distance 40A between the irradiation unit 42A and the origin O2 in the X direction and the distance 40B between the irradiation unit 42A and the origin O2 in the Y direction from the dimensions 50a and 50b measured in step 244. The CPU 11 also derives a correction value for correcting the input value input to the control unit 11A based on the deviation between these distances 40A and 40B and a preset setting value.

In step 266, the CPU 11 waits for an input value to be received from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether or not the input value has been received, and if the determination is affirmative, the process proceeds to step 268. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 266 until the determination is affirmative.

In step 268, the CPU 11 corrects the shift amount using the correction value derived in step 264, and re-inputs the corrected input value to the control unit 11A. The CPU 11 controls the robot 22 based on this corrected input value, and ends the shift amount correction process 240.

The shift amount correction process 260 can be performed in conjunction with the shift amount correction process 240. In this case, as shown in FIG. 28, after step 252 in the shift amount correction process 240, the process proceeds to step 270, where the CPU 11 waits for a shift amount correction instruction from the user.

The user places the measuring tool 50 in a predetermined position and inputs a shift amount correction instruction via the input unit 14 or the like. The CPU 11 determines whether the input has been received, and if the determination is positive, the process proceeds to step 262 described above. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 266 until the determination is positive.

Then, after step 262, the process proceeds to step 264 described above, and then to step 254 of the shift amount correction process 240.

＜Effects＞
Thus, in the shift amount control system 80 according to this embodiment, as shown in FIG. 2, the shift amount control device 10 moves the operated part of the robot 22 (at least one of the robot arm 112 and the end effector 24) based on the input value of the shift amount.

As shown in Figs. 20 to 23, the two-dimensional displacement meter 42 measures the positions of observation lines 44M1, 44M2 formed in a predetermined shape (rectangular and circular) on the master block 44, which is an index body. Then, the correction unit 11B (see Fig. 10) corrects the input value based on the difference between the initial measurement positions of the observation lines M1, M2 (for example, the distances a0, b0, c0, and d0 shown in Fig. 21) and the measurement positions of the observation lines after the winding device 20 has been driven a predetermined number of times (for example, the distances a1, b1, c1, and d1 shown in Fig. 22). This makes it possible to reduce the effects of misalignment even when the end effector 24 is misaligned.

In this way, in the shift amount control system 80 according to this embodiment, the input value of the shift amount is corrected using the measurement value from the two-dimensional displacement meter 42. Therefore, the shift amount can be controlled with high accuracy compared to shift amount control using only a camera, for example.

In addition, as shown in Figures 25 and 26, the shift amount control system can measure the position of the control point P of the end effector 24 relative to the two-dimensional displacement gauge 42 (the position of the origin O2) by using a measuring jig 50. Then, the correction unit 11B further corrects the input value based on the deviation of the position of the control point P of the end effector 24 relative to the two-dimensional displacement gauge 42 from the set value. This improves the control accuracy of the shift amount.

In this embodiment, for example, the various processors shown below can be used as the hardware structure of the processing unit that executes the processes of the control unit 11A, the correction unit 11B, the first acquisition unit 11C, the second acquisition unit 11D, and the third acquisition unit 11E. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as a processing unit, as well as a programmable logic device (PLD), which is a processor whose circuit configuration can be changed after manufacture, such as an FPGA (Field-Programmable Gate Array), and a dedicated electric circuit, which is a processor with a circuit configuration designed specifically to execute specific processes, such as an ASIC (Application Specific Integrated Circuit).

The processing unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (e.g., a combination of multiple FPGAs, or a combination of a CPU and an FPGA). The processing unit may also be configured with a single processor.

As an example of configuring the processing unit as a single processor, first, there is a form in which one processor is configured as a combination of one or more CPUs and software, as typified by computers such as clients and servers, and this processor functions as the processing unit. Secondly, there is a form in which a processor is used to realize the functions of the entire system, including the processing unit, in a single IC (Integrated Circuit) chip, as typified by systems on chips (SoCs). In this way, the processing unit is configured as a hardware structure using one or more of the various processors listed above.

More specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements. In this way, the present invention can be implemented in a variety of ways.

10 Shift amount control device 11A Control unit 11B Correction unit 11C First acquisition unit 11D Second acquisition unit 11E Third acquisition unit (acquisition unit) 20 Winding device 112 Robot arm (operated unit) 24 End effector (operated unit)
30 Tracking device 42 Two-dimensional displacement meter 44 Master block (index body)
50 Measuring tool

Claims (8)

A control unit that operates an arm of the winding device based on an input value of the shift amount;
an acquisition unit that, when moving the arm based on the input value and measuring a position of an observation line formed in a predetermined shape on an index body using a two-dimensional displacement meter disposed on an end effector of the arm , acquires a measured position of the observation line;
a correction unit that calculates a positional deviation of the two-dimensional displacement meter with respect to a mounting location of the end effector on the arm based on a difference between an initial measurement position of the observation line acquired by the acquisition unit and a measurement position of the observation line after driving the winding device a predetermined number of times, and corrects the input value based on the calculated value of the positional deviation ;
A shift amount control system equipped with the acquisition unit acquires a position of a control point of the end effector relative to the two-dimensional displacement gauge by measuring a measuring jig attached to the end effector using the two-dimensional displacement gauge;
The correction unit further corrects the input value based on a deviation of the acquired position of the control point of the end effector from a set value.
2. The shift amount control system according to claim 1. The shift amount control system according to claim 1 or 2, wherein the observation line is formed by a square recess and a circular recess formed in the indicator body. The shift amount control system according to any one of claims 1 to 3, wherein the observation lines are formed on both opposing sides of the index body. the measuring jig includes a measuring unit onto which the laser beam emitted from the two-dimensional displacement meter is irradiated,
The measurement unit includes an irradiated surface facing the irradiation direction and an upper surface along the irradiation direction, and a part of the irradiated surface is an inclined surface inclined toward the back side of the irradiation direction.
3. The shift amount control system according to claim 2. manipulating an arm of a winding device based on an input value of the shift amount;
a step of acquiring the measured positions of the observation lines formed at predetermined intervals on the index body using a two-dimensional displacement meter disposed on the end effector of the arm ;
a step of calculating a positional deviation of the two-dimensional displacement meter with respect to a mounting position of the end effector on the arm based on a difference between an initial measurement position of the observation line obtained and a measurement position of the observation line after driving the winding device a predetermined number of times, and correcting the input value based on the calculated value of the positional deviation ;
A shift amount control method comprising: Computer,
A control unit that operates an arm of the winding device based on an input value of the shift amount;
an acquisition unit that, when moving the arm based on the input value and measuring positions of observation lines formed at predetermined intervals on an index body using a two-dimensional displacement meter disposed on an end effector of the arm , acquires the measured positions of the observation lines;
a correction unit that calculates a positional deviation of the two-dimensional displacement meter with respect to a mounting location of the end effector on the arm based on a difference between an initial measurement position of the observation line acquired by the acquisition unit and a measurement position of the observation line after driving the winding device a predetermined number of times, and corrects the input value based on the calculated value of the positional deviation ;
A program to make it function as such. A winding device;
An arm provided on the winding device;
an end effector disposed on the arm ;
An index body on which observation lines are formed at predetermined intervals;
a two-dimensional displacement meter disposed on the end effector for measuring a position of the observation line;
a shift amount control device having: a control unit that operates the arm based on an input value of a shift amount; an acquisition unit that acquires a measured position of the observation line when moving the arm based on the input value and measuring the position of the observation line using the two-dimensional displacement meter; and a correction unit that calculates a positional deviation of the two-dimensional displacement meter with respect to a mounting position of the end effector on the arm based on a difference between an initial measurement position of the observation line acquired by the acquisition unit and a measurement position of the observation line after driving the winding device a predetermined number of times, and corrects the input value based on the calculated value of the positional deviation ;
A shift amount control system equipped with