Shift Amount Control System, Shift Amount Control Method, and Program

Abstract

To provide a shift amount control system, a shift amount control method, and a program which can control a shift amount with high accuracy by being compared with shift amount control using an imaging device.SOLUTION: A shift amount control system 80 includes: a control part 11A for operating an operated part of a winding device 20 on the basis of an input value of a shift amount; an acquisition part (third acquisition part 11E) for acquiring a position of a measured observation line, when moving the operated part on the basis of the input value, and measuring the position of the observation line formed in a predetermined shape in an index body (master block 44), using a two-dimensional displacement meter 42 arranged in an end effector 24 of the operated part; and a correction part 11B for calculating positional deviation of the two-dimensional displacement meter 42 with respect to the mounting part of the end effector 24 in the operated part, and correcting the input value, on the basis of a difference between an initial measurement position of the observation line observed by the acquisition part, and a measurement position of the observation line after a predetermined number of times of driving of the winding device 20.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present invention relates to a shift amount control system, a shift amount control method, and a program.

Background Art

[0002] The following Patent Document 1 describes a state determination device that controls a camera attached to a robotic arm to a predetermined position to capture a mark, and determines the control state of the robotic arm based on the deviation amount of the mark from a predetermined position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When using the in-pipe state determination device of Patent Document 1 above, it is possible to correct the deviation amount and continue the operation of the robot. However, there is a limit to the detection accuracy of the deviation amount by imaging with an imaging device such as a camera. For this reason, it is difficult to adopt in a system that requires high accuracy in controlling the shift amount of an operated part such as a robotic arm.

[0005] In consideration of the above facts, an object of the present invention is to provide a shift amount control system, a shift amount control method, and a program that can control the shift amount with high accuracy as compared with shift amount control using an imaging device.

Means for Solving the Problems

[0006] The shift amount control system of the first aspect includes a control unit that operates an operated part of a winding device that winds a tire member around a drum based on an input value of the shift amount, and moves the operated part based on the input value. When measuring the position of an observation line formed in a predetermined shape on an indicator body using a two-dimensional displacement meter disposed at an end effector of the operated part, an acquisition unit that acquires the measured position of the observation line, and 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 driving the winding device a predetermined number of times, a correction unit that calculates the displacement of the displacement meter with respect to the attachment location of the end effector in the operated part and corrects the input value.

[0007] In the shift amount control system of the first aspect, the control unit operates the operated part of the winding device based on an input value of the shift amount. As a result, the operated part moves according to the input shift amount, and the tire member is wound around the drum.

[0008] Here, in the process of repeatedly using the winding device, due to mechanical vibration, the self-weight of the end effector, etc., the end effector may be displaced with respect to the attachment location of the end effector in the operated part. When the end effector is displaced, the control point of the end effector is also displaced. If such a displaced state is left uncorrected, it is difficult to accurately wind the tire member around the drum at an accurate position.

[0009] Therefore, in the shift amount control system, the control unit moves the operated part based on the input value of the shift amount, and measures the position of the observation line formed in a predetermined shape on the indicator body by the two-dimensional displacement meter. Then, the correction unit 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 driving the winding device a predetermined number of times. Thereby, even when the end effector is in a displaced state, the influence of the displacement can be reduced.

[0010] Thus, in the shift amount control system of the first aspect, the input value of the shift amount is corrected using the measurement value obtained by the two-dimensional displacement meter. Therefore, for example, compared with the shift amount control using only a camera, the shift amount can be controlled with high accuracy.

[0011] In the shift amount control system of the second aspect, the acquisition unit acquires the position of the control point of the end effector with respect to the two-dimensional displacement meter by measuring the measurement jig attached to the end effector using the two-dimensional displacement meter, 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 the set value.

[0012] In the shift amount control system of the second aspect, by using a measurement jig, the position of the control point of the end effector with respect to the two-dimensional displacement meter can be measured. Then, the correction unit further corrects the input value based on the deviation of the position of the control point of the end effector from the set value. Thereby, the control accuracy of the shift amount can be improved.

[0013] In the shift amount control system of the third aspect, the observation line is formed by a square concave portion and a circular concave portion formed in the indicator body.

[0014] In the shift amount control system of the third aspect, the observation line is formed by a square concave portion and a circular concave portion. That is, the shift amount control system includes two observation lines having different shapes. Therefore, when a deviation occurs in the position of the end effector, depending on the way of deviation, the detected way of deviation is different in each of the two observation lines. Thereby, it is easy to grasp how the end effector is deviated.

[0015] In the shift amount control system of the fourth aspect, the observation lines are formed on both surfaces of the indicator body that face each other.

[0016] In the shift amount control system of the fourth aspect, since the observation lines are formed on both surfaces of the indicator body facing each other, the end effector can be approached from both sides of the indicator body to grasp the deviation amount.

[0017] The shift amount control method of the fifth aspect includes a step of operating an operated part of a winding device that winds a tire member around a drum based on an input value of the shift amount, and using a two-dimensional displacement meter arranged on an end effector of the operated part to measure the position of an observation line formed at a predetermined interval on an indicator body, a step of obtaining the measured position of the observation line, and a step of calculating the displacement of the position of the displacement meter with respect to the attachment position of the end effector in the operated part based on the difference between the initial measured position of the obtained observation line and the measured position of the observation line after the winding device is driven a predetermined number of times, and correcting the input value.

[0018] In the shift amount control method of the fifth aspect, the control unit operates the operated part of the winding device based on an input value of the shift amount. As a result, the operated part moves according to the input shift amount, and the tire member is wound around the drum.

[0019] Here, in the process of repeatedly using the winding device, due to mechanical vibration, the self-weight of the end effector, etc., the end effector may be displaced with respect to the attachment position of the end effector in the operated part. When the end effector is displaced, the control point of the end effector is also displaced. If such a displaced state is left uncorrected, it is difficult to wind the tire member accurately around the drum at a high precision.

[0020] Therefore, in the shift amount control method, the control unit moves the operated part 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. Then, the correction unit corrects the input value based on the difference between the initial measured position of the observation line and the measured position of the observation line after the winding device is driven a predetermined number of times. Thereby, even when the end effector is in a displaced state, the influence of the displacement can be reduced.

[0021] Thus, in the shift amount control method of the fifth aspect, the input value of the shift amount is corrected using the measurement value obtained by the two-dimensional displacement meter. Therefore, for example, compared with the shift amount control using only a camera, the shift amount can be controlled with high accuracy.

[0022] The program of the sixth aspect causes a computer to function as a control unit that operates an operated part (robot arm or end effector) of a winding device that winds a tire member around a drum based on an input value of a shift amount, a moving unit that moves the operated part based on the input value, and when measuring the positions of observation lines formed at predetermined intervals on a reference body (master block) using a two-dimensional displacement meter arranged at the end effector of the operated part, an acquisition unit that acquires the measured positions of the observation lines, and a correction unit that calculates a displacement of the position of the displacement meter with respect to the attachment location of the end effector in the operated part based on the difference between the initial measured position of the observation line acquired by the acquisition unit and the measured position of the observation line after driving the winding device a predetermined number of times, and corrects the input value.

[0023] In the program of the sixth aspect, the control unit operates the operated part of the winding device based on the input value of the shift amount. As a result, the operated part moves according to the input shift amount, and the tire member is wound around the drum.

[0024] Here, in the process of repeatedly using the winding device, due to mechanical vibration, the self-weight of the end effector, etc., the end effector may be displaced with respect to the attachment location of the end effector in the operated part. When the end effector is displaced, the control point of the end effector is also displaced. If such a displaced state is left uncorrected, it is difficult to accurately wind the tire member around the drum at an accurate position.

[0025] Therefore, in this program, the control unit moves the operated part 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. Then, the correction unit 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 is driven a predetermined number of times. Thereby, even when the end effector is displaced, the influence of the displacement can be reduced.

[0026] As described above, in the program of the sixth aspect, the input value of the shift amount is corrected using the measurement value by the two-dimensional displacement meter. Therefore, for example, compared with the shift amount control using only a camera, the shift amount can be controlled with high accuracy.

[0027] The shift amount control system according to the seventh aspect includes a winding device that winds a tire member around a drum, an operated part provided in the winding device, an end effector disposed on the operated part, an indicator body in which an observation line is formed at a predetermined interval, a two-dimensional displacement meter disposed on the end effector for 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 displacement of the displacement meter with respect to the attachment position of the end effector in 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.

[0028] In the shift amount control system according to the seventh aspect, the control unit operates the operated part of the winding device based on the input value of the shift amount. Thereby, the operated part moves according to the input shift amount, and the tire member is wound around the drum.

[0029] Here, in the process of repeatedly using the winding device, due to mechanical vibration, the self-weight of the end effector, etc., the end effector may be displaced relative to the mounting position of the end effector on the operated part. When the end effector is displaced, the control point of the end effector is also displaced. If such a displaced state is left uncorrected, it is difficult to accurately wind the tire member around the drum at an exact position.

[0030] Therefore, in the shift amount control system, the control unit moves the operated part 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. Then, the correction unit 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 driving the winding device a predetermined number of times. Thereby, even when the end effector is in a displaced state, the influence of the displacement can be reduced.

[0031] As described above, in the shift amount control system of the seventh aspect, the input value of the shift amount is corrected using the measurement value by the two-dimensional displacement meter. Therefore, for example, compared with the shift amount control using only a camera, the shift amount can be controlled with high accuracy.

Advantages of the Invention

[0032] In the shift amount control system, shift amount control method, and program of the present invention, the shift amount can be controlled with higher accuracy compared to the shift amount control using a camera.

Brief Description of the Drawings

[0033]

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Embodiments for Carrying Out the Invention

[0034] Hereinafter, 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 denoted by the same reference numerals in each drawing mean the same components. However, unless otherwise specified in the specification, each component is not limited to one, and a plurality of them may exist.

[0035] In addition, descriptions of overlapping configurations and reference numerals in each drawing may be omitted. Note that the present invention is not limited to the following embodiments, and appropriate modifications such as omitting configurations or replacing them with different configurations can be made and implemented within the scope of the object of the present invention.

[0036] <Tire> 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 in a state where it is filled with a specified internal pressure while mounted on an application rim (not shown) and in a no-load state.

[0037] Here, the "application rim" refers to an industrial standard effective in the region where the tire is produced and used. In Japan, it is described in the JATMA YEAR BOOK of JATMA (Japan Automobile Tire Association), in Europe, it is described in the STANDARDS MANUAL of ETRTO (The European Tyre and Rim Technical Organisation), and in the United States, it is described in the YEAR BOOK of TRA (The Tire and Rim Association, Inc.) or will be described in the future. It refers to the standard rim (Measuring Rim in the ETRTO STANDARDS MANUAL, Design Rim in the TRA YEAR BOOK) in the applicable size. (That is, the above "rim" includes sizes that may be included in the above industrial standards in the future in addition to the current sizes. Examples of "sizes to be described in the future" include sizes described as "FUTURE DEVELOPMENTS" in the ETRTO 2021 edition.) In the case of a size not described in the above industrial standards, it refers to a rim having a width corresponding to the bead width of the tire.

[0038] The "specified internal pressure" refers to the air pressure (maximum air pressure) corresponding to the maximum load capacity of a single wheel in the applicable size and ply rating as described in JATMA, etc. In the case of a size not described in the above industrial standard, the "specified internal pressure" shall mean the air pressure (maximum air pressure) corresponding to the maximum load capacity specified for each vehicle on which the tire is mounted.

[0039] 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 carcass 2 having a toroidal shape extending between them. Further, Tire 1 has a belt 3A inside the tread portion 3 on the outer side in the tire radial direction of the carcass 2. One of the pair of bead portions 6 is continuous with one of the two sidewall portions 5 (the serial sidewall portion). The other of the pair of bead portions 6 is continuous with the other of the two sidewall portions 5 (the anti-serial sidewall portion). In FIG. 1, one (or the other) of the two sidewalls is not shown.)

[0040] A bead 7 is embedded in each of the pair of bead portions 6. The bead 7 is embedded inside the folded-back portion of the carcass 2. The bead 7 is formed by winding at least one bead wire 8 around the tire central axis. Further, Tire 1 has a pair of bead fillers 9. The bead fillers 9 are respectively disposed adjacent to the outer side in the tire radial direction of the bead 7 (in FIG. 1, one (or the other) of the pair of bead fillers 9 is not shown). That is, the bead fillers 9 are also embedded inside the folded-back portion of the carcass 2.

[0041] Note that the pneumatic tire that can be manufactured by using the production system including the winding device 20 according to the present invention is 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 for manufacturing tires of various configurations as long as they include a configuration in which a linear member is wound around the configuration of the tire, as will be described later.

[0042] <Shift Amount Control System> Figure 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.

[0043] The shift amount control system 80 is a system for improving the winding accuracy of a linear member such as a bead wire 8 (see FIG. 1) around a tire 1 (specifically, an annular member M described later) by the winding device 20. The shift amount control device 10 performs shift amount control of the winding device 20 when winding the bead wire 8 around the annular member M. Further, the shift amount control device 10 performs control to correct the shift amount of the winding device 20.

[0044] The tracking device 30 and the displacement measuring device 40 are devices for obtaining information necessary for 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 later, the tracking device 30 and the displacement measuring device 40 are not necessarily used simultaneously. That is, the shift amount control system 80 includes a mode in which one of the tracking device 30 and the displacement measuring device 40 is omitted.

[0045] <Winding Device> The winding device 20 is a production facility formed by including a robot 22 and a winding drum 26.

[0046] (Winding Drum) The winding drum 26 is a support portion that supports an annular member M formed of an unvulcanized rubber tire. The bead wire 8 described above is supplied to the annular member M from the end effector 24.

[0047] In FIG. 2, the tire central axis CL1 is arranged along the X direction, and along this X direction, the winding drum 26 and the robot 22 are arranged. However, the embodiments of the present invention are not limited to this. The arrangement shown in FIG. 2 is an example shown for convenience of explanation. For example, as shown in FIG. 8, the winding drum 26 and the robot 22 may be arranged along the Y direction orthogonal to the X direction.

[0048] (Configuration of Robot) The robot 22 is a tire production apparatus having a robot arm 112 and an end effector 24. The end effector 24 is attached to the tip of the robot arm 112.

[0049] 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 the present embodiment, the end effector 24 is attached to the tip E112 of the robot arm 112.

[0050] The robot 22 has six or more degrees of freedom. In the present 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.

[0051] The robot 22, which is a six-axis robot, has six joints (111a to 111f). The first joint 111a, for example, connects the second arm 112b to the first arm 112a so as to be rotatable. The second joint 111b, for example, connects the third arm 112c to the second arm 112b so as to be swingable in the front-rear direction.

[0052] The third joint 111c connects, for example, the fourth arm 112d to the third arm 112c so as to be swingable in the vertical direction. The fourth joint 111d connects, for example, the fifth arm 112e to the fourth arm 112d so as to be rotatable. The fifth joint 111e connects the sixth arm 112f to the fifth arm 112e so as to be swingable in the vertical direction.

[0053] The sixth joint 111f connects, for example, the seventh arm 112g to the sixth arm 112f so as to be rotatable. 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.

[0054] With these configurations, the robot 22 has degrees of freedom in three linear directions in the X-axis direction, Y-axis direction, and Z-axis direction and degrees of freedom around three axes around the X-axis, Y-axis, and Z-axis in the coordinate system of the XYZ axes shown in FIG. 2.

[0055] Here, the X-axis, Y-axis, and Z-axis are axes that are orthogonal to each other. According to the present embodiment, for example, the Z-axis can be set to be parallel to the vertical direction. Further, according to the present embodiment, the X-axis and Y-axis can be set to be parallel to the tire center axis CL1 when the tire center axis CL1 is included in the horizontal plane. Furthermore, according to the present embodiment, the X-axis and Y-axis can be set to be parallel to the tire width direction center line when viewed in the horizontal plane in a state where the tire center axis is included in the horizontal plane.

[0056] (Outline of Control of Wrapping Device) The movements of the robot 22 and the wrapping drum 26 that form the wrapping device 20 are associated and controlled by the shift amount control device 10. However, each of the robot 22 and the wrapping drum 26 can also be controlled by separate control devices. In this case, it is preferable that the individual control devices can communicate bidirectionally with each other.

[0057] The winding drum 26 includes a rotational drive unit 26A that rotates the annular member M. The rotational drive unit 26A can rotate the annular member M about the tire central axis CL1. In the present embodiment, the rotational drive unit 26A can rotate the annular member M by a predetermined angle about the tire central axis CL1 in accordance with a command from the shift amount control device 10. Alternatively, it can rotate steplessly.

[0058] The shift amount control device 10 controls the position of the robot 22 so that the end effector 24 is positioned at a predetermined position according to the rotation angle of the annular member M. The robot 22 moves the end effector 24 to a target position according to the rotation angle of the annular member M in accordance with a command from the shift amount control device 10.

[0059] (Configuration of the end effector) FIG. 4 schematically shows an example of the configuration of the end effector 24 according to an 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.

[0060] The joint portion 24A is a portion rotatably attached to the tip E112 of the robot arm 112. The introduction portion 24B is fixed to the joint portion 24A and is a portion for introducing the bead wire 8 (see FIG. 1) into the end effector 24. The discharge portion 24C is connected to the introduction portion 24B via the drive rotation portion 29, discharges the bead wire 8 introduced from the introduction portion 24B from the end effector 24, and feeds it toward the annular member M (see FIG. 2).

[0061] Here, the discharge portion 24C includes a support portion 24b fixed to the drive rotation portion 29, a winding roller 23a, and a two-dimensional displacement meter 42.

[0062] The winding roller 23a is disposed rotatably with respect to the support portion 24b. Although not shown, a circumferential groove is formed on the outer peripheral surface of the winding roller 23a. The bead wire 8 is held in the circumferential groove of the winding roller 23a.

[0063] The winding roller 23a can send out the bead wire 8 (see FIGS. 1 and 2) flowing inside the end effector 24 to the outside of the end effector 24. Thus, if the winding roller 23a is pressed against the annular member M shown in FIG. 2, the bead wire 8 sent out from the winding roller 23a can be attached to the annular member M.

[0064] Therefore, if the end effector 24 is rotated around the annular member M with the winding roller 23a pressed against the annular member M, the bead wire 8 can be wound around the annular member M. Alternatively, if the annular member M is rotated with the winding roller 23a pressed against the annular member M, the bead wire 8 can be wound around the annular member M.

[0065] In the shift amount control system 80, when the bead wire 8 is wound around the annular member M, the annular member M is sequentially rotated by a predetermined angle around the tire central axis CL1 of the rotation drive unit 26A of the winding drum 26 by the rotation drive unit 26A of the winding drum 26.

[0066] Also, in the shift amount control system 80, the robot 22 is position-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 located at the target position where the bead wire 8 should be wound around the annular member M.

[0067] That is, the shift amount control system 80 according to the present embodiment position-controls the robot 22 so that the winding roller 23a of the end effector 24 is located at a predetermined position according to the rotation angle of the annular member M while rotating the annular member M.

[0068] In the present 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 arranged at a position where the position P (also referred to as "control point P") where the bead wire 8 is discharged is on the tire central axis CL2 of the joint portion 24A and the drive rotation portion 29.

[0069] Further, the discharge unit 24C has an actuator 23b (hereinafter also referred to as the "actuator 23b for the winding roller") for moving the winding roller. The actuator 23b for the winding roller can press the winding roller 23a against the annular member M by pressing the winding roller 23a toward the annular member M. Further, the actuator 23b for the winding roller can separate the winding roller 23a from the annular member M by moving the winding roller 23a away from the annular member M.

[0070] Thereby, the pressing force on the bead wire 8 between the winding roller 23a and the annular member M can be adjusted or released. In the present embodiment, the actuator 23b for the winding roller is constituted by an air cylinder. According to the air cylinder, the change 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.

[0071] However, as the actuator 23b for the winding roller, an actuator such as a hydraulic cylinder or a motor actuator can be employed. Further, according to the present invention, the actuator 23b for the winding roller can be omitted.

[0072] The two-dimensional displacement meter 42 is an information acquisition unit for obtaining peripheral information of the annular member M. The end effector 24 according to the present embodiment has the two-dimensional displacement meter 42 at a position on the tip side of the support portion 24b. Note that the two-dimensional displacement meter 42 constitutes a part of a displacement measuring device 40 described later.

[0073] The two-dimensional displacement meter 42 is a laser displacement meter using the optical cutting method. By irradiating a strip-shaped laser beam onto the surface of an object and receiving the reflected light, the shape of the object is measured. In this embodiment, the two-dimensional displacement meter 42 collects information around the annular member M to which the bead wire 8 is attached. Examples of the information around the annular member M (hereinafter also referred to as "object peripheral information") include the area, length, width, color, position, and shape of the annular member M. The object peripheral information obtained from the two-dimensional displacement meter 42 is input into the shift amount control device 10. The shift amount control device 10 controls the robot 22 and the winding drum 26 so as to attach the bead wire 8 to the annular member M based on the object peripheral information.

[0074] <Shift amount> The shift amount control device 10 shown in FIG. 2 operates the operated part of the winding device 20 that winds the bead wire 8, which is a tire member, around the winding drum 26 based on the input value of the shift amount.

[0075] 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" is the movement amount of the control point P input by the user through the input part 14 (to be described later) in the shift amount control device 10. The "movement amount" includes the movement amounts along the three linear directions of the X-axis, Y-axis, and Z-axis described above, and also includes the movement amounts in the three rotational directions with the X-axis, Y-axis, and Z-axis as the rotation centers.

[0076] (Error of shift amount) FIG. 5 shows a state where the shift amount control device 10 controls 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.

[0077] At this time, the shift amount control device 10 performs control to move the control point P of the end effector 24 from a predetermined initial position (referred to as "benchmark P0") to the position P1 where the winding operation is performed based on the input value of the shift amount.

[0078] However, an error may occur in the actual shift amount of the robot arm 112 and the end effector 24 with respect to the input value. For example, when the actual distance (actual shift amount) that the control point P has moved is different from the input value, the control point P moves from the position P1 where the winding operation is performed to a displaced position.

[0079] When the winding operation of the bead wire 8 is performed in such a state, it may affect the uniformity of the tire 1. Therefore, it is required to reduce the error between the actual shift amount of the control point P and the input value.

[0080] Therefore, in the following description, first, 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 will be described. Next, the electrical configuration and the functional configuration of the shift amount control device 10 that controls the winding device 20, the tracking device 30, and the displacement measuring device 40 will be described.

[0081] And a method for reducing the error between the actual shift amount of the control point P and the input value by controlling the winding device 20, the tracking device 30, and the displacement measuring device 40 by the shift amount control device 10 will be described.

[0082] <Tracking Device> FIG. 6 shows the tracking device 30. The tracking device 30 includes a tracker main body 32 and a reflector 34. The tracker main body 32 measures the three-dimensional position of the reflector 34 using a laser beam and an angle encoder.

[0083] The laser beam emitted from the tracker main body 32 is reflected by the reflector 34. The tracker main body 32 detects the light beam reflected by the reflector 34 and calculates the distance from the tracker main body 32 to the reflector 34, the azimuth angle, and the apex angle of the angle encoder. The method of using the tracking device 30 will be described later.

[0084] <Displacement Measuring Device> As shown in FIG. 2, the displacement measuring device 40 includes the two-dimensional displacement meter 42 and the reference body (master block 44) described above. The configuration of the two-dimensional displacement meter 42 is as described above.

[0085] The displacement measuring device 40 is a device for measuring the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1, and 44M2 (see FIG. 7) formed on the master block 44 described below by the two-dimensional displacement meter 42, and detecting the difference between the measured positions and the actual positions of these observation lines.

[0086] (Configuration of Master Block) As shown in FIG. 7, the master block 44 is a substantially L-shaped plate member, and is manufactured, for example, by machining metal or resin. The master block 44 is arranged with the in-plane direction of the plate along the vertical direction. Note that the X, Y, and Z directions shown in FIG. 7 and the X, Y, and Z directions in the description regarding the master block 44 are for convenience and do not necessarily coincide with the X, Y, and Z directions shown in other figures.

[0087] Observation lines 44X1, 44X2, and 44X3 are formed on the master block 44. The observation lines 44X1 and 44X3 are straight lines formed by the X-direction ends of the master block 44. The observation line 44X2 is a straight line formed by a groove 44A formed in the master block 44. The 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.

[0088] Also, observation lines 44Z1, 44Z2, and 44Z3 are formed on the master block 44. The observation lines 44Z1 and 44Z3 are straight lines formed by the Z-direction ends of the master block 44. The observation line 44Z2 is a straight line formed by a groove 44B formed in the master block 44. The observation lines 44Z1, 44Z2, and 44Z3 are straight lines along the X direction and are arranged at a predetermined interval Z1 (for example, Z1 = 100 [mm]) from each other.

[0089] Further, in the master block 44, observation lines 44M1 and 44M2 are formed at positions sandwiched by the observation lines 44X1, 44X2, 44Z1, and 44Z2. The observation lines 44M1 and 44M2 are index lines formed in the master block 44 in a predetermined shape.

[0090] Among these, the observation line 44M1 is a line formed by a substantially rectangular (for example, a square shape with rounded corners) concave portion 44C formed in the master block 44. Further, the observation line 44M2 is a line formed by a circular concave portion 44D in which the concave portion 44C is formed.

[0091] These observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1, and 44M2 are formed on both surfaces (opposing surfaces) in the Y direction of the master block 44.

[0092] (Arrangement of Master Block) FIG. 8 shows an example of the planar arrangement of the robot 22, the winding drum 26, and the master block 44. As shown by the arrow K1 in this figure, the control point P of the winding roller 23a moves from a predetermined position as a starting point to the benchmark P0 or the 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.

[0093] Note that the locus of the control point P indicated by the solid arrow K1 shows the approach path to the serial side of the tire 1 (see FIG. 1). The approach path to the anti-serial side is indicated by the broken arrow K1.

[0094] The locus of the control point P indicated by the arrow K1 is realized by driving each of the arms (the first arm 112a, the second arm 112b, the third arm 112c, the fourth arm 112d, the fifth arm 112e, the sixth arm 112f, and the seventh arm 112g) and the joints 111a to 111f in the robot arm 112 as necessary.

[0095] Here, the robot 22 operates the joint 111a between the first arm 112a and the second arm 112b, so that, as shown by the arrow K3 (also refer to FIG. 3), 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.

[0096] 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 installed at a position where it can move along the trajectory shown by the arrow K2 from this moved control point P. The rotation angle α can be set to any value.

[0097] The trajectory shown by the arrow K2 is the same as the trajectory shown by the arrow K1 and is a trajectory in which the operations of each arm and each joint in the robot arm 112 are substantially the same. "Substantially the same" includes the case of being the same and the case of being almost the same.

[0098] As an example where the operations of each arm and each joint in the robot arm 112 are substantially the same, FIG. 8 shows an example where the moving distance L1 approaching the winding drum 26 in the trajectory shown by the arrow K1 is different from the moving distance L2 approaching the master block 44 in the trajectory shown by the arrow K2. Except for the moving distances L1 and L2, the two trajectories are the same.

[0099] Note that it is preferable to arrange the master block 44 such that both the upper and lower ends of the master block 44 are located within the movable range where the control point P moves in the vertical direction when the bead wire 8 is wound.

[0100] <Electrical Configuration of Shift Amount Control Device> FIG. 9 shows a block diagram illustrating 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 / 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 / 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 / writing device 16 reads information written on the recording medium 17 and writes information to the recording medium 17.

[0101] (Storage unit) The storage unit 13 is implemented by an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, or the like. 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 when the recording medium 17 on which the shift amount control program 13A is written is set in the medium reading / writing device 16 and the medium reading / writing device 16 reads 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 included in the shift amount control program 13A.

[0102] (Shift amount database) A shift amount database 13B is stored in the storage unit 13. As shown in FIG. 11(A), the shift amount database 13B is a database in which a plurality of correspondence relationships between input values and actual shift amounts are stored.

[0103] Specifically, the shift amount database 13B records the 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 (the shift amount of the control point P, or the actual shift amounts of the robot arm 112 and the end effector 24) B1, B2, B3, ... of the reflector 34 controlled by each input value.

[0104] Further, the storage unit 13 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 approximate 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) derived from the correspondence relationship between the input values A1, A2, A3, ... and the shift amounts B1, B2, B3, ....

[0105] (Weight-corresponding shift amount database) The above shift amount database 13B may be replaced with the weight-corresponding shift amount database 13C shown in FIG. 12(A).

[0106] The weight-corresponding shift amount database 13C is a database that stores a plurality of correspondence relationships between the weight of the operated part (robot arm 112 and end effector 24) and the actual shift amount.

[0107] 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, and also records the shift amounts (the shift amount of the control point P, or the actual shift amounts of the robot arm 112 and the end effector 24) B1, B2, B3, ... of the reflector 34 controlled by each input value, and also records the weights C1, C2, C3, ... of the operated part (robot arm 112 and end effector 24).

[0108] Even in this case, the storage unit 13 stores an arithmetic expression 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 expression, an approximate function F(C) showing the relationship between the weight C and the shift amount error can be derived from the error table shown in FIG. 12(B), which is derived from the correspondence between the weights C1, C2, C3, ... and the shift amounts B1, B2, B3, ....

[0109] In consideration of the fact that the shift amount error is displaced according to the input value of the shift amount as shown in the approximate function F(A), it is preferable to store in the storage unit an arithmetic expression such that this approximate function F(C) is derived for each predetermined input value. Note that in the present invention, it is not necessarily required to provide the shift amount database 13B and the weight-corresponding shift amount database 13C.

[0110] (Input unit) In the input unit 14, operations for starting and ending the shift amount control program 13A are performed by the user. Also, as described above, in the input unit 14, an operation for the user to input the shift amount of the control point P is performed. The user is, for example, an administrator of the shift amount control system 80.

[0111] (Display unit) On the display unit 15, information (for example, an input button) for starting and ending the shift amount control program 13A is displayed. Note that when the shift amount control program 13A is automatically started together with the activation of the shift amount control system 80, for example, without depending on the user's operation, and when 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.

[0112] <Functional configuration of the shift amount control device> Next, with reference to FIG. 10, the functional configuration of the shift amount control device 10 according to the present embodiment will be described. 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 functions 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 by executing the shift amount control program 13A.

[0113] (Control Unit) The control unit 11A operates the operated parts (the robot arm 112 and the end effector 24) of the winding device 20 that winds the bead wire 8 (see FIG. 1) as a tire member around the winding drum 26 based on the input value of the shift amount of the control point P input via the input unit 14 or the like.

[0114] Further, the control unit 11A operates the operated parts (the robot arm 112 and the end effector 24) of the winding device 20 based on the input value (corrected input value) corrected by the correction unit 11B described later.

[0115] Furthermore, the control unit 11A controls the tracker main body 32 in the tracking device 30 to cause the tracker main 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).

[0116] Moreover, 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 the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, 44Z3, 44M1, and 44M2 (see FIG. 7) formed at a predetermined interval (100 [mm]) and predetermined positions on the master block 44.

[0117] Note that the control unit 11A can perform the control of the winding device 20 and the control of the tracker main body 32 in conjunction. Similarly, the control unit 11A can perform the control of the winding device 20 and the control of the two-dimensional displacement meter 42 in conjunction.

[0118] (Displacement amount acquisition unit) The displacement amount acquisition unit 11F is configured to include a first acquisition unit 11C, a second acquisition unit 11D, and a third acquisition unit 11E.

[0119] The first acquisition unit 11C acquires the shift amount of the reflector 34 measured by the tracker main 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). The method for measuring the shift amount of the reflector 34 by the tracker main body 32 will be described later.

[0120] 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.

[0121] Also, when the storage unit 13 stores a weight-corresponding shift amount database 13C (see FIG. 12(A)), the shift amount of the reflector 34 acquired by the first acquisition unit 11C is associated with the weights of the robot arm 112 and the end effector 24 and is stored in the weight-corresponding shift amount database 13C. Note that in the present invention, when the shift amount database 13B and the weight-corresponding shift amount database 13C are not provided, the first acquisition unit 11C does not need to be provided either. In this case, the tracking device 30 does not need to be provided either.

[0122] 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 disposed on the end effector 24. The method for 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.

[0123] The measured values acquired by the second acquisition unit 11D are the measured values when the operated unit (the robot arm 112 and the end effector 24) is moved based on the input values corrected by the correction unit 11B described later. Note that in the present invention, it is not necessarily required to include the second acquisition unit 11D.

[0124] 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 disposed on the end effector 24. The method for measuring the positions of the observation lines 44M1 and 44M2 by the two-dimensional displacement meter 42 will be described later.

[0125] Further, the third acquisition unit 11E measures the measurement jig 50 (see FIG. 25) attached to the end effector 24 using the two-dimensional displacement meter 42, thereby acquiring the position of the control point P of the end effector 24 with respect to the two-dimensional displacement meter 42. The method for measuring the measurement jig 50 by the two-dimensional displacement meter 42 will be described later.

[0126] (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).

[0127] Although the specific correction flow will be described later, 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 and the arithmetic expression stored in the storage unit 13 to derive the approximate function F(A) shown in FIG. 11(B). The correction unit 11B further substitutes the input value input to the control unit 11A into this approximate function F(A) to calculate the shift amount error. Then, the correction unit corrects the shift amount input to the control unit 11A by the calculated error difference and re-inputs the corrected input value to the control unit 11A.

[0128] Then, as described above, the control unit 11A operates the operated parts (the robot arm 112 and the end effector 24) of the winding device 20 based on the input value (corrected input value) corrected by the correction unit 11B. When 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.

[0129] Also, the correction unit 11B further corrects the input value 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 positions of the actual observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3. The specific correction flow will be described later. When the second acquisition unit 11D is not provided, the correction unit 11B does not perform the correction process of the input value based on the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3.

[0130] Furthermore, the correction unit 11B calculates the displacement of the two-dimensional displacement meter 42 with respect to the attachment location (the tip E112 of the robot arm 112) of the end effector 24 to 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 is driven a predetermined number of times, and corrects the input value to the control unit 11A. The specific correction flow will be described later.

[0131] Moreover, 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.

[0132] <Usage method of 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), the reflector 34 is attached to the winding drum 26. The control unit 11A controls the tracker main 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 main body 32. At the same time, the control unit 11A controls the rotation drive unit 26A to rotate the winding drum 26.

[0133] Thereby, the position of the tire center axis CL1, which is the rotation center of the winding drum 26 (the position in the YZ plane), is marked as the reference point P2. The first acquisition unit 11C acquires the position of the reference point P2.

[0134] Note that as long as the point can identify the position, the position of the reference point P2 does not have to be the rotation center of the winding drum 26. For example, an arbitrary location (preferably a non-moving location) on the winding drum 26 can be set as the reference point P2. In this case, it is not necessary to rotate the winding drum 26 to mark the reference point P2.

[0135] Next, as shown in FIG. 6(B), the 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 main 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 main body 32. Thereby, the measurement point P3 indicating the position of the reflector 34 is detected. The first acquisition unit 11C acquires the position of the measurement point P3.

[0136] 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 a plurality of times. For example, when the input value of the shift amount is set to 100 [mm], the shift amount control device 10 controls the robot 22 to move the control point P by 100 [mm] each time for a plurality of times.

[0137] Also, each time the control unit 11A moves the control point P, it controls the tracker main body 32 to irradiate a laser beam from the tracker main body 32. As a result, the positions of the reflectors 34 (measurement points P4, P5,...) are detected respectively. The first acquisition unit 11C acquires the positions of the measurement points P4, P5,....

[0138] Here, the first acquisition unit 11C calculates and acquires, for example, from the positions of the reference point P2, the measurement points P3, P4, and P5, "the distance along the Z-axis direction between the reference point P2 and the measurement point P3", "the distance along the Z-axis direction between the reference point P2 and the measurement point P4", and "the distance along the Z-axis direction between the reference point P2 and the measurement point P5".

[0139] Further, the first acquisition unit 11C calculates and acquires from these differences "the distance along the Z-axis direction between the measurement points P3 and P4", that is, the "actual shift amount" by which the control point P has moved from the measurement point P3 to P4. Similarly, the first acquisition unit 11C calculates and acquires the "actual shift amount" by which the control point P has moved from the measurement point P4 to P5.

[0140] The actual shift amount of the control point P thus acquired is associated with the input value of the shift amount and stored in the shift amount database 13B stored in the storage unit 13.

[0141] In addition, the control unit 11A may also perform similar control on the robot 22 by moving the control point P along the lateral direction (for example, the X direction or the Y direction). Further, it may also be performed by rotationally moving the control point P around the X-axis, Y-axis, and Z-axis. As a result, in the shift amount database 13B, the actual shift amount of the control point P is stored for each moving direction.

[0142] (Shift amount correction flow using a tracking device) FIG. 16 shows the flow of the shift amount correction process 200 using the tracking device 30. In response to an execution instruction or the like via the input unit 14 from the user, 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.

[0143] When the execution of the shift amount control program 13A is started, in step 202, the CPU 11 irradiates a laser beam from the tracker main body 32 and rotates the winding drum 26 as described above to obtain the reference point P2.

[0144] Next, the CPU 11 waits for a tracking instruction from the user. The user, for example, removes the reflector 34 from the winding drum 26, installs it on the end effector 24, and inputs a tracking instruction. The CPU 11 determines whether or not a tracking instruction has been received. If the determination is affirmative, 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 becomes affirmative.

[0145] In step 206, the CPU 11 irradiates a laser beam from the tracker main body 32 and drives the robot 22 as described above to obtain the positions of the measurement points P3, P4, P5,....

[0146] In this example, the process of moving the control point P in the Z direction to obtain the positions of the measurement points P3, P4, P5, … has been described. However, the CPU 11 moves the control point P in the horizontal direction (Y direction in FIG. 13) by the same control to obtain the positions of the measurement points.

[0147] In step 208, as described above, 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, …, and stores it in the shift amount database 13B in association with the input value of the shift amount.

[0148] In step 210, the CPU 11 determines whether a combination of the input value of the shift amount and the actual shift amount (a combination for each moving direction) has been stored in a predetermined amount. 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 necessary for deriving the approximate function F(A) shown in FIG. 11(B) using the arithmetic expression described later.

[0149] In step 212, the CPU 11 derives the approximate function F(A) using the shift amount database 13B and the arithmetic expression stored in the storage unit 13. The approximate function F(A) is derived for each moving direction.

[0150] In step 214, the CPU 11 waits for an input value from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether it has received the input value. 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 becomes affirmative.

[0151] In step 216, the CPU 11 calculates the shift amount error by substituting the input value input in step 214 into the approximate function F(A) derived in step 212. Then, the corrected input value is input again to the control unit 11A.

[0152] For example, when 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 assumed shift amount is 105 [mm]. In this case, the CPU 11 re-inputs the corrected input value to the control unit 11A so that the assumed shift amount becomes 100 [mm]. The CPU 11 (control unit 11A) controls the robot 22 based on this corrected input value.

[0153] The shift amount correction process 200 ends when the CPU 11 controls the robot 22 based on the corrected input value.

[0154] <Method of Using Displacement Measuring Device> In order to measure the positions of the observation lines 44X1, 44X2, 44X3, 44Z1, 44Z2, and 44Z3 of the master block 44 using the displacement measuring device 40, first, as described with reference to FIG. 8, the control unit 11A controls the robot 22 to bring the control point P close to the master block 44.

[0155] 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. As a result, as shown in FIG. 15A, a measurement point Q1 indicating the position of the observation line 44X1 in the master block 44 is detected. The second acquisition unit 11D acquires the position of the measurement point Q1.

[0156] 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.

[0157] 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, when the input value of the shift amount is set to 100 [mm], the shift amount control device 10 controls the robot 22 to move the control point P by 100 [mm]. In this example, as the input value of the shift amount, the interval X1 (100 [mm]) along the X direction between the observation lines 44X1 and 44X2 is used.

[0158] 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, a measurement point Q2 indicating the position of the observation line 44X2 in the master block 44 is detected. The second acquisition unit 11D acquires the position of the measurement point Q2.

[0159] Also, by the same control, the second acquisition unit 11D acquires the position of a measurement point Q3 indicating the position of the observation line 44X3 in the master block 44.

[0160] Furthermore, although the description is omitted, the second acquisition unit 11D can also acquire the positions of measurement points R1, R2, and R3 (see FIG. 14) indicating the positions of the observation lines 44Z1, Z2, and Z3 in the master block 44 by the same control.

[0161] Here, when the actual shift amount L1 in the X direction of the control point P is different from the input value X1, the X-direction position of the measurement point Q1 with respect to the irradiation unit 42A of the two-dimensional displacement meter 42 before the movement and the X-direction position of the measurement point Q2 with respect to the irradiation unit 42A of the two-dimensional displacement meter 42 after the movement are displaced.

[0162] (Shift amount correction flow using a displacement measuring device) FIG. 17 shows the 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 above-described tracking device 30. Also, the shift amount correction process 220 is continuously executed while driving the robot 22 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 end of the shift amount correction process 200.

[0163] After the end of the shift amount correction process 200, the CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, whereby the shift amount correction process 220 shown in FIG. 17 is executed.

[0164] When the execution of the shift amount control program 13A is started, at 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 as indices the number of tires 1 produced, the number of times the bead wire 8 has been wound, the number of times the robot 22 has repeated its operation, the number of rotations of the winding drum 26, and the like.

[0165] The CPU 11 determines whether the winding device 20 has been driven a predetermined number of times. If the determination is affirmative, the process proceeds to step 224, where the CPU 11 controls the robot 22 to bring the control point P closer to the master block 44. Thereafter, the process proceeds to step 226. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 222 until an affirmative determination is made.

[0166] At step 226, as described above, the CPU 11 irradiates laser light from the two-dimensional displacement meter 42 and drives the robot 22 to obtain the measurement points Q1, Q2, Q3 (see FIG. 15).

[0167] In this example, for the sake of illustration, a case will be described in which, in the shift amount correction process 200 using the tracking device 30 (see FIG. 16), the robot 22 is driven in the lateral direction (the Y direction in FIG. 13) to obtain the positions of the measurement points. In this case, the CPU 11 obtains the measurement points Q1, Q2, Q3 arranged in the X direction in FIG. 15.

[0168] 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, R3 arranged in the Z direction. Also, in the shift amount correction process 200, when the robot 22 is driven in the Z direction and the lateral direction (the X direction or the 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, Q3.

[0169] At step 228, the CPU 11 corrects the approximation function F(A) using the measurement points Q1, Q2, Q3.

[0170] 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 movement of the control point P, the position of the measured measurement point Q1, the position of the irradiation unit 42A after moving based on the input shift amount X1, and the position of the measurement point Q2 with respect to the irradiation unit 42A.

[0171] The CPU 11 corrects the approximation function F(A) based on the difference between this actual shift amount L1 and the actual interval X1 along the X direction of the observation lines 44X1 and 44X2, and derives the approximation function G(A) shown in FIG. 18.

[0172] In step 230, the CPU 11 waits for an input value from the user. The user inputs an arbitrary shift amount via the input unit 14 or the like. The CPU 11 determines whether the input value has been received. If the determination is affirmative, it proceeds to step 232. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 230 until an affirmative determination is made.

[0173] 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 corrected input value is input again to the control unit 11A. The CPU 11 (control unit 11A) controls the robot 22 based on this corrected input value.

[0174] In step 234, the CPU 11 determines whether the end timing of the shift amount correction process 220 has arrived. If the determination is affirmative, the shift amount correction process 220 is terminated. This end timing is detected, for example, by the stop of the drive of the winding device 20. If the determination in step 234 is negative, it returns to step 222.

[0175] Note that, 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 arrangement accuracy of the master block 44.

[0176] In such a case, the CPU 11 calculates the "actual shift amount T1" from the calculated shift amount L1 and the shift amount H1 moved in the Y direction in step 226. Note that the shift amount H1 can be obtained from the Y-direction position of the measurement point Q1 with respect to the irradiation unit 42A of the two-dimensional displacement meter 42 and the Y-direction position of the measurement point Q2 with respect to the irradiation unit 42A of the two-dimensional displacement meter 42 after movement.

[0177] Also, the actual shift amount T1 can be calculated by executing the calculation formula √{(L1)2+(H1)2} using the obtained actual shift amount L1 and the shift amount H1.

[0178] <Effect> In the shift amount control system 80 according to the embodiment of the present invention, the control unit 11A operates the operated part (at least one of the robot arm 112 and the end effector 24) of the winding device 20 based on the 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.

[0179] Here, 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 an accurate 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. Thereby, the error between the actual shift amount and the input value can be reduced.

[0180] Furthermore, in the shift amount control system 80, the operated part is moved based on the input value corrected by the correction unit, and as shown in FIGS. 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 predetermined intervals on the master block 44 as the index body.

[0181] If there is a deviation between the measured position of the observation line and the actual position of the observation line, it is difficult to accurately wind the bead wire 8 around the accurate position of the annular member M. Therefore, the correction unit 11B further corrects the input value based on the difference between the measured position of the observation line and the actual position of the observation line. Thereby, the error between the actual shift amount and the input value can be further reduced.

[0182] As described above, in the shift amount control system 80 according to the present embodiment, the input value of the shift amount is corrected in two stages using the measurement values by the tracking device 30 and the two-dimensional displacement meter 42. Therefore, for example, compared with the shift amount control using only the imaging device, the shift amount can be controlled with high accuracy.

[0183] Also, in the shift amount control system 80 according to the present embodiment, a plurality of correspondence relationships between the input value and the actual shift amount 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. Thereby, the correction accuracy of the input value is improved compared to the case where the correspondence relationship between the input value and the actual shift amount is measured only once.

[0184] In the present embodiment, the shift amount control system 80 is provided with the shift amount database 13B or the weight-corresponding shift amount database 13C, but the embodiments of the present invention are not limited thereto. For example, these databases are not necessarily required.

[0185] 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, … obtained in step 206. Any arithmetic expression can be used to derive this approximate function F(A).

[0186] In the present embodiment, although the mode of controlling the tracker main body 32 by the control unit 11A has been described, the embodiments of the present invention are not limited to this. For example, the tracker main body 32 may be controlled by a device different from the shift amount control device 10.

[0187] In this case, the user may input the measurement points P3, P4, and P5, etc. to the first acquisition unit 11C of the shift amount control device 10. Alternatively, the user may calculate the “actual shift amount” in which the control point P has moved from the measurement point P3 to P4 and from the measurement point P4 to P5 from the positions of the measurement points P3, P4, and P5, and input it to the first acquisition unit 11C.

[0188] Also, when the control unit 11A does not control the tracker main body 32, in the shift amount correction process shown in FIG. 16, the processes of steps 202 to 206 are omitted. Then, when the shift amount correction process 200 is executed, the process starts from step 208 of storing the actual shift amount derived from the input of the measurement points P3, P4, and P5, etc. by the user in the shift amount database 13B.

[0189] <Position deviation of the tool coordinate system> In the present embodiment, as shown in FIG. 19, the control point P of the winding roller 23a is arranged at a position on the rotation center axis CL2 of the joint portion 24A and the drive rotation portion 29.

[0190] At the tip E112 of the robot arm 112, the rotation center of the joint portion 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. Further, 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.

[0191] Here, in the process of repeatedly using the winding device 20 (see FIG. 2), due to mechanical vibration, the self-weight of the end effector 24, etc., the end effector 24 may be displaced with respect to the tip E112 of the robot arm 112, which is the attachment location of the end effector 24.

[0192] When the end effector 24 is displaced, the control point P of the end effector is also displaced. That is, the origin O2 of the tool coordinate system is displaced with respect to the origin O1 of the mechanical interface coordinate system. If such a displaced state is left uncorrected, it is difficult to accurately wind the bead wire 8 (see FIG. 1) around the accurate position of the annular member M.

[0193] Further, in the process of repeatedly using the winding device 20 (see FIG. 2), the mechanical interface surface (origin O1) of the robot 22 may be displaced with respect to the initial position. Generally, it is difficult to hold the mechanical interface surface at the initial position. For example, the positioning accuracy of the mechanical interface surface defined by the manufacturer of the robot 22 may be limited within a predetermined operating time.

[0194] Therefore, when the robot 22 is used in the long term, the displacement of the origin O1 of the mechanical interface coordinate system may also be accumulated in the displacement of the origin O2 of the tool coordinate system.

[0195] Therefore, in the present embodiment, in order to reduce the influence of the amount of displacement of the origin O2 by the method shown below, the amount of displacement of the origin O2 is grasped using the two-dimensional displacement meter 42 described above, and the input value input to the control unit 11A is corrected.

[0196] In order to grasp the amount of displacement of the origin O2 with respect to the origin O1, at least the amount of displacement of the irradiation unit 42A in the two-dimensional displacement meter 42 with respect to the origin O1 is grasped. And preferably, the amount of displacement of the control point P (origin O2) with respect to the irradiation unit 42A is further grasped.

[0197] In the following description, first, a method of grasping the displacement of the irradiation unit 42A with respect to the origin O1 and correcting the input value input to the control unit 11A will be described. Next, a method of grasping the displacement of the control point P (origin O2) with respect to the irradiation unit 42A and correcting the input value input to the control unit 11A will be described.

[0198] (Measurement of the displacement of the irradiation unit with respect to the origin of the mechanical interface coordinate system) In order to grasp the displacement of the irradiation unit 42A with respect to the origin O1, the control unit 11A controls the robot 22 as shown in FIG. 20 to bring the control point P close 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.

[0199] Thereby, as shown in FIG. 21, the measurement points F1 and F4 indicating the position of the observation line 44M1 in the master block 44 are detected. Similarly, the measurement points F2 and F3 indicating the position of the observation line 44M2 are detected. The second acquisition unit 11D acquires the positions of the measurement points F1, F2, F3, and F4.

[0200] The positions of the measurement points F1, F2, F3, and F4 are acquired as the Z-direction positions with respect to the irradiation unit 42A of the two-dimensional displacement meter 42. The distances a0, b0, c0, and d0 shown in FIG. 21 are the Z-direction distances between the irradiation unit 42A and the measurement points F1, F2, F3, and F4, respectively, and these values are stored in the storage unit 13 as the "initial measurement positions" of the measurement points F1, F2, F3, and F4.

[0201] Figure 22(A) shows a state where the positions of measurement points F1, F2, F3, and F4 are being measured with the irradiation unit 42A being displaced. In the state shown in this figure, the irradiation unit 42A is displaced in the Z-axis direction.

[0202] When the irradiation unit 42A is displaced in this way, as shown in Figure 22(B), the measured distances a1, b1, c1, and d1 become different values from the distances a0, b0, c0, and d0. In Figure 22(B), the relationship between the initial value and the measured value when they are equal is shown by a straight line.

[0203] Similarly, Figure 23(A) shows a state where the positions of measurement points F1, F2, F3, and F4 are being measured with the irradiation unit 42A being displaced after the initial value has been measured. In the state shown in this figure, the irradiation unit 42A is displaced around the Y-axis direction.

[0204] Also in the case where the irradiation unit 42A is displaced in this way, as shown in Figure 23(B), the measured distances a2, b2, c2, and d2 become different values from the distances a0, b0, c0, and d0.

[0205] (Shift amount correction flow) Figure 24 shows the flow of a shift amount correction process 240 that corrects the input value input to the control unit 11A by grasping the displacement of the irradiation unit 42A with respect to the origin O1. The timing at which the shift amount correction process 240 is executed is not particularly limited, but as an example, it is executed after the shift amount correction process 200 using the above-described tracking device 30, similar to the shift amount correction process 220.

[0206] Also, the shift amount correction process 240 is continuously executed while driving the robot 22 to perform the winding process of the bead wire 8 (see Figure 1). That is, the shift amount correction process 240 is executed immediately after the end of the shift amount correction process 200.

[0207] When the CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, the shift amount correction process 240 shown in FIG. 24 is executed.

[0208] When the execution of the shift amount control program 13A is started, in step 242, the CPU 11 controls the robot 22 to bring the control point P close to the master block 44. Then, it proceeds to step 244.

[0209] In step 244, as described above, the CPU 11 irradiates laser light from the two-dimensional displacement meter 42 to obtain the measurement points F1, F2, F3, and F4. Further, the CPU 11 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.

[0210] 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 times the bead wire 8 has been wound, the number of repetitions of the operation of the robot 22, the number of rotations of the winding drum 26, and the like. This "predetermined number of times" may or may not match the number of times counted in step 222 of the shift amount correction process 220.

[0211] The CPU 11 determines whether the winding device 20 has been driven a predetermined number of times. If the determination is affirmative, it proceeds to step 248, and the CPU 11 controls the robot 22 to bring the control point P close to the master block 44. Then, it proceeds to step 250. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 246 until the determination becomes affirmative.

[0212] In step 250, as described above, the CPU 11 irradiates laser light from the two-dimensional displacement meter 42 to obtain the measurement points F1, F2, F3, and F4.

[0213] Next, in step 252, the CPU 11 calculates the positional deviation of the irradiation unit 42A with respect to the origin O1 based on the difference between the "initial measurement position" measured in step 244 and the "measured position value" (for example, distances a1, b1, c1, and d1 (see FIG. 22) and distances a2, b2, c2, and d2 (see FIG. 23)) measured in step 250. Further, the CPU 11 derives a correction value for correcting the input value input to the control unit 11A based on this calculated value.

[0214] In step 254, the CPU 11 waits for the reception of an input value 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 it has received the input value. If the determination is affirmative, it proceeds to step 256. On the other hand, if the determination is negative, the CPU 11 repeatedly executes step 254 until the determination becomes affirmative.

[0215] In step 256, the CPU 11 corrects the shift amount with 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.

[0216] In step 258, the CPU 11 determines whether or not the end timing of the shift amount correction process 220 has arrived. If the determination is affirmative, the shift amount correction process 240 is terminated. This end timing is detected, for example, by the stop of the drive of the winding device 20. If the determination in step 258 is negative, it returns to step 246.

[0217] (Measurement of the positional deviation of the origin of the tool coordinate system with respect to the irradiation unit) In order to grasp the positional deviation of the origin O2 with respect to the irradiation unit 42A, the measuring jig 50 shown in FIG. 25 is used. The measuring jig 50 includes a measuring unit 52 that irradiates a laser beam from the irradiation unit 42A. The measuring unit 52 includes an irradiated surface 52A facing the irradiation direction and an upper surface 52B along the irradiation direction. Further, a part of the irradiated surface 52A is an inclined surface 52C inclined toward the back side in the irradiation direction.

[0218] 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 with the laser beam. These dimensions are the dimension 50a along the Y direction of the irradiated portion in the measurement unit 52 and the dimension 50b along the Z-axis direction from the irradiation unit 42A to the end in the Z direction of the measurement unit 52.

[0219] In addition, in FIG. 25, for the sake of convenience in explaining the configuration of the measurement jig 50, the measurement jig 50 and the end effector 24 are shown separated from each other, but the measurement jig 50 is used in a state of being close to or in contact with the end effector 24. Further, the measurement jig 50 is used in a state of being positioned with respect to the origin O2. That is, the distance between each part of the measurement jig 50 and the origin O2 can be grasped regardless of a laser beam or the like.

[0220] In order to grasp the positional deviation of the origin O2 with respect to the irradiation unit 42A, as shown in FIG. 26(A), it is necessary to grasp the distance 40A along the X direction between the irradiation unit 42A and the origin O2. This distance 40A can be grasped by measuring the dimension 50a and being able to specify the position in the X direction where the laser beam is irradiated.

[0221] In addition, in order to grasp the positional deviation of the origin O2 with respect to the irradiation unit 42A, as shown in FIG. 26(B), it is necessary to grasp the distance 40B along the Y direction between the irradiation unit 42A and the origin O2. This distance 40B can be grasped by measuring the dimension 50b and being able to specify the position in the Y direction of the irradiation unit 42A where the laser beam is irradiated.

[0222] (Shift amount correction flow) FIG. 27 shows a flow of a shift amount correction process 260 for grasping 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 the user instructs the execution of the shift amount correction process 260 via the input unit 14 or the like.

[0223] When the CPU 11 of the shift amount control device 10 executes the shift amount control program 13A, the shift amount correction process 260 shown in FIG. 24 is executed.

[0224] In step 262, as described above, the CPU 11 irradiates the laser beam from the two-dimensional displacement meter 42, and acquires the dimension 50a along the Y direction of the irradiated portion in the measurement unit 52, and the dimension 50b along the Z-axis direction from the irradiation unit 42A to the end portion in the Z direction of the measurement unit 52.

[0225] Next, in step 264, the CPU 11 calculates the distance 40A along the X direction between the irradiation unit 42A and the origin O2 and the distance 40B along the Y direction between the irradiation unit 42A and the origin O2 from the dimensions 50a and 50b measured in step 244. Further, the CPU 11 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 value.

[0226] In step 266, the CPU 11 waits for the reception of an input value by 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. 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 becomes affirmative.

[0227] In step 268, the CPU 11 corrects the shift amount with 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.

[0228] Note that the shift amount correction process 260 can be carried out in combination 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, and the CPU 11 waits for the reception of a shift amount correction instruction by the user.

[0229] The user installs the measuring jig 50 at a predetermined position and inputs a shift amount correction instruction via the input unit 14 or the like. The CPU 11 determines whether an input has been received. If the determination is affirmative, 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 an affirmative determination is made.

[0230] Then, after step 262, the process proceeds to step 264 described above, and further proceeds to step 254 of the shift amount correction process 240.

[0231] <Effect> As described above, in the shift amount control system 80 according to the present embodiment, as shown in FIG. 2, the shift amount control device 10 moves the operated part (at least one of the robot arm 112 and the end effector 24) of the robot 22 based on the input value of the shift amount.

[0232] Also, as shown in FIGS. 20 to 23, the two-dimensional displacement meter 42 measures the positions of the observation lines 44M1 and 44M2 formed in a predetermined shape (rectangular shape and circular shape) on the master block 44 which is an indicator 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 and M2 (for example, the distances a0, b0, c0, and d0 shown in FIG. 21) and the measurement positions of the observation lines after driving the winding device 20 a predetermined number of times (for example, the distances a1, b1, c1, and d1 shown in FIG. 22). Thereby, even when the end effector 24 is in a displaced state, the influence of the displacement can be reduced.

[0233] As described above, in the shift amount control system 80 according to the present embodiment, the input value of the shift amount is corrected using the measurement value by the two-dimensional displacement meter 42. Therefore, for example, compared with the shift amount control using only a camera, the shift amount can be controlled with high accuracy.

[0234] Also, in the shift amount control system, as shown in FIGS. 25 and 26, by using the measuring jig 50, the position (the position of the origin O2) of the control point P of the end effector 24 with respect to the two-dimensional displacement meter 42 can be measured. Then, the correction unit 11B further corrects the input value based on the deviation between the position of the control point P of the end effector 24 with respect to the two-dimensional displacement meter 42 and the set value. Thereby, the control accuracy of the shift amount can be improved.

[0235] In the present embodiment, for example, as the hardware structure of the processing unit that executes the respective 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, the following various processors can be used. As described above, among the above various processors, in addition to the CPU which is a general-purpose processor that executes software (program) and functions as a processing unit, there are 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 etc. which is a processor having a circuit configuration designed specifically for executing specific processes such as an ASIC (Application Specific Integrated Circuit).

[0236] The processing unit may be composed of one of these various processors, or may be composed of a combination of two or more processors of the same type or different types (for example, a combination of a plurality of FPGAs, or a combination of a CPU and an FPGA). Also, the processing unit may be composed of one processor.

[0237] As an example of configuring the processing unit with one processor, first, as represented by computers such as clients and servers, there is a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as the processing unit. Second, as represented by a System On Chip (SoC) or the like, there is a form in which a processor that realizes the functions of the entire system including the processing unit with one IC (Integrated Circuit) chip is used. Thus, the processing unit is configured using one or more of the above various processors as a hardware structure.

[0238] Furthermore, as the hardware structure of these various processors, more specifically, an electrical circuit (circuitry) combining circuit elements such as semiconductor elements can be used. Thus, the present invention can be implemented in various modes.

Explanation of Reference Numerals

[0239] 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 part) 24 End effector (operated part) 30 Tracking device 42 Two-dimensional displacement meter 44 Master block (indicator body) 50 Measuring jig

Claims

1. A control unit that operates the arm of a winding device based on an input value of a shift amount, moves the arm based on the input value, and when measuring the position of an observation line formed in a predetermined shape on an indicator body using a two-dimensional displacement meter disposed at an end effector of the arm, an acquisition unit that acquires the measured position of the observation line, A correction unit that calculates a positional deviation of the two-dimensional displacement meter with respect to an attachment 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 the winding device is driven a predetermined number of times, and corrects the input value based on the calculated value of the positional deviation, A shift amount control system comprising:

2. The acquisition unit acquires the position of a control point of the end effector with respect to the two-dimensional displacement meter by measuring a measurement jig attached to the end effector using the two-dimensional displacement meter, 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. The shift amount control system according to claim 1.

3. The shift amount control system according to claim 1 or 2, wherein the observation line is formed by a square concave portion and a circular concave portion formed in the indicator body.

4. The shift amount control system according to any one of claims 1 to 3, wherein the observation line is formed on both surfaces of the indicator body facing each other.

5. The measurement jig includes a measurement unit irradiated with a laser beam irradiated from the two-dimensional displacement meter, 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 in the irradiation direction. The shift amount control system according to claim 2.

6. A step of operating an arm of a winding device based on an input value of a shift amount; A step of obtaining the measured position of an observation line when measuring the position of the observation line formed at a predetermined interval on the indicator body by using a two-dimensional displacement meter arranged on the end effector of the arm; A step of calculating the displacement of the two-dimensional displacement meter with respect to the attachment location of the end effector on the arm based on the difference between the initial measured position of the observation line obtained and the measured 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 displacement; A shift amount control method comprising the above.

7. A computer, A control unit for operating an arm of a winding device based on an input value of a shift amount; An acquisition unit that moves the arm based on the input value and obtains the measured position of the observation line when measuring the position of the observation line formed at a predetermined interval on the indicator body by using a two-dimensional displacement meter arranged on the end effector of the arm; A correction unit that calculates the displacement of the two-dimensional displacement meter with respect to the attachment location of the end effector on the arm based on the difference between the initial measured position of the observation line obtained by the acquisition unit and the measured 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 displacement; A program for causing the computer to function as described above.

8. A winding device, An arm provided in the winding device, An end effector arranged on the arm, An indicator body on which observation lines are formed at a predetermined interval, A two-dimensional displacement meter arranged on the end effector for measuring the 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 moves the arm based on the input value and acquires the position of the observation line when 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 the attachment location of the end effector on the arm based on a difference between the initial measurement position of the observation line acquired by the acquisition unit and the 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 including the same.

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