CN112894951A - Tire section binding method - Google Patents
Tire section binding method Download PDFInfo
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- CN112894951A CN112894951A CN202110497664.3A CN202110497664A CN112894951A CN 112894951 A CN112894951 A CN 112894951A CN 202110497664 A CN202110497664 A CN 202110497664A CN 112894951 A CN112894951 A CN 112894951A
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- control unit
- central control
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- preset
- power device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/003—Cutting work characterised by the nature of the cut made; Apparatus therefor specially adapted for cutting rubber
- B26D3/005—Cutting work characterised by the nature of the cut made; Apparatus therefor specially adapted for cutting rubber for cutting used tyres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
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- General Engineering & Computer Science (AREA)
- Tires In General (AREA)
Abstract
The invention relates to a tire section binding method, which comprises the following steps that S1, a tire to be cut is installed at a clamping device for clamping, a central control unit acquires the position of the tire section to be cut, and the position to be cut is adjusted to the middle of the clamping device; step S2, the central control unit acquires power parameters of a transverse power device according to the detection device, the transverse power device hoops the tire to be cut according to the power parameters, the longitudinal power device controls the angle of the force of the transverse power device hooping the tire to be cut, and the cutting device cuts the position of the tire to be cut; and step S3, the central control unit compares the real-time cutting deviation degree of the tire with a preset value, and the central control unit adjusts the power parameters of the transverse power device and adjusts the clamping angle of the clamping device by adjusting the longitudinal power device so as to enable the cutting position of the tire to accord with the preset cutting line. According to the invention, the central control unit is arranged to adjust various parameters so as to enable the cutting position of the tire to accord with the preset cutting position.
Description
Technical Field
The invention relates to the field of tire constraint, in particular to a method for constraining a tire section.
Background
With the rapid development of the automobile industry, tire production has become the key point of the development of the automobile industry, and the quality of tires is more and more concerned by users. Tire section detection is an important basis for improving tire quality and developing new tires, and tire recycling also requires tire cutting.
The waste tires have complex structures and components, and are difficult to directly treat, and the waste tires are generally treated in steps. The first step in the disposal of used tires is generally breaking and cutting, the whole used tire is cut into small pieces or strips and the steel wires therein are removed, and with the development of cutting technology, the requirements on tire cutting machine equipment are continuously increased. The common clamp in the prior art generally needs to depend on manual position adjustment, so that the operation is inconvenient; the prior clamp can only clamp the seam allowance on one side; and because the upper sub-opening and the lower sub-opening can not be cut off simultaneously, after the lower sub-opening is cut off, the cross section loses the support and the movement, and a defect is formed on the cross section, so that the cross section has a tread concave-convex phenomenon deviating from a balanced shape, and the detection and the recycling of the tire cross section are not facilitated.
Disclosure of Invention
Therefore, the invention provides a tire section binding method which can solve the technical problem that a tire cannot be accurately cut according to the tire cutting offset degree.
In order to achieve the above object, the present invention provides a method for binding a tire section, comprising:
step S1, the tire to be cut is arranged at the position of the clamping device for clamping, the central control unit obtains the position of the tire section to be cut, and the position to be cut is adjusted to the middle of the clamping device;
step S2, the central control unit acquires power parameters of a transverse power device according to the detection device, the transverse power device hoops the tire to be cut according to the power parameters, the longitudinal power device controls the angle of the force for the transverse power device to hoop and cut the tire, and the cutting device cuts the position to be cut of the tire;
step S3, the central control unit compares the real-time cutting deviation degree of the tire with a preset value, and the central control unit adjusts the power parameters of the transverse power device and adjusts the clamping angle of the clamping device by adjusting the longitudinal power device so as to enable the cutting position of the tire to accord with the preset cutting line;
in step S2, the lateral power device is connected to the clamping device and is configured to provide lateral power to the clamping device; the output shaft of the longitudinal power device is connected with the gear and used for adjusting the angle of the clamping device for clamping the tire to be cut; the gear is also connected with an output shaft of the transverse power device;
setting the cutting offset degree as P, and setting P = F/H multiplied by theta multiplied by S, wherein F is a detection pressure value, H is a power parameter of a transverse power device, S is an offset distance between a real-time cutting position and a preset cutting position, and theta is an offset angle of the real-time cutting position;
the tire cutting device comprises a clamping device and a central control unit, wherein the clamping device is provided with a detection device, the detection device is used for detecting the pressure when a tire is cut, the cutting device is provided with an image acquisition device used for acquiring a cutting image, when the central control unit judges that the current cutting position deviates, the central control unit compares the acquired real-time pressure of the tire with a preset value and increases or reduces the power parameter of a transverse power device, the central control unit compares the deviation distance acquired by the real-time cutting position and a preset cutting line with the preset value, and the clamping angle of the clamping device is adjusted by adjusting the power parameter modes of a longitudinal power device and the transverse power device through the central control unit, so that the cutting position of the tire is matched with the preset cutting position.
Further, the central control unit presets a cutting deviation degree standard value P0, and the central control unit compares the obtained real-time cutting deviation degree P' with the standard value, wherein,
when P' < P0, the central control unit judges that the current cutting is in accordance with the preset cutting position;
when P' ≧ P0, the central control unit judges that the current cutting position has the deviation.
Further, the clamping device comprises a first clamping device and a second clamping device, wherein the first clamping device comprises a first fixing rod, a second fixing rod and a fourth fixing rod, the first fixing rod is used for fixing a tire to be cut and is in contact with the upper part of a preset cutting line on one side of the tire to be cut, the second fixing rod is used for fixing the tire to be cut and is in contact with the lower part of the preset cutting line on one side of the tire to be cut, the second clamping device comprises a third fixing rod and is used for fixing the tire to be cut and is in contact with the upper part of the preset cutting line on the other side of the tire to be cut, and the fourth fixing rod is used for fixing the tire to be cut and; the detection device comprises a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor, wherein the first pressure sensor is connected with the first fixing rod, the second pressure sensor is connected with the second fixing rod, the third pressure sensor is connected with the third fixing rod, and the fourth pressure sensor is connected with the fourth fixing rod; the central control unit acquires a real-time pressure value F1 of the first pressure sensor, a real-time pressure value F2 of the second pressure sensor, a real-time pressure value F3 of the third pressure sensor and a real-time pressure value F4 of the fourth pressure sensor, acquires a detection pressure value F, sets F = (F1+ F2+ F3+ F4)/4, presets a detection pressure parameter D, and compares the acquired real-time detection pressure value F with a preset value, wherein,
when F is less than or equal to D1, the central control unit selects a first preset transverse power device power parameter H1 as a transverse power device power parameter;
when D1 is more than F and less than D2, the central control unit selects a first power parameter H2 of a second preset transverse power device as a power parameter of the transverse power device;
when F is larger than or equal to D2, the central control unit selects a third preset transverse power device power parameter H3 as a transverse power device power parameter;
the central control unit presets a detection pressure parameter D, sets the detection pressure parameter D, a first preset detection pressure parameter D1 and a second preset detection pressure parameter D2, and presets a transverse power device power parameter H, sets the transverse power device power parameter H1, a second preset transverse power device power parameter H2 and a third preset transverse power device power parameter H3.
Further, the central control unit presets the image acquisition device for acquisition times to be n, the central control unit establishes a rectangular coordinate system with a cutting initial point as an origin, a cutting direction as an X axis and a direction perpendicular to the X axis as a Y axis, the central control unit acquires cutting position coordinates A (xa, ya) through a tire real-time cutting image acquired by the image acquisition device, cutting position coordinates A (i-1) (xa (i-1), ya (i-1)) in an (i-1) th acquired image, the central control unit acquires cutting position coordinates Ai (xai, yai) in an i-th acquired image, the central control unit acquires an offset distance S between the real-time cutting position and the preset cutting position, sets S = yai-ya (i-1), and the central control unit adjusts the transverse power device power parameter according to the offset distance of the cutting position, wherein the content of the first and second substances,
when S is equal to or less than S1, the central control unit increases the lateral power plant power parameter Hp to Hp1, setting Hp1= Hp x (1+ | (S1-S)/S1 |);
when S1 is greater than S and less than or equal to S2, the central control unit does not adjust the power parameters Hi of the transverse power device;
when S > S2, the central control unit decreases the lateral power-plant power parameter Hp to Hp2, setting Hp2= Hp x (1-1/2 × | (S2-S)/(S1 × S2) |);
where i =1, 2, to n, p =1, 2, 3.
Further, the central control unit acquires a cutting position coordinate Ai (xai, yai) in the image acquired at the ith time, acquires a cutting offset angle theta Ai, sets tan theta Ai = | xai |/| yai |, and selects a corresponding longitudinal device power parameter according to comparison between the acquired cutting offset angle and a preset value, wherein,
when the theta Ai is less than or equal to theta 1, the central control unit selects a first preset longitudinal power device power parameter E1 as a longitudinal power device power parameter;
when theta 1 is larger than theta Ai and smaller than or equal to theta 2, the central control unit selects a second preset longitudinal power device power parameter E2 as a longitudinal power device power parameter;
when theta 2 is larger than theta Ai and smaller than or equal to theta 3, the central control unit selects a third preset longitudinal power device power parameter E3 as a longitudinal power device power parameter;
when the theta Ai is larger than the theta 3, the central control unit selects a fourth preset longitudinal power device power parameter E4 as a longitudinal power device power parameter;
the central control unit presets an offset angle theta, sets a first preset offset angle theta 1, a second preset offset angle theta 2 and a third preset offset angle theta 3, presets a longitudinal power device power parameter E, sets a first preset longitudinal power device power parameter E1, a second preset longitudinal power device power parameter E2, a third preset longitudinal power device power parameter E3 and a fourth preset longitudinal power device power parameter E4, wherein i =1, 2-n.
Further, the center control unit acquires a cutting position coordinate Ai (xai, yai) in an ith acquired image, a cutting position coordinate A (i-1) (xa (i-1), ya (i-1)) in an (i-1) th acquired image, the center control unit acquires a cutting position offset angle thetaAi in the ith acquired image and a cutting position offset angle thetaA (i-1) in the ith acquired image, the center control unit acquires an adjacent cutting position offset angle according to coordinates of adjacent cutting positions, wherein,
when ya (i-1) multiplied by yai is larger than or equal to 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions and sets delta theta = theta A (i-1) -theta Ai;
when ya (i-1) × yai < 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions, and sets delta theta = | -theta A (i-1) -theta Ai |;
wherein i =2, 3 to n.
Further, the central control unit adjusts the power parameters of the transverse power device and the longitudinal power device according to the comparison between the deviation angle difference of the cutting position and a preset value, wherein,
when delta theta is not more than R1, the central control unit adjusts the power parameters of the longitudinal power device;
when R1 is less than delta theta and less than or equal to R2, the central control unit does not adjust the power parameters of the transverse power device and the longitudinal power device;
when delta theta is larger than R2, the central control unit adjusts the power parameters of the transverse power device and the longitudinal power device;
the central control unit presets an offset angle difference R, sets a first preset offset angle difference R1 and a second preset offset angle difference R2.
Further, the central control unit determines that the cutting position offset angle difference is equal to or less than a first preset offset angle difference, and increases the longitudinal power unit power parameters Eq to Eq1, setting Eq1= Eq × (1+ (R2- Δ θ) x (Δθ -R1)/(R2 × R1)).
Further, the central control unit determines that the cutting position offset angle is greater than a second preset offset angle difference, the central control unit increases the lateral power plant power parameters Eq to Eq2, sets Eq2= Eq × (1+ (R2- Δ θ)/R2), the central control unit decreases the longitudinal power plant power parameters Hp to Hp1, sets Hp1= Hp × (1- Δ θ × (R2- Δ θ)/R2)2);
Wherein p =1, 2, 3, q =1, 2, 3, 4.
Compared with the prior art, the invention has the advantages that the central control unit is arranged, whether the real-time cutting position deviates from the preset position or not is judged according to the comparison between the deviation degree value in the tire cutting process acquired by the central control unit and the preset value, when the central control unit judges that the real-time cutting position deviates from the preset position, the central control unit acquires the detection pressure value through the detection device and compares the acquired detection pressure value with the preset value to acquire the power parameter of the transverse power device, the central control unit acquires the deviation distance of the real-time cutting position according to the image detection device, the central control unit adjusts the acquired power parameter of the transverse power device according to the comparison between the acquired deviation distance and the preset value, and meanwhile, the central control unit compares the acquired deviation angle with the preset value to acquire the power parameter of the longitudinal power device to adjust the clamping angle of the clamping device for clamping the tire to be cut, furthermore, the control unit of the invention judges the deviation direction and angle change of the cutting position by obtaining the deviation angle difference of the adjacent cutting positions, and adjusts the power parameters of the transverse and longitudinal power devices so as to lead the cutting position to accord with the preset cutting position.
Particularly, the invention sets the product of the ratio of the detected pressure value acquired by the detection device to the power parameter of the transverse power device, the real-time offset angle and the real-time offset displacement as the cutting offset degree, and is used for comprehensively judging the offset degree of the real-time cutting position and the preset cutting position, the central control unit presets the standard value of the cutting offset degree, and judges whether the real-time cutting position is offset or not by comparing the acquired cutting offset degree with the preset value.
Particularly, the rectangular coordinate system is established on the acquired image to obtain coordinates of each cutting position, offset distances of real-time cutting positions are obtained through coordinates of adjacent cutting positions, and compared with a preset value, power parameters of the transverse power device are adjusted according to the offset distances, wherein when the offset distances are smaller than or equal to the preset value, on the basis that the central control unit judges that the cutting positions are offset, the power parameters of the transverse power device selected by the central control unit do not have good correction on the problem of cutting offset, so that the power parameters of the transverse power device need to be increased to return to the preset cutting positions as soon as possible, and the offset degree is smaller than the preset value; when the offset distance is within the range of the preset value, the central control unit adjusts the transverse power device to meet the preset standard without adjusting again; when the offset distance is larger than the preset value, the cutting offset problem is excessively corrected by the power parameters of the transverse power device selected by the central control unit, and the cutting position is enabled to accord with the preset cutting position by reducing the power parameters of the transverse power device by the central control unit.
Particularly, the power parameters of the longitudinal power device are divided into four standards, and the power parameters of the longitudinal power device with the best offset angle are selected according to the comparison between the cutting angle of the cutting position relative to the original point and a preset value, so that the optimal clamping angle of the clamping device is obtained.
Particularly, the angle between the cutting position and the origin of coordinates is acquired by acquiring the coordinates of the cutting position in an image and is set as the offset angle of the cutting position, the central control unit judges that the current cutting position and the previous cutting position are positioned in the same quadrant of a coordinate system, the offset angle difference of the adjacent cutting positions is the difference between the offset angle of the previous cutting position and the offset angle of the current cutting position, the central control unit judges that the current cutting position and the previous cutting position are positioned in different quadrants, and the offset angle difference of the adjacent cutting positions is the absolute value of the difference between the negative value of the offset angle of the previous cutting position and the offset angle of the current cutting position; the central control unit obtains the deviation angle difference of the adjacent cutting positions and compares the deviation angle difference with a preset value, when the deviation angle difference of the adjacent cutting positions is smaller than or equal to the preset value, the fact that the deviation degree adjustment of the central control unit cannot meet the correction of the cutting positions is indicated, and the central control unit adjusts the power parameters of the longitudinal power device again, specifically, the power parameters of the longitudinal power device are increased; when the deviation angle difference of the adjacent cutting positions is within a preset value range, the adjustment of the deviation degree by the central control unit is in accordance with a preset standard; when the deviation angle difference of the adjacent cutting positions is larger than a preset value, the adjustment of the deviation degree by the central control unit is excessive, the central control unit needs to adjust the transverse power device and the longitudinal power device simultaneously, specifically, the power parameters of the transverse power device are increased, and the power parameters of the longitudinal power device are reduced, so that the cutting positions meet the preset standard.
Drawings
FIG. 1 is a schematic view of a method for binding a tire section according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a tire section restraining apparatus according to an embodiment of the present invention;
wherein, 1-a support plate, 2-a third power device, 3-a third power device output shaft, 4-a first gear, 5-a first connecting device, 6-a first power device, 7-a first clamper, 8-a first pressure sensor, 9-a second pressure sensor, 10-a third pressure sensor, 11-a fourth pressure sensor, 12-a second clamper, 13-a second power device, 14-a second connecting device, 15-a second gear, 16-a fourth power device output shaft, 17-a fourth power device, 18-a first fixing rod, 19-a second fixing rod, 20-a third fixing rod, 21-a fourth fixing rod, 22-a cutting device, 23-an image acquisition device and 24-a limiting device.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a method for binding a tire section includes,
step S1, the tire to be cut is arranged at the position of the clamping device for clamping, the central control unit obtains the position of the tire section to be cut, and the position to be cut is adjusted to the middle of the clamping device;
step S2, the central control unit acquires power parameters of a transverse power device according to the detection device, the transverse power device hoops the tire to be cut according to the power parameters, the longitudinal power device controls the angle of the force for the transverse power device to hoop and cut the tire, and the cutting device cuts the position to be cut of the tire;
step S3, the central control unit compares the real-time cutting deviation degree of the tire with a preset value, and the central control unit adjusts the power parameters of the transverse power device and adjusts the clamping angle of the clamping device by adjusting the longitudinal power device so as to enable the cutting position of the tire to accord with the preset cutting line;
in step S2, the lateral power device is connected to the clamping device and is configured to provide lateral power to the clamping device; the output shaft of the longitudinal power device is connected with the gear and used for adjusting the angle of the clamping device for clamping the tire to be cut; the gear is also connected with an output shaft of the transverse power device;
setting the cutting offset degree as P, and setting P = F/H multiplied by theta multiplied by S, wherein F is a detection pressure value, H is a power parameter of a transverse power device, S is an offset distance between a real-time cutting position and a preset cutting position, and theta is an offset angle of the real-time cutting position;
the tire cutting device comprises a clamping device and a central control unit, wherein the clamping device is provided with a detection device, the detection device is used for detecting the pressure when a tire is cut, the cutting device is provided with an image acquisition device used for acquiring a cutting image, when the central control unit judges that the current cutting position deviates, the central control unit compares the acquired real-time pressure of the tire with a preset value and increases or reduces the power parameter of a transverse power device, the central control unit compares the deviation distance acquired by the real-time cutting position and a preset cutting line with the preset value, and the clamping angle of the clamping device is adjusted by adjusting the power parameter modes of a longitudinal power device and the transverse power device through the central control unit, so that the cutting position of the tire is matched with the preset cutting position.
Particularly, the invention judges whether the real-time cutting position deviates from the preset position or not by setting a central control unit according to the comparison between the deviation degree value obtained by the central control unit in the tire cutting process and the preset value, when the central control unit judges that the real-time cutting position deviates from the preset position, the central control unit obtains the detection pressure value through a detection device and compares the obtained detection pressure value with the preset value to obtain the power parameter of the transverse power device, the central control unit obtains the deviation distance of the real-time cutting position according to an image detection device, the central control unit adjusts the obtained power parameter of the transverse power device according to the comparison between the obtained deviation distance and the preset value, and simultaneously the central control unit obtains the power parameter of the longitudinal power device by comparing the obtained deviation angle with the preset value to adjust the clamping angle of the clamping device for clamping the tire to be cut, furthermore, the control unit of the invention judges the deviation direction and angle change of the cutting position by obtaining the deviation angle difference of the adjacent cutting positions, and adjusts the power parameters of the transverse and longitudinal power devices so as to lead the cutting position to accord with the preset cutting position.
Referring to fig. 2, a tire section restraining device, specifically, an embodiment of the present invention includes a supporting plate 1 for supporting the tire section restraining device and a tire to be cut; the limiting device 24 is arranged above the supporting plate and used for limiting the placement position of the tire to be cut; the clamping device comprises a first clamping device 7 and a second clamping device 12 which are used for clamping a tire to be cut, the first clamping device comprises a first fixing rod 18 which is contacted with one side of the tire to be cut, and the first clamping device also comprises a second fixing rod 19 which is arranged below the first fixing rod and is contacted with one side of the tire to be cut; the second holder comprises a third fixing rod 20 which is in contact with the other side of the tire to be cut, and a fourth fixing rod 21 which is arranged below the third fixing rod and is in contact with the other side of the tire to be cut. When the tire to be cut is placed at the limiting device on the supporting plate, the first clamp holder and the second clamp holder clamp the tire to be cut, and the preset cutting position of the tire to be cut is placed in the middle of each fixing rod of the clamping device, so that the clamping function of the clamping device can play the maximum role when the cutting device cuts the tire to be cut.
With continued reference to fig. 2, in particular, the embodiment of the present invention includes a lateral power device including a first power device 6 and a second power device 13, wherein one end of the first power device is connected to the first clamping device for providing power to the first clamping device, and the second power device is connected to the second clamping device for providing power to the second clamping device. When the transverse power device is started, the first power device provides transverse power for the first clamp, the second power device provides power for the second clamp, and the first clamp and the second clamp the tire to be cut.
With continued reference to fig. 2, specifically, the longitudinal power unit of the embodiment of the present invention includes a third power unit 2 and a fourth power unit 17, wherein, the output shaft 3 of the third power device is connected with the first gear 4 and is used for adjusting the clamping angle of the first clamping device, the first connecting device 5 of the first gear is connected with the first power device, the output shaft 16 of the fourth power device is connected with the second gear 15, for adjusting the clamping angle of the second clamping device, the second connecting device 14 of the second gear is connected with the second power device, when the power parameters of the third power device are adjusted, the first gear rotates to drive the first power device to rotate, further adjusting the clamping angle of the first clamping device, when adjusting the power parameter of the fourth power device, the second gear rotates to drive the second power device to rotate, and then the clamping angle of the second clamping device is adjusted.
With reference to fig. 2, specifically, the embodiment of the present invention further includes a cutting device 22, and the cutting device further includes an image capturing device 23, and it can be understood by those skilled in the art that the embodiment of the present invention does not limit the type, the setting manner, and the setting position of the cutting device as long as the preset position of the cut tire can be satisfied, and does not limit the image capturing device as long as the cut image of the tire can be captured in real time.
The central control unit presets a cutting deviation degree standard value P0, the central control unit compares the obtained real-time cutting deviation degree P' with the standard value, wherein,
when P' < P0, the central control unit judges that the current cutting is in accordance with the preset cutting position;
when P' ≧ P0, the central control unit judges that the current cutting position has the deviation.
Particularly, the invention sets the product of the ratio of the detected pressure value acquired by the detection device to the power parameter of the transverse power device, the real-time offset angle and the real-time offset displacement as the cutting offset degree, and is used for comprehensively judging the offset degree of the real-time cutting position and the preset cutting position, the central control unit presets the standard value of the cutting offset degree, and judges whether the real-time cutting position is offset or not by comparing the acquired cutting offset degree with the preset value.
The detection device comprises a first pressure sensor 8 connected with the first fixing rod, a second pressure sensor 9 connected with the second fixing rod, a third pressure sensor 10 connected with the third fixing rod, and a fourth pressure sensor 11 connected with the fourth fixing rod; the central control unit acquires a real-time pressure value F1 of the first pressure sensor, a real-time pressure value F2 of the second pressure sensor, a real-time pressure value F3 of the third pressure sensor and a real-time pressure value F4 of the fourth pressure sensor, acquires a detection pressure value F, sets F = (F1+ F2+ F3+ F4)/4, presets a detection pressure parameter D, and compares the acquired real-time detection pressure value F with a preset value, wherein,
when F is less than or equal to D1, the central control unit selects a first preset transverse power device power parameter H1 as a transverse power device power parameter;
when D1 is more than F and less than D2, the central control unit selects a first power parameter H2 of a second preset transverse power device as a power parameter of the transverse power device;
when F is larger than or equal to D2, the central control unit selects a third preset transverse power device power parameter H3 as a transverse power device power parameter;
the central control unit presets a detection pressure parameter D, sets the detection pressure parameter D, a first preset detection pressure parameter D1 and a second preset detection pressure parameter D2, and presets a transverse power device power parameter H, sets the transverse power device power parameter H1, a second preset transverse power device power parameter H2 and a third preset transverse power device power parameter H3.
Specifically, in the embodiment of the present invention, the pressure sensor is disposed on each fixing rod, and the average value of the pressure values transmitted by each fixing rod is set as the detection pressure value, but the number of the fixing rods is not limited in the embodiment of the present invention, as long as the pressure provided by the tire to be cut to the clamping device when the lateral power device applies power to the clamping device is obtained, and the clamping device clamps the tire to be cut. Meanwhile, the embodiment of the invention does not limit the type and the kind of the pressure sensor, and only needs to meet the detection pressure value.
Particularly, the power parameters of the transverse power device are divided into three standards, the central control unit obtains the average value of pressure values through the detection devices arranged on the fixed rods and sets the average value as a detection pressure value, and the optimal power parameters of the transverse power device are selected to be matched with the power for clamping the tire to be cut according to the comparison between the detection pressure value and a preset value.
The central control unit presets an image acquisition device for acquisition times n, the central control unit establishes a rectangular coordinate system by taking a cutting initial point as an original point, a cutting direction as an X axis and a direction perpendicular to the X axis as a Y axis, acquires cutting position coordinates A (xa, ya) through a tire real-time cutting image acquired by the image acquisition device, acquires cutting position coordinates A (i-1) (xa (i-1), ya (i-1)) in an image acquired for the (i-1) th time, acquires cutting position coordinates Ai (xai, yai) in an image acquired for the (i-1) th time, acquires an offset distance S between the real-time cutting position and the preset cutting position, and sets S = yai-ya (i-1), and adjusts the transverse power device power parameter according to the offset distance of the cutting position, wherein the content of the first and second substances,
when S is equal to or less than S1, the central control unit increases the lateral power plant power parameter Hp to Hp1, setting Hp1= Hp x (1+ | (S1-S)/S1 |);
when S1 is greater than S and less than or equal to S2, the central control unit does not adjust the power parameters Hi of the transverse power device;
when S > S2, the central control unit decreases the lateral power-plant power parameter Hp to Hp2, setting Hp2= Hp x (1-1/2 × | (S2-S)/(S1 × S2) |);
where i =1, 2, to n, p =1, 2, 3.
Particularly, the rectangular coordinate system is established on the acquired image to obtain coordinates of each cutting position, offset distances of real-time cutting positions are obtained through coordinates of adjacent cutting positions, and compared with a preset value, power parameters of the transverse power device are adjusted according to the offset distances, wherein when the offset distances are smaller than or equal to the preset value, on the basis that the central control unit judges that the cutting positions are offset, the power parameters of the transverse power device selected by the central control unit do not have good correction on the problem of cutting offset, so that the power parameters of the transverse power device need to be increased to return to the preset cutting positions as soon as possible, and the offset degree is smaller than the preset value; when the offset distance is within the range of the preset value, the central control unit adjusts the transverse power device to meet the preset standard without adjusting again; when the offset distance is larger than the preset value, the cutting offset problem is excessively corrected by the power parameters of the transverse power device selected by the central control unit, and the cutting position is enabled to accord with the preset cutting position by reducing the power parameters of the transverse power device by the central control unit.
The central control unit acquires a cutting position coordinate Ai (xai, yai) in an ith acquired image, acquires a cutting offset angle theta Ai, sets tan theta Ai = | xai |/| yai |, and selects a corresponding longitudinal device power parameter according to comparison between the acquired cutting offset angle and a preset value, wherein,
when the theta Ai is less than or equal to theta 1, the central control unit selects a first preset longitudinal power device power parameter E1 as a longitudinal power device power parameter;
when theta 1 is larger than theta Ai and smaller than or equal to theta 2, the central control unit selects a second preset longitudinal power device power parameter E2 as a longitudinal power device power parameter;
when theta 2 is larger than theta Ai and smaller than or equal to theta 3, the central control unit selects a third preset longitudinal power device power parameter E3 as a longitudinal power device power parameter;
when the theta Ai is larger than the theta 3, the central control unit selects a fourth preset longitudinal power device power parameter E4 as a longitudinal power device power parameter;
the central control unit presets an offset angle theta, sets a first preset offset angle theta 1, a second preset offset angle theta 2 and a third preset offset angle theta 3, presets a longitudinal power device power parameter E, sets a first preset longitudinal power device power parameter E1, a second preset longitudinal power device power parameter E2, a third preset longitudinal power device power parameter E3 and a fourth preset longitudinal power device power parameter E4, wherein i =1, 2-n.
Particularly, the power parameters of the longitudinal power device are divided into four standards, and the power parameters of the longitudinal power device with the best offset angle are selected according to the comparison between the cutting angle of the cutting position relative to the original point and a preset value, so that the optimal clamping angle of the clamping device is obtained.
The central control unit acquires cutting position coordinates Ai (xai, yai) in an ith acquired image, cutting position coordinates A (i-1) (xa (i-1), ya (i-1)) in an (i-1) th acquired image, the central control unit acquires a cutting position offset angle theta Ai in the ith acquired image and a cutting position offset angle theta A (i-1) in the ith acquired image, the central control unit acquires adjacent cutting position offset angles according to the coordinates of adjacent cutting positions, wherein,
when ya (i-1) multiplied by yai is larger than or equal to 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions and sets delta theta = theta A (i-1) -theta Ai;
when ya (i-1) × yai < 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions, and sets delta theta = | -theta A (i-1) -theta Ai |;
wherein i =2, 3 to n.
The central control unit adjusts the power parameters of the transverse power device and the longitudinal power device according to the comparison between the deviation angle difference of the cutting position and a preset value, wherein,
when delta theta is not more than R1, the central control unit adjusts the power parameters of the longitudinal power device;
when R1 is less than delta theta and less than or equal to R2, the central control unit does not adjust the power parameters of the transverse power device and the longitudinal power device;
when delta theta is larger than R2, the central control unit adjusts the power parameters of the transverse power device and the longitudinal power device;
the central control unit presets an offset angle difference R, sets a first preset offset angle difference R1 and a second preset offset angle difference R2.
The central control unit determines that the cutting position offset angle difference is equal to or less than a first preset offset angle difference, that is, when Δ θ ≦ R1, the central control unit increases the longitudinal power unit power parameters Eq to Eq1, setting Eq1= Eq × (1+ (R2- Δ θ) × (Δθ -R1)/(R2 × R1)).
The central control unit determines that the cutting position offset angle is greater than a second preset offset angle difference, i.e., when Δ θ > R2, the central control unit increases the lateral power plant power parameters Eq to Eq2, sets Eq2= Eq × (1+ (R2- Δ θ)/R2), decreases the longitudinal power plant power parameters Hp to Hp1, sets Hp1= Hp × (1- Δ θ × (R2- Δ θ)/R2)2);
Wherein p =1, 2, 3, q =1, 2, 3, 4.
Particularly, the angle between the cutting position and the origin of coordinates is acquired by acquiring the coordinates of the cutting position in an image and is set as the offset angle of the cutting position, the central control unit judges that the current cutting position and the previous cutting position are positioned in the same quadrant of a coordinate system, the offset angle difference of the adjacent cutting positions is the difference between the offset angle of the previous cutting position and the offset angle of the current cutting position, the central control unit judges that the current cutting position and the previous cutting position are positioned in different quadrants, and the offset angle difference of the adjacent cutting positions is the absolute value of the difference between the negative value of the offset angle of the previous cutting position and the offset angle of the current cutting position; the central control unit obtains the deviation angle difference of the adjacent cutting positions and compares the deviation angle difference with a preset value, when the deviation angle difference of the adjacent cutting positions is smaller than or equal to the preset value, the fact that the deviation degree adjustment of the central control unit cannot meet the correction of the cutting positions is indicated, and the central control unit adjusts the power parameters of the longitudinal power device again, specifically, the power parameters of the longitudinal power device are increased; when the deviation angle difference of the adjacent cutting positions is within a preset value range, the adjustment of the deviation degree by the central control unit is in accordance with a preset standard; when the deviation angle difference of the adjacent cutting positions is larger than a preset value, the adjustment of the deviation degree by the central control unit is excessive, the central control unit needs to adjust the transverse power device and the longitudinal power device simultaneously, specifically, the power parameters of the transverse power device are increased, and the power parameters of the longitudinal power device are reduced, so that the cutting positions meet the preset standard.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (9)
1. A method of tire section tie down, comprising:
step S1, the tire to be cut is arranged at the position of the clamping device for clamping, the central control unit obtains the position of the tire section to be cut, and the position to be cut is adjusted to the middle of the clamping device;
step S2, the central control unit acquires power parameters of a transverse power device according to the detection device, the transverse power device hoops the tire to be cut according to the power parameters, the longitudinal power device controls the angle of the force for the transverse power device to hoop and cut the tire, and the cutting device cuts the position to be cut of the tire;
step S3, the central control unit compares the real-time cutting deviation degree of the tire with a preset value, and the central control unit adjusts the power parameters of the transverse power device and adjusts the clamping angle of the clamping device by adjusting the longitudinal power device so as to enable the cutting position of the tire to accord with the preset cutting line;
in step S2, the lateral power device is connected to the clamping device and is configured to provide lateral power to the clamping device; the output shaft of the longitudinal power device is connected with the gear and used for adjusting the angle of the clamping device for clamping the tire to be cut; the gear is also connected with an output shaft of the transverse power device;
setting the cutting offset degree as P, and setting P = F/H multiplied by theta multiplied by S, wherein F is a detection pressure value, H is a power parameter of a transverse power device, S is an offset distance between a real-time cutting position and a preset cutting position, and theta is an offset angle of the real-time cutting position;
the tire cutting device comprises a clamping device and a central control unit, wherein the clamping device is provided with a detection device, the detection device is used for detecting the pressure when a tire is cut, the cutting device is provided with an image acquisition device used for acquiring a cutting image, when the central control unit judges that the current cutting position deviates, the central control unit compares the acquired real-time pressure of the tire with a preset value and increases or reduces the power parameter of a transverse power device, the central control unit compares the deviation distance acquired by the real-time cutting position and a preset cutting line with the preset value, and the clamping angle of the clamping device is adjusted by adjusting the power parameter modes of a longitudinal power device and the transverse power device through the central control unit, so that the cutting position of the tire is matched with the preset cutting position.
2. The method of claim 1, wherein the central control unit presets a standard value P0 of the cutting deviation degree, and the central control unit compares the obtained real-time cutting deviation degree P' with the standard value, wherein,
when P' < P0, the central control unit judges that the current cutting is in accordance with the preset cutting position;
when P' ≧ P0, the central control unit judges that the current cutting position has the deviation.
3. The method for restraining the section of the tire as claimed in claim 2, wherein the holding means comprises a first holder and a second holder, wherein the first holder comprises a first fixing rod for fixing the tire to be cut in contact with the position above the preset cutting line on one side of the tire to be cut, a second fixing rod for fixing the tire to be cut in contact with the position below the preset cutting line on one side of the tire to be cut, the second holder comprises a third fixing rod for fixing the tire to be cut in contact with the position above the preset cutting line on the other side of the tire to be cut, and a fourth fixing rod for fixing the tire to be cut in contact with the position below the preset cutting line on the other side of the tire to be cut; the detection device comprises a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor, wherein the first pressure sensor is connected with the first fixing rod, the second pressure sensor is connected with the second fixing rod, the third pressure sensor is connected with the third fixing rod, and the fourth pressure sensor is connected with the fourth fixing rod; the central control unit acquires a real-time pressure value F1 of the first pressure sensor, a real-time pressure value F2 of the second pressure sensor, a real-time pressure value F3 of the third pressure sensor and a real-time pressure value F4 of the fourth pressure sensor, acquires a detection pressure value F, sets F = (F1+ F2+ F3+ F4)/4, presets a detection pressure parameter D, and compares the acquired real-time detection pressure value F with a preset value, wherein,
when F is less than or equal to D1, the central control unit selects a first preset transverse power device power parameter H1 as a transverse power device power parameter;
when D1 is more than F and less than D2, the central control unit selects a first power parameter H2 of a second preset transverse power device as a power parameter of the transverse power device;
when F is larger than or equal to D2, the central control unit selects a third preset transverse power device power parameter H3 as a transverse power device power parameter;
the central control unit presets a detection pressure parameter D, sets the detection pressure parameter D, a first preset detection pressure parameter D1 and a second preset detection pressure parameter D2, and presets a transverse power device power parameter H, sets the transverse power device power parameter H1, a second preset transverse power device power parameter H2 and a third preset transverse power device power parameter H3.
4. The method as claimed in claim 3, wherein the central control unit sets the number of times of acquisition of the image acquisition device to be n, the central control unit sets a rectangular coordinate system with the cutting initial point as the origin, the cutting direction as the X axis, and the direction perpendicular to the X axis as the Y axis, the central control unit obtains cutting position coordinates A (xa, ya) and cutting position coordinates A (i-1) (xa (i-1), ya (i-1)) in the (i-1) th acquired image through the real-time cut image of the tire acquired by the image acquisition device, the central control unit obtains cutting position coordinates Ai (xai, yai) in the i-th acquired image, the central control unit obtains the offset distance S of the real-time cutting position from the preset cutting position, and sets S = yai-ya (i-1), the central control unit adjusts the power parameters of the transverse power device according to the offset distance of the cutting position, wherein,
when S is equal to or less than S1, the central control unit increases the lateral power plant power parameter Hp to Hp1, setting Hp1= Hp x (1+ | (S1-S)/S1 |);
when S1 is greater than S and less than or equal to S2, the central control unit does not adjust the power parameters Hi of the transverse power device;
when S > S2, the central control unit decreases the lateral power-plant power parameter Hp to Hp2, setting Hp2= Hp x (1-1/2 × | (S2-S)/(S1 × S2) |);
where i =1, 2, to n, p =1, 2, 3.
5. The method of claim 2, wherein the central control unit obtains coordinates Ai of the cutting position in the image acquired at the i-th time (xai, yai), obtains an angle θ Ai of cutting deviation, sets tan θ Ai = | xai |/| yai |, and selects corresponding parameters of the longitudinal device power according to the comparison between the obtained angle of cutting deviation and a preset value, wherein,
when the theta Ai is less than or equal to theta 1, the central control unit selects a first preset longitudinal power device power parameter E1 as a longitudinal power device power parameter;
when theta 1 is larger than theta Ai and smaller than or equal to theta 2, the central control unit selects a second preset longitudinal power device power parameter E2 as a longitudinal power device power parameter;
when theta 2 is larger than theta Ai and smaller than or equal to theta 3, the central control unit selects a third preset longitudinal power device power parameter E3 as a longitudinal power device power parameter;
when the theta Ai is larger than the theta 3, the central control unit selects a fourth preset longitudinal power device power parameter E4 as a longitudinal power device power parameter;
the central control unit presets an offset angle theta, sets a first preset offset angle theta 1, a second preset offset angle theta 2 and a third preset offset angle theta 3, presets a longitudinal power device power parameter E, sets a first preset longitudinal power device power parameter E1, a second preset longitudinal power device power parameter E2, a third preset longitudinal power device power parameter E3 and a fourth preset longitudinal power device power parameter E4, wherein i =1, 2-n.
6. The tire section tie-down method according to claim 3, wherein the central control unit acquires the cutting position coordinates Ai (xai, yai) in the i-th acquired image, the cutting position coordinates A (i-1) (xa (i-1), ya (i-1)) in the (i-1) th acquired image, the central control unit acquires the cutting position offset angle θ Ai in the i-th acquired image and the cutting position offset angle θ A (i-1) in the i-th acquired image, the central control unit acquires the adjacent cutting position offset angle based on the coordinates of the adjacent cutting position, wherein,
when ya (i-1) multiplied by yai is larger than or equal to 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions and sets delta theta = theta A (i-1) -theta Ai;
when ya (i-1) × yai < 0, the central control unit acquires the offset angle difference delta theta of adjacent cutting positions, and sets delta theta = | -theta A (i-1) -theta Ai |;
wherein i =2, 3 to n.
7. The method of claim 5, wherein the central control unit adjusts the transversal power means power parameters and the longitudinal power means power parameters according to the difference of the cutting position offset angle compared with a preset value, wherein,
when delta theta is not more than R1, the central control unit adjusts the power parameters of the longitudinal power device;
when R1 is less than delta theta and less than or equal to R2, the central control unit does not adjust the power parameters of the transverse power device and the longitudinal power device;
when delta theta is larger than R2, the central control unit adjusts the power parameters of the transverse power device and the longitudinal power device;
the central control unit presets an offset angle difference R, sets a first preset offset angle difference R1 and a second preset offset angle difference R2.
8. The tire section tie-down method according to claim 5, wherein the central control unit determines that the cutting position offset angle difference is equal to or less than a first preset offset angle difference, and the central control unit increases the longitudinal power unit power parameter Eq to Eq1, setting Eq1= Eq x (1+ (R2- Δ θ) x ([ delta ] θ -R1)/(R2 x R1)).
9. The method of claim 8, wherein the central control unit determines that the cutting position offset angle is greater than a second preset offset angle difference, the central control unit increases the lateral power device power parameters Eq to Eq2, sets Eq2= Eq x (1+ (R2- Δ θ)/R2), the central control unit decreases the longitudinal power device power parameters Hp to Hp1, sets Hp1= Hp x (1- Δ θ x (R2- Δ θ)/R2)2);
Wherein p =1, 2, 3, q =1, 2, 3, 4.
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