CN116026280A - Automatic detection equipment and detection method for stress and strain of tire sidewall - Google Patents
Automatic detection equipment and detection method for stress and strain of tire sidewall Download PDFInfo
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- CN116026280A CN116026280A CN202310320293.0A CN202310320293A CN116026280A CN 116026280 A CN116026280 A CN 116026280A CN 202310320293 A CN202310320293 A CN 202310320293A CN 116026280 A CN116026280 A CN 116026280A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to the technical field of tire precision detection, in particular to automatic detection equipment and detection method for tire sidewall stress strain. The equipment is transported by a conveyor through a flat tire, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a tire side contour measuring device surveys the contour of the tire side, a tire cutting device cuts the tire side, a concomitant inflation and deflation device inflates and deflates as required, and a stress strain measuring and analyzing device measures the cut split and calculates the stress strain; stress strain is calculated through the change of the split morphology, the morphology change is acquired and measured through machine vision, and the detected data can be used for obtaining the required strain value through calculation. According to the invention, the transportation process of the tire is controlled through the machine vision guiding device, the profile and the morphology of the tire sidewall are obtained through the ranging sensor, and after the tire sidewall is precisely cut, the morphology change of the split is detected through the machine vision, so that the stress strain is measured.
Description
Technical Field
The invention relates to the technical field of tire precision detection, in particular to automatic detection equipment and detection method for tire sidewall stress strain. The device can safely and efficiently detect the stress strain of the tire sidewall through intelligent cutting, intelligent control of the tire pressure and intelligent measurement and analysis of the cutting marks.
Background
The radial tire consists of a crown, a sidewall, a belt layer, a tire body, a tire bead, an inner liner and a bead reinforcing layer, wherein tire body cords are arranged in a radial direction (the tire body cords are arranged at 90 degrees or nearly 90 degrees with the center line of the crown), and the tire body is hooped by the belt layer with the cords arranged nearly circumferentially. The merits of the radial tire are: the ground contact area is large, the adhesion performance is good, the tread slippage is small, the unit pressure to the ground is also small, the rolling resistance is small, and the service life is long; the crown is thicker and has a hard belt layer, so that the crown is not easy to puncture and has small deformation during running; because the number of layers of the cord fabric is small, the tire side is thin, so that the radial elasticity is large, the cushioning performance is good, and the load capacity is large. The radial tyre has the characteristics of wear resistance, fuel saving, riding comfort, good traction, stability and high-speed performance, so that the radial tyre is developed very rapidly.
The function of the all-steel radial tire sidewall is to protect the carcass ply from damage, and the tire is composed of a 3-5mm thick rubber layer, and once the tire sidewall is cracked, the steel cord is likely to rust and crack, so the tire sidewall has tearing resistance and flex crack resistance. The anti-cracking capability of the tire side belongs to the important performance index of the tire, directly determines the reliability, the safety and the service life of the product, and is one of key factors of the market competition breadth and the depth of the tire product. Therefore, developing the research on the crack resistance of the tire sidewall is an urgent need for the technology upgrade of the domestic tire production and related enterprise industries.
The applicant measures stress strain by designing a blade incision growth method, cuts into the sidewall rubber by utilizing a blade, increases tire pressure, and calculates a sidewall strain value according to different fracture degrees of incisions and the strain magnitude born by the incisions in the vertical direction. In the experiment, the tire needs high-pressure loading, the tire side is cut out to be split, then the split parameter change is measured, the risk is large by means of manual operation, and the parameter error obtained manually is large.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide tire sidewall stress strain automatic detection equipment which can realize transportation, positioning, scanning, cutting, pressurizing and measurement of a tire and can realize the tire sidewall stress strain detection efficiently and safely.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the automatic tyre side stress and strain detection equipment comprises a tyre conveying device, a side profile measuring device, a tyre cutting device, a concomitant inflating and deflating device, a machine vision positioning and guiding device, a stress and strain measuring and analyzing device and a main control system; the tire is transported by a conveyor, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device is used for mapping the sidewall contour, a tire cutting device is used for cutting the sidewall, a concomitant inflation and deflation device is used for inflating and deflating as required, and a stress strain measuring and analyzing device is used for measuring the cut split and calculating the stress strain; stress strain is calculated through the change of the split morphology, the morphology change is acquired and measured through machine vision, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
wherein: epsilon is the strain in the direction perpendicular to the incision site; w is the fracture growth width of the incision part; l is the incision length.
Preferably, the machine vision positioning and guiding device comprises a guiding camera mounted on a fixed base; the sidewall profile measuring device comprises a laser ranging sensor arranged on a linear sliding table; the linear displacement platform is fixed on the fixed base; the tire cutting device and the stress-strain measuring and analyzing device comprise a cutting knife and a shear mark detecting camera, and the cutting knife and the shear mark detecting camera are arranged on the six-degree-of-freedom robot.
Preferably, the adapter plate, the travel switch roller, the cutting knife and the cutting mark detection camera are arranged on the flange plate at the tail end of the six-degree-of-freedom robot.
Preferably, the enclasping device comprises a stepping motor, guide rollers, a base, a roller base, a screw and a guide rail, wherein two guide rollers are respectively arranged at two ends of the base, the two guide rollers are arranged at two ends of the roller base, the bottom of the roller base is arranged on the guide rail, the guide rail is fixed on the base, the roller base is connected with the screw through a screw sleeve, and the screw is arranged below the roller base and connected with the motor.
Preferably, the machine vision positioning and guiding device acquires an overall image of the tire sidewall, and the main control system processes and analyzes the tire sidewall image:
1) Acquiring a sidewall gray image, performing threshold segmentation on the image by adopting a maximum inter-class variance method, and converting the image into a binary image;
2) Obtaining sidewall image edge region information by using a convex curve contour edge detection method;
3) On the basis of the complete sidewall image edge region, extracting edge region features by using a multi-scale convolutional neural network model, and establishing a rectangular coordinate system by using the image
Thereby obtaining a sidewall rim parting line L, a sidewall outer edge line Q and corresponding pixel coordinates +.>
、 />
；
4) Fitting L, Q curvature center to obtain pixel coordinates of sidewall circle center O
Establishing a tire side actual plane polar coordinate system with a circle center O as a center +.>
I.e. pixel coordinates +.>
Corresponding to the real plane coordinate system->
；
5) Bonding of
、/>
、/>
、/>
And->
，/>
Is the actual radius of L +.>
An actual radius of Q; the pixel coordinates of the a point of the sidewall are related with the polar coordinates of the actual plane:
preferably, the distance measuring sensor moves the scanning sidewall on a linear sliding table, and the center line of the sliding table
Parallel to the radius +.>
I.e. under planar polar coordinate system>
Thereby obtaining +.>
Corresponding tire sidewall discrete point set +.>
；
Fitting a set of discrete points to a two-dimensional curve
The spline types used include: natural cubic splines, hermite splines, cardinal splines, kochanek-Bartels splines, bezier splines and B-splines;
the sidewalls can be considered centrosymmetric and thus arbitrary
Fitting curves corresponding to values are consistent, +.>
Namely, a three-dimensional profile of the sidewall is combined with the planar polar coordinate system to construct +.>
Three-dimensional space coordinate system:
preferably, the working procedure of the tire cutting device is as follows:
1) The main control system obtains the three-dimensional profile of the side wall and the coordinates of profile points, selects cutting points, the cutting positions should avoid the stripe patterns of the side wall, the cutting positions take 5 positions, the r values of the coordinates of the cuts at 5 positions should be distributed in a step, and the coordinates are obtained by the main control system
The values are different;
2) After the main control system selects the cutting point, the cutting point Di
The coordinate Di is converted into the corresponding coordinate Di of the working coordinate system of the six-degree-of-freedom displacement platform>
The six-degree-of-freedom displacement platform is preferably a six-degree-of-freedom mechanical arm, the flange plate at the tail end of the mechanical arm is provided with the cutting device according to the requirement 1, a cuboid blade is preferably adopted, the tail end of the mechanical arm is double-sided and is 15 degrees, and the cutting mode is that the center D0 of the blade is adopted
And the cutting point Di->
Overlapping, wherein the edge of the blade is tangent to the circumference corresponding to the Di point, and the center of the tire is used as the center of the circle;
3) The main control system will Di
And inputting an offline programming program as a work target point, transmitting the program to the mechanical arm, and executing cutting by the mechanical arm.
Preferably, the main control system and part of the conveying roller way are arranged outside the constant-temperature explosion-proof detection chamber, and the rest is arranged in the detection chamber.
Preferably, the concomitant type air charging and discharging device includes: the device comprises an inflation and deflation operation switch, a controller, an air pressure sensor and an electric control valve.
The invention further discloses an automatic detection method for the stress strain of the tire sidewall, which adopts the equipment, and comprises the following steps: the tire is transported by a conveyor, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device is used for mapping the sidewall contour, a tire cutting device is used for cutting the sidewall, a concomitant inflation and deflation device is used for inflating and deflating as required, and a stress strain measuring and analyzing device is used for measuring the cut split and calculating the stress strain; stress strain is calculated through the change of the split morphology, the morphology change is acquired and measured through machine vision, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
wherein: epsilon is the strain in the direction perpendicular to the incision site; w is the fracture growth width of the incision part; l is the incision length.
The method fills the blank of tire sidewall stress strain detection industrial equipment, can be used for tire sidewall stress strain automatic detection, can effectively improve tire sidewall stress strain detection efficiency, greatly reduces safety risk, has high accuracy and wide application range, and can improve the standardization, automation and intellectualization degree of tire manufacturing.
Drawings
FIG. 1 is a schematic diagram of the apparatus composition of one embodiment of the present invention.
Fig. 2 is a schematic diagram of the arrangement of the parts of an apparatus according to an embodiment of the present invention.
Fig. 3 is a perspective view of fig. 2.
Fig. 4 and 5 are schematic views of the components of a robot end device according to an embodiment of the present invention.
Fig. 6 and 7 are schematic views illustrating the assembly of a clasping device according to an embodiment of the present invention.
Fig. 8 is a schematic diagram illustrating a concomitant type air charging and discharging device according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of the operation of a ranging sensor according to an embodiment of the present invention.
Fig. 10 is a flow chart of the method of the present invention.
Detailed Description
The embodiment of the invention relates to tire sidewall stress strain automatic detection equipment, which can be used for tire stress strain detection. An embodiment according to the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, an embodiment of the detection device according to the present invention includes an explosion-proof net 101, a six-degree-of-freedom mechanical arm 102, a laser ranging sensor 103, a guiding camera 104, a linear sliding table 105, a fixed base 106, a cut mark detecting camera 107, a cutter 108, a test tire 109, a transfer roller 110, a holding device 111, an accompanying air charging and discharging device 112, and a main control system 113.
In the embodiment, the automatic tyre stress and strain detection devices are arranged in a centralized and symmetrical way, except for the operation table and part of the conveying roller ways, and the rest parts are arranged in the explosion-proof net; the guiding camera 104 is arranged on the fixed base 106 to form a machine vision positioning and guiding device; the laser ranging sensor 103 is arranged on the linear sliding table 105 to form a sidewall profile measuring device; the linear displacement platform 105 is fixed on the fixed base 106; the cutter 108 and the shear mark detection camera 107 are mounted on the six-degree-of-freedom robot 102 to constitute a tire cutting device and a stress-strain measuring and analyzing device. The flat tire 109 is transported by the conveyor 110, reaches a specified position under the control of the machine vision positioning and guiding device, the sidewall contour measuring device maps the sidewall contour, the tire cutting device cuts the sidewall, the concomitant inflation and deflation device inflates and deflates as required, and the stress strain measuring and analyzing device measures the slit and calculates the stress strain.
In this embodiment, the transfer plate 203, the travel switch 202, the travel switch roller 201, the cutter 108, and the kerf detecting camera 107 are mounted on the end flange 102-1 of the robot, and the specific composition is shown in fig. 3.
In this embodiment, as shown in fig. 4, the clasping device is composed of a stepping motor 302, a guide roller 302, a base 303, a roller base, a screw 305 and a guide rail 306, and the guide rollers at both ends are made to approach by the stepping motor 302, thereby fixing the tire.
In the present embodiment, as shown in fig. 5, the concomitant air charging/discharging device 112 includes: an air pressure sensor 401, an air charging and discharging operation switch 402, an electric control valve 403, a high-pressure air tank 404 and a controller 405.
In this embodiment, the guiding camera 104 starts to operate when the automatic tire stress/strain detecting device is started, the tire 109 moves linearly on the conveying roller table 110, and when the tire 109 is detected to pass the base 106 a certain distance, the electric conveying roller table 110 stops, and the automatic clamping device 111 fixes the tire 109.
In this embodiment, the machine vision guidance device will acquire tire sidewall images, and the master control system 113 processes and analyzes the sidewall images:
acquiring a sidewall gray image, performing threshold segmentation on the image by adopting a maximum inter-class variance method, and converting the image into a binary image;
obtaining sidewall image edge region information by using a convex curve contour edge detection method;
on the basis of the complete sidewall image edge region, extracting edge region features by using a multi-scale convolutional neural network model, and establishing a rectangular coordinate system by using the image
Thereby obtaining a sidewall rim parting line L, a sidewall outer edge line Q and corresponding pixel coordinates +.>
、/>
；
Fitting L, Q curvature center to obtain pixel coordinates of sidewall circle center O
Establishing a tire side actual plane polar coordinate system with a circle center O as a center +.>
I.e. pixel coordinates +.>
Corresponding to the real plane coordinate system->
；
Bonding of
、/>
、/>
、/>
(actual radius of L) and +.>
(actual radius of Q), relating sidewall a point pixel coordinates to actual planar polar coordinates:
in this embodiment, the distance measuring sensor is a laser distance measuring sensor 103, and the sensor moves on a linear sliding table 105 to scan the sidewall, and the center line of the sliding table
Parallel to the radius +.>
I.e. under planar polar coordinate system>
Thereby obtaining +.>
Corresponding tire sidewall discrete point set +.>
. Fitting a set of discrete points to a two-dimensional curve +.>
The spline types that can be used are: natural cubic spline (Natural Cubic Spline), hermite spline, cardinal spline, kochanek-Bartels spline, bezier spline, B-spline; the preferred spline type is a cardonal spline. The sidewalls can be regarded as centrosymmetric, so that they are arbitrarily +.>
Fitting curves corresponding to values are consistent, +.>
Namely a three-dimensional profile of the sidewall, and constructing +.>
Three-dimensional space coordinate system:
in this embodiment, the working procedure of the tire cutting device is as follows:
the main control system 113 obtains the three-dimensional profile and profile coordinate parameters of the sidewall, selects cutting points, the cutting positions should avoid the stripe patterns of the sidewall, the cutting positions take 5 positions, the coordinate r values of the cuts at 5 positions should be distributed in a step, and the coordinates are obtained by the step distribution
The values are different;
after the main control system 113 selects the cutting point, the cutting point Di
The coordinate Di is converted into the corresponding coordinate Di of the working coordinate system of the six-degree-of-freedom displacement platform>
The six-degree-of-freedom displacement platform is a six-degree-of-freedom mechanical arm 102, a cutting device is arranged on a flange plate 102-1 at the tail end of the mechanical arm, a cuboid blade is used, the two sides of the tail end are sharpened by 15 degrees, and the cutting mode is the center D of a blade 0 
And the cutting point Di->
Overlapping, wherein the blade edge is tangent to the circumference corresponding to the Di point (the center of the tire is the center);
In this embodiment, the specific method of stress-strain calculation is to calculate stress-strain through the change of the split morphology, and the morphology change is acquired and measured through machine vision. The detected data can be calculated to obtain the required strain value, and the calculated strain formula is as follows:
wherein: epsilon is the strain in the direction perpendicular to the incision site; w is the fracture growth width of the incision part; l is the incision length.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art. The generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The tire sidewall stress strain automatic detection device is characterized by comprising a tire conveying device, a sidewall contour measuring device, a tire cutting device, a concomitant inflation and deflation device, a machine vision positioning and guiding device, a stress strain measuring and analyzing device and a main control system; the tire is transported by a conveyor, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device is used for mapping the sidewall contour, a tire cutting device is used for cutting the sidewall, a concomitant inflation and deflation device is used for inflating and deflating as required, and a stress strain measuring and analyzing device is used for measuring the cut split and calculating the stress strain; stress strain is calculated through the change of the split morphology, the morphology change is acquired and measured through machine vision, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
wherein: epsilon is the strain in the direction perpendicular to the incision site; w is the fracture growth width of the incision part; l is the incision length.
2. A tyre sidewall stress strain automatic detection device according to claim 1, characterized in that the machine vision positioning and guiding means comprise a guiding camera (104) mounted to a fixed base (106); the sidewall profile measuring device comprises a laser ranging sensor (103) arranged on a linear sliding table (105); the linear displacement platform (105) is fixed on the fixed base (106); the tire cutting device and the stress-strain measuring and analyzing device comprise a cutting knife (108) and a shear mark detecting camera (107), and the cutting knife (108) and the shear mark detecting camera (107) are installed on the six-degree-of-freedom robot (102).
3. The tire sidewall stress strain automatic detection device according to claim 2, wherein the adapter plate (203), the travel switch (202), the travel switch roller (201), the cutter (108) and the cut mark detection camera (107) are mounted on the end flange plate (102-1) of the six-degree-of-freedom robot (102).
4. The tire sidewall stress strain automatic detection device according to claim 2, wherein the clasping device is composed of a stepping motor (301), a guide roller (302), a base (303), a roller base (304), a screw (305) and a guide rail (306), two guide rollers (302) are respectively arranged at two ends of the base (303), the two guide rollers (302) are arranged at two ends of the roller base (304), the bottom of the roller base (304) is arranged on the guide rail (306), the guide rail (306) is fixed on the base (303), the roller base (304) is connected with the screw (305) through a screw sleeve, and the screw (305) is arranged below the roller base (304) and is connected with the stepping motor (301).
5. The automated tire sidewall stress strain detection apparatus of claim 1, wherein the machine vision positioning and guiding device is to acquire an overall image of the tire sidewall, and the master control system processes and analyzes the sidewall image:
1) Acquiring a sidewall gray image, performing threshold segmentation on the image by adopting a maximum inter-class variance method, and converting the image into a binary image;
2) Obtaining sidewall image edge region information by using a convex curve contour edge detection method;
3) On the basis of the complete sidewall image edge region, extracting edge region features by using a multi-scale convolutional neural network model, and establishing a rectangular coordinate system by using the image
Thereby obtaining a sidewall rim parting line L, a sidewall outer edge line Q and corresponding pixel coordinates +.>
、/>
；
4) Fitting L, Q curvature center to obtain pixel coordinates of sidewall circle center O
Establishing a tire side actual plane polar coordinate system with a circle center O as a center +.>
I.e. pixel coordinates +.>
Corresponding to the real plane coordinate system->
；
5) Bonding of
、/>
、/>
、/>
And->
，/>
Actual radius of L，/>
An actual radius of Q; the pixel coordinates of the a point of the sidewall are related with the polar coordinates of the actual plane:
6. the automated tire sidewall stress strain detection apparatus of claim 1, wherein the ranging sensor moves the scanned sidewall on a linear skid, the skid centerline
Parallel to the radius +.>
I.e. under planar polar coordinate system>
Thereby obtaining +.>
Corresponding tire sidewall discrete point set +.>
；
Fitting a set of discrete points to a two-dimensional curve
The spline types used include: natural cubic spline, hermite spline, cardinal spline, kochanek-Bartels sampleStrips, bezier strips, and B-strips;
the sidewalls can be considered centrosymmetric and thus arbitrary
Fitting curves corresponding to values are consistent, +.>
Namely, a three-dimensional profile of the sidewall is combined with the planar polar coordinate system to construct +.>
Three-dimensional space coordinate system:
7. the automated tire sidewall stress strain detection apparatus of claim 1, wherein the workflow of the tire cutting device is:
1) The main control system obtains the three-dimensional profile of the side wall and the coordinates of profile points, selects cutting points, the cutting positions should avoid the stripe patterns of the side wall, the cutting positions take 5 positions, the r values of the coordinates of the cuts at 5 positions should be distributed in a step, and the coordinates are obtained by the main control system
The values are different;
2) After the main control system selects the cutting point, the cutting point Di
The coordinate Di is converted into the corresponding coordinate Di of the working coordinate system of the six-degree-of-freedom displacement platform>
The six-degree-of-freedom displacement platform is preferably a six-degree-of-freedom mechanical arm, the flange plate at the tail end of the mechanical arm is provided with the cutting device according to the requirement 1, a cuboid blade is preferably adopted, the two sides of the tail end are sharpened by 15 degrees, and the cutting mode is that the center D0 of the blade is the same as the cutting mode>
And the cutting point Di->
Overlapping, wherein the edge of the blade is tangent to the circumference corresponding to the Di point, and the center of the tire is used as the center of the circle;
3) The main control system will Di
And inputting an offline programming program as a work target point, transmitting the program to the mechanical arm, and executing cutting by the mechanical arm.
8. The automated tire sidewall stress strain detection apparatus of claim 1, wherein the master control system and a portion of the transfer table are disposed outside the constant temperature burst detection chamber, and the remainder is disposed in the detection chamber.
9. The automated tire sidewall stress strain detection apparatus of claim 1, wherein the concomitant inflation and deflation device comprises: the device comprises an inflation and deflation operation switch, a controller, an air pressure sensor and an electric control valve.
10. A method for the automated detection of stress strain in a tyre sidewall, using an apparatus as claimed in any one of claims 1 to 9, characterized in that it comprises the steps of: the tire is transported by a conveyor, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device is used for mapping the sidewall contour, a tire cutting device is used for cutting the sidewall, a concomitant inflation and deflation device is used for inflating and deflating as required, and a stress strain measuring and analyzing device is used for measuring the cut split and calculating the stress strain; stress strain is calculated through the change of the split morphology, the morphology change is acquired and measured through machine vision, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
wherein: epsilon is the strain in the direction perpendicular to the incision site; w is the fracture growth width of the incision part; l is the incision length.
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