CN116026280B - 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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- CN116026280B CN116026280B CN202310320293.0A CN202310320293A CN116026280B CN 116026280 B CN116026280 B CN 116026280B CN 202310320293 A CN202310320293 A CN 202310320293A CN 116026280 B CN116026280 B CN 116026280B
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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 tire conveying device, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device surveys the sidewall contour, a tire cutting device cuts the sidewall, 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, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
ε＝W/2L
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, a multiscale convolutional neural network model is used for extracting edge region characteristics, a plane rectangular coordinate system A is established by the image, and coordinates of any point are expressed as (X, Y) by taking A as a reference coordinate system, so that a point set L (L) on a sidewall rim boundary line L and a sidewall outer edge line Q is obtained 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )；
4) Fitting L, Q to the center of curvature to obtain the A-coordinate system coordinates (X 0 ，X 0 ) A sidewall plane polar coordinate system B is established by taking the circle center O as the center, and the coordinates of any point are expressed as (R, theta) by taking A as a reference coordinate system, namely the point (X 0 ，Y 0 ) Is the point (0, 0) under the B coordinate system;
5) Binding L (L) 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )、(X 0 ，X 0 )、r L And r Q ，r L Is the actual radius of L, r Q 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:
the rectangular coordinate system A lower point (Xa, ya) is equal to the polar coordinate system B lower point (Ra, θa) r L ≤Ra≤r Q ，0≤θa≤2π。
Preferably, the ranging sensor moves the scanned sidewall on a linear skid, the skid centerline l ' being parallel to the tire radius r ', i.e. vector B (r ',0) The starting point of the vector b is (0, 0), so as to obtain a discrete point set I (I) when the corresponding tire sidewall θ=0 in the planar polar coordinate system 1 ，i 2 ，...，i n )；
Fitting a set of discrete points to a two-dimensional curve l 0 The spline types used include: natural cubic splines, hermite splines, cardinal splines, kochanek-Bartels splines, bezier splines and B-splines;
the sidewalls can be regarded as centrosymmetric, so that the fitted curves corresponding to any theta value are consistent, l 0 The tire sidewall three-dimensional profile is obtained after one circle of rotation around a central line, wherein the central line is a plane vertical line passing through a lower point (0, 0) of a polar coordinate system B; combining the plane polar coordinate system B to construct a three-dimensional space coordinate system C, wherein the coordinates of any point are expressed as (R, theta, Z) by taking the C as a reference coordinate system; the points (Xa, ya) of the photographed image are (Ra, θa, za) in the three-dimensional space coordinate system C, where r L ≤Ra≤r Q ，0≤θa≤2π。
Preferably, the working procedure of the tire cutting device is as follows:
1) The main control system acquires the three-dimensional profile of the sidewall and coordinates of profile points, selects cutting points, the cutting positions should avoid the stripe patterns of the sidewall, the cutting positions take 5 positions, the r values of the coordinates of the cuts at 5 positions should be distributed in a step manner, and the θ values of the coordinates are different;
2) After the main control system selects a cutting point, the cutting point Di (r, theta, z) is converted into a cutting point Di (x, y, z) under a six-degree-of-freedom displacement platform working coordinate system E, wherein the cutting point Di (r, theta, z) takes the three-dimensional space coordinate system C as a reference coordinate system; the six-degree-of-freedom displacement platform is a six-degree-of-freedom mechanical arm, the tire cutting device is arranged on a flange plate at the tail end of the mechanical arm, a cuboid blade is selected, and a 15-degree cutting mode of sharpening the two sides of the tail end is a blade center D0 (x 0 ，y 0 ，z 0 ) Overlapping with a cutting point Di (x, y, z), wherein the edge of the blade is tangent to the circumference corresponding to the Di point, and the center of the tire is the center of the circle;
3) The main control system takes Di (x, y, z) as a work target point to input an offline programming program, and then transmits the program to the mechanical arm, and the mechanical arm executes cutting.
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 tire conveying device, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device surveys the sidewall contour, a tire cutting device cuts the sidewall, 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, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
ε＝W/2L
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 the assembly of a concomitant 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 one 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 tire conveying device 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 tire transporting device 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 the present embodiment, the guide camera 104 starts to operate when the automatic tire stress/strain detecting device is started, the tire 109 moves linearly on the tire transporting device 110, and when the tire 109 is detected to pass the base 106 a certain distance, the electric tire transporting device 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:
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, a multiscale convolutional neural network model is used for extracting edge region characteristics, a plane rectangular coordinate system A is established by the image, and coordinates of any point are expressed as (X, Y) by taking A as a reference coordinate system, so that a point set L (L) on a sidewall rim boundary line L and a sidewall outer edge line Q is obtained 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )；
4) Fitting L, Q to the center of curvature to obtain the A-coordinate system coordinates (X 0 ，X 0 ) A sidewall plane polar coordinate system B is established by taking the circle center O as the center, and the coordinates of any point are expressed as (R, theta) by taking A as a reference coordinate system, namely the point (X 0 ，Y 0 ) Is the point (0, 0) under the B coordinate system;
5) Binding L (L) 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )、(X 0 ，X 0 )、r L And r Q ，r L Is the actual radius of L, r Q 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:
the rectangular coordinate system A lower point (Xa, ya) is equal to the polar coordinate system B lower point (Ra, θa) r L ≤Ra≤r Q ，0≤θa≤2π。
In this embodiment, the ranging sensor is a laser ranging sensor 103, the sensor moves on a linear sliding table 105 to scan the sidewall, the center line l ' of the sliding table is parallel to the radius r ' of the tire, i.e. the vector B (r ', 0) in the planar polar coordinate system B, the starting point of the vector B is (0, 0), so as to obtain the discrete point set I (I) when the corresponding sidewall θ=0 of the tire in the planar polar coordinate system 1 ，i 2 ，...，i n )；
Fitting a set of discrete points to a two-dimensional curve l 0 The spline types used include: natural cubic splines, hermite splines, cardinal splines, kochanek-Bartels splines, bezier splines and B-splines;
the sidewalls can be regarded as centrosymmetric, so that the fitted curves corresponding to any theta value are consistent, l 0 The three-dimensional profile of the sidewall is obtained after one circle of rotation around the central line, and the central line is a plane vertical line passing through the lower point (0, 0) of the polar coordinate system B. Combining the plane polar coordinate system B to construct a three-dimensional space coordinate system C, wherein the coordinates of any point are expressed as (R, theta, Z) by taking the C as a reference coordinate system; the points (Xa, ya) of the photographed image have coordinates (Ra, θa, za) in a three-dimensional space coordinate system C, where r L ≤Ra≤r Q ，0≤θa≤2π。
In this embodiment, the working procedure of the tire cutting device is as follows:
the main control system 113 acquires the three-dimensional profile and profile coordinate parameters of the tire side, selects cutting points, the cutting positions should avoid the stripe patterns of the tire side, the cutting positions take 5 positions, the coordinate r values of the cuts at 5 positions should be distributed in a step manner, and the coordinate theta values are different;
after the master control system 113 selects the cutting point, the cutting point Di (r, θ, z) should be converted intoCutting points (x, y, z) under a working coordinate system E of the six-degree-of-freedom displacement platform, wherein the cutting points Di (r, theta, z) take the three-dimensional space coordinate system C as a reference coordinate system; 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 that the center D0 (x 0 ，y 0 ，z 0 ) Overlapping with the cutting point Di (x, y, z), and cutting edge tangent to circumference corresponding to Di point (center of tire as circle center);
the main control system 113 inputs Di (x, y, z) as a work target point to an offline programming program, and transmits the program to the robot arm 102, and the robot arm 102 performs cutting.
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:
ε＝W/2L
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 (8)
1. The tire sidewall stress strain automatic detection equipment 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, a hugging device and a main control system; the tire is transported by a tire conveying device, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device surveys the sidewall contour, a tire cutting device cuts the sidewall, 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, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
ε＝W/2L
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 machine vision positioning and guiding device comprises a guiding camera (104) mounted on 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 comprises a cutting knife (108), the stress-strain measuring and analyzing device comprises a shear mark detecting camera (107), and the cutting knife (108) and the shear mark detecting camera (107) are arranged on the six-degree-of-freedom robot (102); the enclasping device consists of a stepping motor (301), guide rollers (302), a base (303), a roller base (304), a lead screw (305) and a guide rail (306), wherein 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 lead screw (305) through a screw sleeve, and the lead screw (305) is arranged below the roller base (304) and is connected with the stepping motor (301); when the tire is conveyed to a specified position, the tire (109) is fixed at the specified position by the enclasping device.
2. The tire sidewall stress strain automatic detection device according to claim 1, wherein the adapter plate (203), the travel switch (202), the travel switch roller (201), the cutting knife (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).
3. 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, a multiscale convolutional neural network model is used for extracting edge region characteristics, a plane rectangular coordinate system A is established by the image, and coordinates of any point are expressed as (X, Y) by taking A as a reference coordinate system, so that a point set L (L) on a sidewall rim boundary line L and a sidewall outer edge line Q is obtained 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )；
4) Fitting L, Q to the center of curvature to obtain the A-coordinate system coordinates (X 0 ，Y 0 ) A sidewall plane polar coordinate system B is established by taking the circle center O as the center, and the coordinates of any point are expressed as (R, theta) by taking B as a reference coordinate system, namely the point (X 0 ，Y 0 ) Is the point (0, 0) under the B coordinate system;
5) Binding L (L) 1 ，l 2 ，...，l n )、Q(q 1 ，q 2 ，...，q n )、(X 0 ，X 0 )、r L And r Q ，r L Is the actual radius of L, r Q 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:
the rectangular coordinate system A lower point (Xa, ya) is equal to the polar coordinate system B lower point (Ra, θa) r L ≤Ra≤r Q ，0≤θa≤2π。
4. A tire sidewall stress strain automatic detection apparatus as in claim 3, wherein said distance measuring sensor is located atThe linear sliding table moves on the scanning sidewall, the central line l ' of the sliding table is parallel to the radius r ' of the tire, namely, a vector B (r ', 0) under a plane polar coordinate system B, and the starting point of the vector B is (0, 0), so that a discrete point set I (I) when the corresponding tire sidewall theta=0 under the plane polar coordinate system is obtained 1 ，i 2 ，...，i n )；
Fitting a set of discrete points to a two-dimensional curve l 0 The spline types used include: natural cubic splines, hermite splines, cardinal splines, kochanek-Bartels splines, bezier splines and B-splines;
the sidewalls can be regarded as centrosymmetric, so that the fitted curves corresponding to any theta value are consistent, l 0 The tire sidewall three-dimensional profile is obtained after one circle of rotation around a central line, wherein the central line is a plane vertical line passing through a lower point (0, 0) of a polar coordinate system B; combining the plane polar coordinate system B to construct a three-dimensional space coordinate system C, wherein the coordinates of any point are expressed as (R, theta, Z) by taking the C as a reference coordinate system; the points (Xa, ya) of the photographed image have coordinates (Ra, θa, za) in a three-dimensional space coordinate system C, where r L ≤Ra≤r Q ，0≤θa≤2π。
5. The automated tire sidewall stress strain detection apparatus of claim 4, wherein the workflow of the tire cutting device is:
1) The main control system acquires the three-dimensional profile of the sidewall and coordinates of profile points, selects cutting points, the cutting positions should avoid the stripe patterns of the sidewall, the cutting positions take 5 positions, the r values of the coordinates of the cuts at 5 positions should be distributed in a step manner, and the θ values of the coordinates are different;
2) After the main control system selects a cutting point, the cutting point Di (r, theta, z) is converted into a cutting point Di (x, y, z) under a six-degree-of-freedom displacement platform working coordinate system E, wherein the cutting point Di (r, theta, z) takes the three-dimensional space coordinate system C as a reference coordinate system; the six-degree-of-freedom displacement platform is a six-degree-of-freedom mechanical arm, the tire cutting device of claim 1 is arranged on a flange plate at the tail end of the mechanical arm, a cuboid blade is selected, the two sides of the tail end are sharpened by 15 degrees, and the cutting mode is that the center D0 (x 0 ，y 0 ，z 0 ) With the cutting point Di (x,y, z) are overlapped, the edge of the blade is tangent to the circumference corresponding to the Di point, and the center of the tire is the center of the circle;
3) The main control system takes Di (x, y, z) as a work target point to input an offline programming program, and then transmits the program to the mechanical arm, and the mechanical arm executes cutting.
6. 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.
7. 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.
8. 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 7, characterized in that it comprises the steps of: the tire is transported by a tire conveying device, the tire reaches a specified position under the control of a machine vision positioning and guiding device, a sidewall contour measuring device surveys the sidewall contour, a tire cutting device cuts the sidewall, 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, the detected data can be used for obtaining a required strain value through calculation, and a calculation strain formula is as follows:
ε＝W/2L
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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| EP2295930B1 (en) * | 2008-06-04 | 2014-01-01 | Kabushiki Kaisha Kobe Seiko Sho | Tire shape inspection method and tire shape inspection device |
| CN101581574B (en) * | 2009-06-14 | 2011-01-12 | 吉林大学 | Method for identifying tire profile of deviation angle of axel arranging and device thereof |
| JP6159294B2 (en) * | 2014-06-02 | 2017-07-05 | 住友ゴム工業株式会社 | Tire tread shape measuring method and tread shape measuring apparatus used therefor |
| JP2016197043A (en) * | 2015-04-03 | 2016-11-24 | 住友ゴム工業株式会社 | Tire shape measuring device, and tire shape measuring method |
| IT201700016046A1 (en) * | 2017-02-14 | 2018-08-14 | Tekna Automazione E Controllo S R L | APPARATUS FOR DETECTION AND VERIFICATION OF SURFACE DEFECTS OF A TIRE AT THE END OF A PRODUCTION PROCESS |
| CN113670635B (en) * | 2021-06-07 | 2024-02-09 | 中策橡胶集团股份有限公司 | Sidewall strain crack testing method, equipment and application |
| CN215114430U (en) * | 2021-06-15 | 2021-12-10 | 天津久荣工业技术有限公司 | Equipment for scanning tire contour |
| CN114509204B (en) * | 2021-12-23 | 2024-01-02 | 赛轮(沈阳)轮胎有限公司 | Method for measuring stress and strain of all-steel radial tire after inflation |
| CN218629354U (en) * | 2022-09-28 | 2023-03-14 | 徐州徐轮橡胶有限公司 | Tire side dynamic stress strain test device |
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| CN106918299A (en) * | 2017-03-15 | 2017-07-04 | 深圳市安车检测股份有限公司 | A kind of line-structured light machine vision tire wear measuring method |
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| 轮胎胎面参数在线检测系统研究及应用;孙玉梅;王鹏遥;孙巧妍;王美春;陈祥光;;仪器仪表学报(12);215-221 * |
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