CN117261311B - Preloading real-time adjusting device and control method thereof - Google Patents

Preloading real-time adjusting device and control method thereof Download PDF

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Publication number
CN117261311B
CN117261311B CN202311532220.4A CN202311532220A CN117261311B CN 117261311 B CN117261311 B CN 117261311B CN 202311532220 A CN202311532220 A CN 202311532220A CN 117261311 B CN117261311 B CN 117261311B
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China
Prior art keywords
guide ring
force application
mounting ring
distance
real
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CN117261311A (en
Inventor
李健
朱衍顺
毕召刚
刘卫华
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Himile Mechanical Science and Technology Shandong Co Ltd
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Himile Mechanical Science and Technology Shandong Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29DPRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00Producing pneumatic or solid tyres or parts thereof
    • B29D30/06Pneumatic tyres or parts thereof (e.g. produced by casting, moulding, compression moulding, injection moulding, centrifugal casting)
    • B29D30/0601Vulcanising tyres; Vulcanising presses for tyres
    • B29D30/0662Accessories, details or auxiliary operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29DPRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00Producing pneumatic or solid tyres or parts thereof
    • B29D30/06Pneumatic tyres or parts thereof (e.g. produced by casting, moulding, compression moulding, injection moulding, centrifugal casting)
    • B29D30/0601Vulcanising tyres; Vulcanising presses for tyres
    • B29D30/0662Accessories, details or auxiliary operations
    • B29D2030/0675Controlling the vulcanization processes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

Abstract

The invention discloses a preload real-time adjusting device and a control method thereof, which belong to the technical field of tire molds and vulcanizing machines, wherein the preload real-time adjusting device comprises a guide ring and a mounting ring; the force application component generates interaction force between the guide ring and the mounting ring and has a gap; the distance detection assembly measures the distance between the guide ring and the mounting ring; the controller is respectively connected with the force application component and the distance detection component; the control method can adjust the magnitude of the interaction force generated by the force application component according to the distance data measured by the distance detection component, and ensures that the distance data is consistent with preset data; according to the invention, the controller adjusts the magnitude of the interaction force generated by the force application component between the guide ring and the mounting ring according to the distance data measured by the distance detection component, so that the proper distance between the guide ring and the mounting ring is kept, the stable pre-loading height of the tire mold is ensured to be kept all the time in the vulcanization process and under different conditions, and the situation of excessive or insufficient pre-loading is avoided.

Description

Preloading real-time adjusting device and control method thereof
Technical Field
The invention relates to the technical field of tire molds and vulcanizing machines, in particular to a preload real-time adjusting device and a control method thereof.
Background
In the vulcanization process of the tire mold, the inner pressure of the cavity of the tire mold can generate outward pressure on the guide ring, so that the guide ring is elastically deformed; in order to offset the influence of elastic deformation of the guide ring on the clamping force of the pattern block, a proper height difference can be reserved between the upper end face of the guide ring and the upper end face of the upper cover under specific pressure, wherein the height difference is pre-loaded, and the numerical value of the height difference can be positive or negative.
At present, the conventional method for adjusting the preloading is specifically as follows: the manufacturer uses specific pressure before the delivery of the tire mold according to production experience, so that the mounting ring and the upper cover keep a specific numerical height difference, and adjustment gaskets with different thicknesses are provided when the tire mold is delivered, and are placed between the mounting ring and the guide ring, and the number and the thickness of the adjustment gaskets are adjusted according to whether rubber edges appear on the tire in the actual vulcanization process, so that the tire mold is suitable for different pre-loading heights required under the conditions of different sizes, materials, vulcanizing machine pressure and the like.
Too much or too little preload can adversely affect the appearance and quality of the tire; when the pre-load is too large, after the tire mold is completely closed, the upper hot plate is not fully contacted with the upper cover, and when the capsule in the tire mold is pressurized, the upper cover and the upper side plate can float upwards, and a step appears on the side surface of the tire; when the pre-loading is too small, the elastic deformation of the guide ring is not completely counteracted due to the fact that the inner pressure is filled, and the situation of glue running can occur in all the circumferential seams and vertical seams of the tire mold.
According to the current research, many factors influencing the preloading height, such as the material of a guide ring, vulcanization temperature, pressure, processing errors, the model of a vulcanizing machine, plastic deformation generated by long-time use and the like, cannot be accurately calculated or simulated, and can only be approximately adjusted on site according to the vulcanization effect in actual production; the tire mold needs to be stopped and disassembled for on-site adjustment, so that energy, tire materials, time, labor and the like are wasted, and the pre-load condition after on-site adjustment cannot be tracked and monitored in real time, which is a great difficulty puzzling the tire mold industry.
Therefore, the design and development of the preload real-time adjusting device capable of monitoring and adjusting the preload height in real time, the condition of overlarge preload or overlarge preload can not occur, and the shutdown and disassembly of the tire mold are not needed, so that the problem to be solved in the prior art is urgent.
Disclosure of Invention
For the problems in the prior art, the pre-loading real-time adjusting device and the control method thereof provided by the invention have the advantages that the controller can adjust the magnitude of the interaction force generated by the force application assembly between the guide ring and the mounting ring according to the distance data measured by the distance detection assembly, so that the proper distance between the guide ring and the mounting ring is kept, the stable pre-loading height of the tire mold is ensured in the vulcanization process and under different conditions all the time, the condition of overlarge pre-loading or overlarge pre-loading is avoided, and the yield of the tire is improved.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in one aspect, the present invention provides a preload real-time adjustment apparatus, comprising:
a guide ring and a mounting ring;
the force application component is arranged between the guide ring and the mounting ring; the force application assembly generates interaction force between the guide ring and the mounting ring, and a gap is formed between the guide ring and the mounting ring by the interaction force;
a distance detection assembly for measuring a distance between the guide ring and the mounting ring;
and the controller is respectively connected with the force application assembly and the distance detection assembly.
As a preferred technical scheme, the device further comprises a pressure detection assembly, wherein the pressure detection assembly is used for measuring the magnitude of the interaction force, and the pressure detection assembly is connected with the controller.
As a preferable technical scheme, the controller is set as a PLC or a singlechip;
and/or the distance detection component is set as a distance sensor;
and/or the pressure detection assembly is provided with a pressure sensor, and the pressure sensor is arranged between the guide ring and the force application assembly and/or between the mounting ring and the force application assembly;
and/or the force application components are arranged in a plurality, and the force application components are uniformly distributed along the circumferential direction; the pressure detection components are in one-to-one correspondence with the force application components.
As a preferable technical scheme, a connecting screw is arranged between the guide ring and the mounting ring, and the connecting screw is provided with a first shaft shoulder and a second shaft shoulder; the mounting ring is provided with a counter bore, the guide ring is provided with a threaded hole, and the connecting screw penetrates through the counter bore and is in threaded connection with the threaded hole; the first shaft shoulder is abutted with the guide ring, and a gap is reserved between the second shaft shoulder and the step surface of the counter bore.
As a preferable technical scheme, the guide ring is provided with a plurality of tread molds, and the tread molds comprise sliding blocks and pattern blocks; the guide ring and the sliding block form a wedge mechanism;
an upper sidewall mold is arranged above the side of the pattern block, and a lower sidewall mold is arranged below the side of the pattern block;
an upper pressing plate is arranged above the upper tire side die, the mounting ring is fixedly connected with the upper pressing plate, and the upper tire side die is connected with a telescopic mechanism penetrating through the upper pressing plate;
the lower sidewall mold is arranged on the base.
As a preferable technical scheme, the number of the distance detection components is several, and the distance detection components are arranged inside the guide ring and the mounting ring and/or outside the guide ring and the mounting ring.
As a preferable technical scheme, the guide ring and/or the mounting ring is provided with a placing groove, and at least part of the force application component is arranged in the placing groove.
As a preferable technical scheme, the force application component is a hydraulic oil cylinder or a cylinder;
alternatively, the force application component comprises a plunger, and the plunger is embedded in the placing groove; the cavity formed by the plunger and the placing groove is connected with a driving source, and the driving source is positioned outside the guide ring and the mounting ring.
As a preferable technical scheme, a plurality of sealing rings are embedded between the plunger and the placing groove;
and/or the driving source is set as a hydraulic station or a pneumatic station.
In a second aspect, the present invention provides a control method applied to the pre-loading real-time adjustment device, including the following steps:
s1: the controller reads the distance data measured by the distance detection assembly and compares the distance data with preset data;
s2: if the distance data is consistent with preset data, the controller controls the force application component to keep the interaction force generated by the force application component unchanged; when the pressure detection assembly is arranged, the controller reads the pressure information measured by the pressure detection assembly and judges whether the pressure information is in a preset pressure range or not; if the pressure information is within the preset pressure range, the normal operation is maintained; if the pressure information exceeds a preset pressure range, the controller sends out a reminding signal;
s3: when the distance data is smaller than preset data, the controller controls the force application component to increase the interaction force generated by the force application component; when the distance data is larger than preset data, the controller controls the force application component to reduce the interaction force generated by the force application component; until the distance data is consistent with preset data.
The beneficial effects of the invention are as follows:
1. the controller of the invention compares the distance data measured by the distance detection assembly with preset data, adjusts the magnitude of the interaction force generated by the force application assembly between the guide ring and the mounting ring, ensures that the distance between the guide ring and the mounting ring is consistent with the preset data, ensures that the tire mold always maintains stable preloading height in the vulcanization process and under different conditions, does not have the condition of overlarge preloading or overlarge preloading, reduces the tire appearance and performance defects caused by preloading change, improves the yield of tires, and can produce tires with higher performance.
2. When the pre-loading height is required to be adjusted, only the interaction force generated by the force application component is required to be changed, the tyre mould is not required to be stopped and disassembled, and the conditions of idle equipment and waste of artificial materials are avoided.
3. The numerical value of the pre-loading height is not hooked with factors such as the size, specification, service life and the like of the tire mold, the tire mold can be conveniently adjusted to the optimal state by adjusting the preset data in the controller, and the application range is wider.
4. The invention has simple structure, convenient installation and replacement, low failure rate and convenient maintenance, is suitable for most common vulcanizing machines, and has wider application range.
5. The elements of the invention can be used for the tire mold and are convenient for mass production and processing.
Drawings
FIG. 1 is a schematic overall structure of an embodiment of a preload real-time adjustment apparatus of the present invention;
FIG. 2 is a schematic view of the guide ring of FIG. 1;
FIG. 3 is a schematic view of the structure at the connection screw;
FIG. 4 is an enlarged view of area A of FIG. 3;
fig. 5 is a schematic overall structure of a second embodiment of the pre-load real-time adjustment device of the present invention.
In the figure: the device comprises a 1-guide ring, a 2-mounting ring, a 3-force application component, a 4-distance detection component, a 5-controller, a 6-pressure detection component, a 7-placing groove, an 8-driving source, a 9-sealing ring, a 10-sliding block, 11-pattern blocks, a 12-upper tire side mold, a 13-lower tire side mold, a 14-upper pressing plate, a 15-base, 16-connecting screws, a 17-first shaft shoulder, a 18-second shaft shoulder, a 19-counter bore and 20-threaded holes.
Detailed Description
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
In a first aspect, the present invention provides a preload real-time adjustment apparatus;
example 1
Referring to fig. 1 and 2, an embodiment of a pre-load real-time adjustment device provided by the present invention includes: a guide ring 1 and a mounting ring 2; the guide ring 1 and the mounting ring 2 are provided with a placing groove 7; the force application component 3 between the guide ring 1 and the mounting ring 2 is a hydraulic cylinder or an air cylinder, and two ends of the hydraulic cylinder or the air cylinder are respectively abutted with the bottom surfaces of the two placing grooves 7; when the hydraulic cylinder or the air cylinder stretches, interaction force can be generated between the guide ring 1 and the mounting ring 2, and a gap can be formed between the guide ring 1 and the mounting ring 2 under the action of the interaction force; the distance detection component 4 is used for measuring the distance between the guide ring 1 and the mounting ring 2, the distance data is the gap width between the guide ring 1 and the mounting ring 2, and the pre-loading height can be changed by adjusting the gap width between the guide ring 1 and the mounting ring 2; the controller 5 can adjust the magnitude of the interaction force generated by the force application component 3 between the guide ring 1 and the mounting ring 2 according to the distance data measured by the distance detection component 4, so that the guide ring 1 and the mounting ring 2 keep a proper distance, and the stable pre-loading height of the tire mold in the vulcanization process and under different conditions can be ensured.
In other embodiments, the placement groove 7 may be formed only on the guide ring 1 or the mounting ring 2, and at this time, one end of the hydraulic cylinder or the air cylinder is abutted against the bottom surface of the placement groove 7, and the other end extends out of the placement groove 7 and is abutted against the surface of the mounting ring 2 or the guide ring 1, on which the placement groove 7 is not formed, so that an interaction force is generated between the guide ring 1 and the mounting ring 2.
The circumferential directions in the present invention are based on the axes of the guide ring 1 and the mounting ring 2.
Referring to fig. 1, a plurality of tread patterns are disposed on the guide ring 1, and are uniformly distributed circumferentially; the tread mold comprises a slide block 10 and a pattern block 11, wherein the pattern block 11 is fixed on the slide block 10; the guide ring 1 and the slide block 10 are provided with matched inclined planes, and the slide block 10 is connected with the guide ring 1 in a sliding way to form a wedge mechanism; an upper sidewall mold 12 is arranged above the side of the pattern block 11, a lower sidewall mold 13 is arranged below the side of the pattern block 11, and the tread mold, the upper sidewall mold 12 and the lower sidewall mold 13 form a cavity of the vulcanized tire; an upper pressing plate 14 is arranged above the upper sidewall die 12, the mounting ring 2 is fixedly connected with the upper pressing plate 14, the upper pressing plate 14 is connected with a vulcanizing machine, and the vulcanizing machine applies a clamping force through the upper pressing plate 14; the upper tire side die 12 is connected with a telescopic mechanism penetrating through the upper pressing plate 14, and the telescopic mechanism can drive the upper tire side die 12 to lift; the lower sidewall mold 13 is disposed on a base 15, and the base 15 is used for supporting the entire tire mold.
In this embodiment, referring to fig. 1, the present invention further includes a pressure detecting assembly 6, where the pressure detecting assembly 6 is disposed between the guide ring 1 and the force applying assembly 3 and between the mounting ring 2 and the force applying assembly 3, and the pressure detecting assembly 6 can measure the magnitude of the interaction force between the guide ring 1 and the mounting ring 2; the controller 5 is connected with the pressure detection assembly 6, and the controller 5 can receive pressure information measured by the pressure detection assembly 6; in other embodiments, the pressure detecting component 6 may be disposed only between the guide ring 1 and the force applying component 3 or between the mounting ring 2 and the force applying component 3, so as to accurately measure the interaction force.
The controller 5 is preferably a PLC or a single chip microcomputer; the distance detection assembly 4 is preferably provided as a distance sensor; the pressure detection assembly 6 is preferably provided as a pressure sensor.
In this embodiment, referring to fig. 2 to 4, the guide ring 1 is connected to the mounting ring 2 by a connecting screw 16; the connecting screw 16 is provided with a first shaft shoulder 17 and a second shaft shoulder 18; the mounting ring 2 is provided with a counter bore 19, the guide ring 1 is provided with a threaded hole 20, and the connecting screw 16 passes through the counter bore 19 and is in threaded connection with the threaded hole 20; the first shaft shoulder 17 is abutted with the guide ring 1, so that the position of the connecting screw 16 can be positioned; the second shoulder 18 and the step surface of the counter bore 19 are provided with a gap, the width of the gap is equal to the preset data, the connecting screw 16 can play a role in guiding and limiting, and the maximum distance value between the two can not exceed the preset data when the mounting ring 2 moves relative to the guide ring 1 under the action of the force application component 3; specifically, the two sides of each force application component 3 are provided with the connecting screws 16, so that better guiding and limiting effects can be achieved.
In this embodiment, referring to fig. 2, the number of the force application components 3 should be plural, and the force application components 3 are uniformly distributed along the circumferential direction, so that a uniform interaction force can be applied between the guide ring 1 and the mounting ring 2, so that the width of the circumferential gap between the guide ring 1 and the mounting ring 2 is kept consistent; correspondingly, the pressure detection assemblies 6 are in one-to-one correspondence with the force application assemblies 3, and each pressure detection assembly 6 is used for detecting the interaction force generated by the corresponding force application assembly 3; specifically, the number of the force application components 3 is 4-12; more preferably, the number of the force application assemblies 3 is 8 or the same as the number of the split segments of the sliding block 10 of the tire mold, and further, the force application assemblies 3 are preferably distributed at the middle part of the sliding block 10 in the circumferential direction, so that the clamping force of the tire mold is uniformly distributed.
On the basis of the foregoing embodiment, referring to fig. 1, the number of distance detecting components 4 is set to be several, the number of distance detecting components 4 is divided into two groups, one group of distance detecting components 4 is disposed inside the guide ring 1 and the mounting ring 2, and the group of distance detecting components 4 has the requirements of size and high temperature resistance; the other group of distance detection components 4 are positioned outside the guide ring 1 and the mounting ring 2, and the distance detection components 4 do not need the requirements of size and high temperature resistance; the distance data measured by the two groups of distance detection components 4 can be respectively used as an adjusting basis and a checking comparison of the controller 5; in other embodiments, the distance detecting components 4 may be disposed in the guide ring 1 and the mounting ring 2 or outside the guide ring 1 and the mounting ring 2, so as to accurately measure the distance data between the guide ring 1 and the mounting ring 2.
Example two
Referring to fig. 5, the main difference between the present embodiment and the first embodiment is that: the force application assembly 3 comprises a plunger which is embedded in the placing groove 7; the cavity that plunger and standing groove 7 formed is connected with actuating source 8, and actuating source 8 is located guide ring 1 and installation ring 2 outside, and actuating source 8 can be through the mode drive plunger removal of the pressure in the cavity that adjustment plunger and standing groove 7 formed, and then adjusts the interaction force between guide ring 1 and the installation ring 2.
In this embodiment, referring to fig. 5, a plurality of sealing rings 9 are embedded between the plunger and the placement groove 7, and the sealing rings 9 can improve the tightness between the plunger and the placement groove 7, so that the plunger can move along with the pressure change in the cavity.
The driving source 8 is preferably a hydraulic station or a pneumatic station, and the controller 5 may adjust the pressure value in the cavity by the driving source 8.
In a second aspect, the present invention provides a control method applied to the pre-loading real-time adjustment device, including the following steps:
s1: the controller 5 reads the distance data measured by the distance detection component 4 and compares the distance data with preset data;
s2: if the distance data is consistent with the preset data, the controller 5 controls the force application component 3 to keep the generated interaction force unchanged; when the invention is provided with the pressure detection component 6, the controller 5 reads the pressure information measured by the pressure detection component 6 and judges whether the pressure information is in a preset pressure range; if the pressure information is within the preset pressure range, the normal operation is maintained; if the pressure information exceeds the preset pressure range, the controller 5 sends out a reminding signal, so that a worker can detect and adjust at the first time, and potential safety hazards are eliminated;
s3: when the distance data is smaller than the preset data, the controller 5 controls the force application component 3 to increase the generated interaction force; when the distance data is larger than the preset data, the controller 5 controls the force application component 3 to reduce the interaction force generated by the force application component; until the distance data is consistent with the preset data.
It should be noted that, the preset data and the preset pressure range may be built into the controller 5 or input into the controller 5 by a user.
In the process of opening and closing the tire mold, along with gradual reduction or increase of the mold clamping force, the controller 5 controls the force application assembly 3 to reduce or increase the interaction force generated by the force application assembly, so that the constant pre-loading height can be effectively ensured, and the problem of cylinder explosion can be avoided.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The preload real-time adjustment apparatus is characterized by comprising:
a guide ring (1) and a mounting ring (2);
the force application component (3) is arranged between the guide ring (1) and the mounting ring (2); the force application assembly (3) generates interaction force between the guide ring (1) and the mounting ring (2), and the interaction force enables a gap to be formed between the guide ring (1) and the mounting ring (2);
a distance detection assembly (4), the distance detection assembly (4) being used for measuring the distance between the guide ring (1) and the mounting ring (2);
and the controller (5) is respectively connected with the force application assembly (3) and the distance detection assembly (4).
2. The preload real-time adjustment apparatus according to claim 1, further comprising a pressure detection assembly (6), the pressure detection assembly (6) being adapted to measure the magnitude of the interaction force; the pressure detection assembly (6) is connected with the controller (5).
3. The preload real-time adjustment apparatus according to claim 2, wherein the controller (5) is provided as a PLC or a single chip microcomputer;
and/or the distance detection component (4) is set as a distance sensor;
and/or the pressure detection component (6) is provided with a pressure sensor, and the pressure sensor is arranged between the guide ring (1) and the force application component (3) and/or between the mounting ring (2) and the force application component (3);
and/or a plurality of force application components (3) are arranged, and the force application components (3) are uniformly distributed along the circumferential direction; the pressure detection components (6) are in one-to-one correspondence with the force application components (3).
4. The pre-loading real-time adjustment device according to claim 1, characterized in that a connecting screw (16) is arranged between the guide ring (1) and the mounting ring (2), and a first shaft shoulder (17) and a second shaft shoulder (18) are arranged on the connecting screw (16); a counter bore (19) is formed in the mounting ring (2), a threaded hole (20) is formed in the guide ring (1), and the connecting screw (16) penetrates through the counter bore (19) and is in threaded connection with the threaded hole (20); the first shaft shoulder (17) is abutted with the guide ring (1), and a gap is reserved between the second shaft shoulder (18) and the step surface of the counter bore (19).
5. The preload real-time adjustment apparatus according to claim 1, wherein the guide ring (1) is provided with a plurality of tread patterns comprising a slider (10) and a block (11); the guide ring (1) and the sliding block (10) form a wedge mechanism;
an upper sidewall mold (12) is arranged above the side of the pattern block (11), and a lower sidewall mold (13) is arranged below the side of the pattern block (11);
an upper pressing plate (14) is arranged above the upper sidewall die (12), the mounting ring (2) is fixedly connected with the upper pressing plate (14), and the upper sidewall die (12) is connected with a telescopic mechanism penetrating through the upper pressing plate (14);
the lower tire side die (13) is arranged on the base (15).
6. The preload real-time adjustment apparatus according to claim 1, wherein the number of distance detection assemblies (4) is several, and the number of distance detection assemblies (4) is provided inside the guide ring (1) and the mounting ring (2) and/or outside the guide ring (1) and the mounting ring (2).
7. The pre-load real-time adjustment device according to claim 1, characterized in that the guide ring (1) and/or the mounting ring (2) are provided with a placement groove (7), at least part of the force application assembly (3) being arranged in the placement groove (7).
8. The preload real-time adjustment apparatus according to claim 7, wherein the force application assembly (3) is provided as a hydraulic cylinder or air cylinder;
alternatively, the force application assembly (3) comprises a plunger, and the plunger is embedded in the placing groove (7); the cavity formed by the plunger and the placing groove (7) is connected with a driving source (8), and the driving source (8) is positioned outside the guide ring (1) and the mounting ring (2).
9. The preload real-time adjustment apparatus according to claim 8, wherein a plurality of sealing rings (9) are embedded between the plunger and the placement groove (7);
and/or the driving source (8) is set as a hydraulic station or a pneumatic station.
10. Control method, applied to a preloaded real-time adjustment device according to any of claims 1-9, with a pressure detection assembly (6), characterized in that it comprises the following steps:
s1: the controller (5) reads the distance data measured by the distance detection assembly (4) and compares the distance data with preset data;
s2: if the distance data is consistent with preset data, the controller (5) controls the force application assembly (3) to keep the interaction force generated by the force application assembly unchanged; the controller (5) reads the pressure information measured by the pressure detection assembly (6) and judges whether the pressure information is in a preset pressure range or not; if the pressure information is within the preset pressure range, the normal operation is maintained; if the pressure information exceeds a preset pressure range, the controller (5) sends out a reminding signal;
s3: when the distance data is smaller than preset data, the controller (5) controls the force application assembly (3) to increase the generated interaction force; when the distance data is larger than preset data, the controller controls the force application assembly (3) to reduce the interaction force generated by the force application assembly; until the distance data is consistent with preset data.
CN202311532220.4A 2023-11-17 2023-11-17 Preloading real-time adjusting device and control method thereof Active CN117261311B (en)

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