A method, system and detection device for controlling spiral wrapping of wire ring

Abstract

The present invention provides a method, system, and detection device for controlling spiral wrapping of wire rings, which belong to the field of tire production equipment. The method for controlling spiral wrapping of wire rings utilizes the circumference of the wire ring cross section, the distance from the left edge of the wrapping to the center of the reel, and the distance from the right edge of the wrapping to the center of the reel to obtain a cam synchronous motion control curve for the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine, and controls the movement of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine in real time according to the cam synchronous motion control curve. The present invention measures the circumference of the wire ring cross section and the edge of the wrapping by adding a wire ring cross section and a wrapping detection device to form a feedback closed-loop control. After adopting the present invention, the wrapping gap of the wrapping machine can be stably controlled within 1 mm, and the overlap of the wrapping head and tail is controlled within 1 circle. The present invention effectively improves the quality of the product.

Description

Technical Field

[0001] The present invention belongs to the field of tire production equipment, and in particular relates to a method, system and detection device for controlling spiral wrapping of a wire ring. Background Art

[0002] The wire bead spiral wrapping machine is a machine that uses a narrow strip of wrapping cloth (cut from the cord produced by a calender) to spirally wrap the wire bead. Its main function is to fix the wire bead by spirally wrapping the wrapping cloth, preventing the wire from spreading or deforming during tire driving, thereby improving the life and safety of the tire.

[0003] A fully automatic bead ring spiral wrapping machine generally includes components such as a bead ring lift, a winding wheel, a reel, and a rewind. The bead ring lift is responsible for loading and unloading the bead ring and synchronously rotating the bead ring during wrapping. The winding wheel drives the reel to rotate around the bead ring, spirally wrapping the wrapping onto the bead ring. The reel is responsible for pre-winding the bead ring wrapping from the wrapping roll onto the reel. The rewinding unit is equipped with a large roll of wrapping. While the reel is winding the wrapping, the reel guides the wrapping away. The reel is used to wind the wrapping. After the wrapping is wound, the tail of the wrapping is attached to the bead ring. The winding wheel then drives the reel to rotate around the bead ring, while the wrapping is rewound from the reel onto the bead ring, thus spirally wrapping the bead ring.

[0004] The existing control method for spiral wrapping machines for tire bead rings is open-loop. The most important product performance indicators in the wrapping process are the wrapping gap and tail overlap. These performance indicators are completely dependent on the accuracy of the bead ring's circumference, cross-sectional perimeter, and wrapping width. However, tire manufacturers currently have no way of guaranteeing that the bead ring and wrapping meet these precision requirements.

[0005] Chinese patent publication CN111002613A discloses a wire ring spiral wrapping device and system, but the system is still a simple open-loop control system and cannot solve the above-mentioned problems. Summary of the Invention

[0006] The purpose of the present invention is to solve the difficulties existing in the above-mentioned prior art, and to provide a spiral wrapping control method, system and detection device for a wire ring. By adding a wire ring cross-sectional circumference detection sensor and a wrapping edge position detection sensor as feedback, the distribution position of the wrapping on the wire ring is adjusted according to the actual changes in the wire ring cross-sectional circumference and the changes in the wrapping edge position, thereby eliminating the deviations in the wrapping gap and the tail overlap caused by changes in the wire ring and the wrapping itself, and improving the product qualification rate and efficiency.

[0007] The present invention is achieved through the following technical solutions:

[0008] The first aspect of the present invention provides a method for controlling spiral wrapping of a wire ring, which uses the circumference of the wire ring cross section, the distance from the left edge of the wrapping to the center of the reel, and the distance from the right edge of the wrapping to the center of the reel to obtain a cam synchronous motion control curve of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine, and controls the movement of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine in real time according to the cam synchronous motion control curve.

[0009] A further improvement of the present invention is that the method symmetrically arranges a first bead ring cross-sectional perimeter measurement sensor and a second bead ring cross-sectional perimeter measurement sensor on the inner and outer sides or on the left and right sides of the bead ring, and obtains the bead ring cross-sectional perimeter using the first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor;

[0010] The method sets a wrapping cloth width measuring sensor on the outer side of the reel of the wire ring spiral wrapping machine, and uses the wrapping cloth width measuring sensor to obtain the distance between the left edge of the wrapping cloth and the center of the reel, and the distance between the right edge of the wrapping cloth and the center of the reel.

[0011] A further improvement of the present invention is that the method comprises:

[0012] (1) Wind the wrapping cloth onto the reel and record the length of the wound wrapping cloth and the corresponding distances from the left edge of the wrapping cloth to the center of the reel and the right edge of the wrapping cloth to the center of the reel; at the same time, perform virtual winding according to the parameters of the wire ring and the wrapping cloth;

[0013] (2) Performing actual winding calculations to obtain a cam synchronous motion control curve, and controlling the movement of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine in real time according to the cam synchronous motion control curve.

[0014] A further improvement of the present invention is that the operation of step (1) includes:

[0015] (11), set the parameters of wire ring and wrapping cloth:

[0016] Among them, the parameters of the wire ring include:

[0017] The outer circumference of the wire ring c;

[0018] The cross-sectional perimeter s of the wire ring is obtained by using data collected by the first wire ring cross-sectional perimeter measuring sensor and the second wire ring cross-sectional perimeter measuring sensor.

[0019] Among them, the parameters of the wrapping cloth include:

[0020] Cloth gap g;

[0021] Standard wrapping cloth width w0;

[0022] The distance Le between the left edge of the cloth and the center of the reel is obtained using the data collected by the cloth width measurement sensor;

[0023] The distance Re from the right edge of the cloth to the center of the reel is obtained using the data collected by the cloth width measurement sensor;

[0024] (12) Detect the entire bead ring to obtain the bead ring cross-section perimeter array;

[0025] (13) The wrapping cloth is wound from the rewinding component onto the reel, and the length position array of the wrapping cloth is obtained during the winding process; at the same time, virtual winding is performed to obtain the pitch of the wrapping cloth wound on the wire ring and the final winding length.

[0026] A further improvement of the present invention is that the operation of step (12) includes:

[0027] At set intervals on the outer circle of the bead ring, the first bead ring cross-section perimeter measuring sensor and the second bead ring cross-section perimeter measuring sensor are used to simultaneously detect the cross section of the bead ring, and the cross-section perimeter s of the bead ring is obtained using the detected data;

[0028] The cross-sectional perimeter s of the bead ring obtained at every set length is stored to form a cross-sectional perimeter array Pa(x, y) of the bead ring, where x represents the position of the measurement point on the outer circle of the bead ring, and y represents the cross-sectional perimeter of the bead ring at the measurement point.

[0029] A further improvement of the present invention is that the operation of obtaining the length position array of the wrapping cloth during the winding process in step (13) includes:

[0030] By using an encoder and a cloth width measuring sensor, the cloth length and edge position are sampled at set intervals to form a cloth length position array Pb(x, y, z), where x represents the cloth length, y represents the distance from the left edge of the cloth to the center of the reel, and z represents the distance from the right edge of the cloth to the center of the reel.

[0031] A further improvement of the present invention is that the virtual winding in step (13) to obtain the pitch of the wrapping cloth wound on the wire ring and the final winding length includes:

[0032] (a) Calculate the pitch interval of the first spiral turn:

[0033]

[0034] Cam(1,0)=360°, Cam(1,1)=interval;

[0035]

[0036] Helix angle

[0037] Cumulative pitch C_acc=interval;

[0038] The value of s is obtained as follows: the y value of the first point in the circle cross-section perimeter array Pa(x, y) is taken as the value of s;

[0039] Len is the length of the rolled cloth;

[0040] Cam(n,2) represents the cam point set of the wrapping process, and n represents a total of n points.

[0041] Let i=2;

[0042] (b) Calculate the pitch of the i-th spiral turn:

[0043] Use the following formula to calculate the pitch after the wrapping width compensation:

[0044]

[0045] Cam(i,0)=360°, Cam(i,1)=interval_Compst;

[0046]

[0047]

[0048] C_acc=C_acc+interval_Compst;

[0049]

[0050] The value of s is obtained as follows: take the cumulative pitch C_acc as x in the point Pa(x, y), find the point corresponding to x, then find y from this point, and use the value of y as the value of s;

[0051] (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, then i = i + 1, and then return to step (b). If not, stop and let Lt = Len, where Lt is the total wrapping length calculated by virtual winding, that is, the final winding length.

[0052] A further improvement of the present invention is that the operation of performing actual winding calculation and obtaining the cam synchronous motion control curve in step (2) includes:

[0053] (a) Calculate the pitch of the first helical turn:

[0054]

[0055] Cam(1,0)=360°, Cam(1,1)=interval;

[0056]

[0057] Helix angle

[0058] Cumulative pitch C_acc=interval;

[0059] The value of s is obtained as follows: the y value of the first point in the circle cross-section perimeter array Pa(x, y) is taken as the value of s;

[0060] Len is the length of the rolled cloth;

[0061] Cam(n,2) represents the cam point set of the wrapping process, n represents a total of n points;

[0062] Let i=2;

[0063] (b) Calculate the pitch of the i-th spiral turn:

[0064] Use the following formula to calculate the pitch after the wrapping width compensation:

[0065]

[0066] Cam(i,0)=360°, Cam(i,1)=interval_Compst;

[0067]

[0068]

[0069] C_acc=C_acc+interval_Compst;

[0070]

[0071] The value of s is obtained as follows: take the cumulative pitch C_acc as x in the point Pa(x, y), find the point corresponding to x, then find y from this point, and use the value of y as the value of s;

[0072] The values ​​of Le and Re are obtained as follows: (Lt-Len) is used as the value of x in the point set Pb(x, y, z) to find the corresponding y and z as Le and Re;

[0073] (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, i=i+1 and then return to step (b); if not, proceed to step (d);

[0074] (d) Generate the cam synchronous motion control curve using the Cam(n, 2) array.

[0075] A second aspect of the present invention provides a device for detecting spiral wrapping of a wire ring, the device being arranged on a wire ring spiral wrapping machine, the device comprising: a first wire ring cross-sectional perimeter measurement sensor, a second wire ring cross-sectional perimeter measurement sensor, and a wrapping width measurement sensor;

[0076] The first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor are symmetrically installed on the inner and outer sides of the bead ring, or symmetrically installed on the left and right sides of the bead ring;

[0077] The cloth width measuring sensor is installed on the outside of the reel and close to the reel;

[0078] The first bead ring cross-section perimeter measurement sensor and the second bead ring cross-section perimeter measurement sensor adopt 3D vision sensors;

[0079] The cloth width measuring sensor adopts CCD or line laser sensor.

[0080] A third aspect of the present invention provides a wire ring spiral wrapping control system, the control system comprising a controller and the above-mentioned detection device, a first servo driver, and a second servo driver;

[0081] The first wire ring cross-section perimeter measurement sensor, the second wire ring cross-section perimeter measurement sensor, and the wrapping cloth width measurement sensor in the detection device are respectively connected to the controller;

[0082] The first servo driver is respectively connected to the controller and the winding motor in the wire ring spiral wrapping machine, and is used to control the movement of the winding motor;

[0083] The second servo driver is connected to the controller and the bead ring rotating motor in the bead ring spiral wrapping machine, respectively, and is used to control the movement of the bead ring rotating motor;

[0084] The controller obtains the cam synchronous motion control curve of the winding wheel and wire ring rotating mechanism based on the data collected by the first wire ring cross-section circumference measurement sensor, the second wire ring cross-section circumference measurement sensor, and the cloth width measurement sensor, and controls the first servo drive and the second servo drive in real time according to the cam synchronous motion control curve.

[0085] Compared with the prior art, the present invention has the following beneficial effects:

[0086] Traditional spiral wrapping and control methods use simple open-loop control. This control effect is affected by multiple factors, including the wire ring, the wrapping cloth, and the servo control method. This results in poor wrapping gap and end-to-end overlap accuracy. However, the present invention incorporates a wire ring cross-section and a wrapping cloth detection device to measure the wire ring cross-section perimeter and the wrapping cloth edge, creating a feedback closed-loop control. This method allows the wrapping machine to maintain a stable wrapping gap of less than 1 mm and an end-to-end overlap of less than one turn, effectively improving product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 is a schematic diagram of the virtual winding process;

[0088] Figure 2 It is a schematic diagram of the actual winding process;

[0089] Figure 3 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0090] The present invention is further described in detail below with reference to the accompanying drawings:

[0091] The present invention provides a device for detecting spiral wrapping of a wire ring, the device being arranged on a wire ring spiral wrapping machine, the device comprising: a first wire ring cross-sectional perimeter measuring sensor, a second wire ring cross-sectional perimeter measuring sensor, and a wrapping width measuring sensor;

[0092] The first wire ring cross-sectional perimeter measurement sensor and the second wire ring cross-sectional perimeter measurement sensor are symmetrically installed on the inner and outer sides of the wire ring, or symmetrically installed on the left and right sides of the wire ring.

[0093] The cloth width measuring sensor is installed on the outside of the reel near the reel. Specifically, it can be set at any position where the cloth width can be measured, and the closer to the reel, the better.

[0094] The first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor may be any sensor that can measure the cross-sectional perimeter of a bead ring, for example, a 3D vision sensor may be used.

[0095] The cloth width measurement sensor typically uses an existing CCD or line laser sensor. Its detection principle is the same as that of conventional CCD image detection and line laser detection, so it will not be further described here. The cloth width measurement sensor can measure the edge position and width of an object. Specifically, in the present invention, the cloth width measurement sensor can measure the distance from the left edge of the cloth to the center of the reel and the distance from the right edge of the cloth to the center of the reel.

[0096] The present invention also provides a wire ring spiral wrapping control system, such as Figure 3 As shown, the control system includes a controller and the above-mentioned detection device, a first servo driver (i.e. Figure 3 Servo drive 1), the second servo drive (ie Figure 3 Servo drive 2);

[0097] The first wire ring cross-section perimeter measurement sensor, the second wire ring cross-section perimeter measurement sensor, and the wrapping cloth width measurement sensor in the detection device are respectively connected to the controller;

[0098] The first servo driver is respectively connected to the controller and the winding motor in the wire ring spiral wrapping machine, and is used to control the movement of the winding motor;

[0099] The second servo driver is respectively connected to the controller and the bead ring rotating motor in the bead ring spiral wrapping machine, and is used to control the movement of the bead ring rotating motor.

[0100] The controller obtains the cam synchronous motion control curve of the winding wheel and wire ring rotating mechanism based on the data collected by the first wire ring cross-sectional circumference measurement sensor, the second wire ring cross-sectional circumference measurement sensor, and the wrapping cloth width measurement sensor, and controls the first servo driver and the second servo driver in real time according to the cam synchronous motion control curve, so that the wrapping cloth is spirally wrapped on the wire ring according to the set trajectory.

[0101] The present invention also provides a method for controlling spiral wrapping of wire rings, which uses the circumference of the wire ring cross section, the distance from the left edge of the wrapping to the center of the reel, and the distance from the right edge of the wrapping to the center of the reel to obtain in real time the cam synchronous motion control curve of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine, and controls the movement of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine in real time according to the cam synchronous motion control curve.

[0102] The method comprises symmetrically arranging a first bead ring cross-sectional perimeter measurement sensor and a second bead ring cross-sectional perimeter measurement sensor on the inner and outer sides or the left and right sides of the bead ring, and obtaining the bead ring cross-sectional perimeter by using the first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor;

[0103] The method provides a cloth width measuring sensor on the outside of the reel, and uses the cloth width measuring sensor to obtain the distance between the left edge of the cloth and the center of the reel, and the distance between the right edge of the cloth and the center of the reel.

[0104] The method comprises:

[0105] (1) The wrapping cloth is wound onto the reel, and virtual winding is performed according to the parameters of the wire ring and the wrapping cloth to obtain the length of the wrapping cloth: in the process of winding the wrapping cloth from the rewinding component onto the reel, virtual winding is performed at the same time, and the values ​​of the wound wrapping cloth length and the corresponding wrapping cloth edge position are synchronously recorded (used to adjust the winding pitch according to the width of the wrapping cloth during actual winding). The completion of virtual winding means that enough wrapping cloth has been obtained to wrap a wire ring, that is, the wrapping cloth winding of the reel is completed.

[0106] The operation of step (1) includes:

[0107] (11), set the parameters of wire ring and wrapping cloth:

[0108] Among them, the parameters of the wire ring include:

[0109] The outer circumference c of the wire ring (i.e. the circumference of the outer circle of the wire ring);

[0110] The cross-sectional perimeter s of the wire ring is obtained by using data collected by the first wire ring cross-sectional perimeter measuring sensor and the second wire ring cross-sectional perimeter measuring sensor.

[0111] Among them, the parameters of the wrapping cloth include:

[0112] Cloth gap g;

[0113] Standard wrapping cloth width w0;

[0114] The distance Le between the left edge of the cloth and the center of the reel is obtained using the data collected by the cloth width measurement sensor;

[0115] The distance Re from the right edge of the cloth to the center of the reel is obtained using the data collected by the cloth width measurement sensor;

[0116] Since the width of the wrapping cloth will change and the wrapping cloth may shift relative to the center of the reel during the winding process (that is, the distance from the edge of the wrapping cloth to the circumferential center line of the reel (that is, the center of the reel) may change), it is necessary to measure the distance from the edge of the wrapping cloth to the center of the reel.

[0117] Among the above parameters, the values ​​of the outer circumference c of the wire ring, the wrapping gap g and the standard wrapping width w0 are all set through recipes, that is, they are all pre-set values ​​according to different specifications of wire rings and wrappings.

[0118] (12) The entire wire ring is detected to obtain an array of the cross-sectional perimeters of the wire ring: the cross-sectional perimeter measuring sensor of the first wire ring and the cross-sectional perimeter measuring sensor of the second wire ring are used to detect the cross-sectional perimeter of the wire ring at the same time, and the cross-sectional perimeter of the wire ring is synthesized and the cross-sectional perimeter s of the wire ring is calculated. Specifically, the cross-sectional perimeter of the wire ring can be synthesized and the cross-sectional perimeter s of the wire ring can be calculated by using the algorithm related to the existing 3D vision sensor, which will not be repeated here.

[0119] The operation of step (12) includes:

[0120] On the outer circle of the wire ring, values ​​are taken and stored at set intervals of a set length (for example, 5 mm, i.e., every 5 mm on the outer circumference) to form a group of points, i.e., the wire ring cross-sectional perimeter array Pa(x, y). The wire ring cross-sectional perimeter array includes: Pa1(x1, y1), ... Pan(xn, yn), where the abscissa x of the point represents the position of the measuring point on the outer circle of the wire ring (the x between two adjacent points on the outer circumference differs by a set length (for example, 5 mm)), and the ordinate y represents the cross-sectional perimeter of the wire ring at the measuring point.

[0121] (13) The cloth is wound from the rewinding component onto the reel, and during the winding process, the cloth length and edge position are sampled at set length intervals (e.g., 5 mm) by using an encoder and a cloth width measuring sensor (specifically, an existing encoder is used to record the cloth length, i.e., the length of the cloth that has been wound onto the reel, and a cloth width measuring sensor is used to obtain the cloth width value at the corresponding length position, i.e., the distance from the two side edges of the cloth to the center of the reel), forming a group of points, i.e., a cloth length position array Pb (x, y, z), which includes: Pb1 (x1, y1, z1), ... Pbn (xn, yn, zn), wherein x represents the cloth length, y represents the distance from the left edge of the cloth to the center of the reel, and z represents the distance from the right edge of the cloth to the center of the reel.

[0122] While winding the wrapping cloth from the rewinding component onto the reel, perform virtual winding: while winding the wrapping cloth from the rewinding component onto the reel, calculate the pitch of the wrapping cloth wound on the wire ring and the final winding length: the final winding length is calculated by accumulating the pitch of each winding when the virtual wrapping cloth is wound on the wire ring. When the accumulated length reaches the outer circumference c of the wire ring, the winding is completed.

[0123] Specifically, the virtual winding refers to calculating the pitch of the virtual wrapping cloth wound on the wire ring and the final winding length using the following steps:

[0124] (a) Calculate the pitch of the first helical turn:

[0125]

[0126] Cam(1,0)=360°, Cam(1,1)=interval;

[0127]

[0128] Helix angle

[0129] Cumulative pitch C_acc=interval;

[0130] s is the cross-sectional perimeter of the first spiral turn, and the y value of the first point in the cross-sectional perimeter array Pa(x, y) of the spiral is used as the value of s;

[0131] Len is the length of the wrapping cloth that needs to be rolled;

[0132] Cam(n,2) represents the cam point set for the wrapping process, i.e., a set of traveler positions and their corresponding wheel angle positions. Specifically, "n,2" represents a two-dimensional array. Cam(1,0) represents the wheel angle value for the first point on the traveler where the wrapping is applied, Cam(1,1) represents the traveler position value for the first point on the traveler where the wrapping is applied, and so on. n represents the total number of points.

[0133] Let i=2;

[0134] Starting from the second spiral turn, the compensation value of the spiral winding pitch needs to be calculated according to the real-time width change of the wrapping cloth to control the stability of the gap of the wrapping cloth.

[0135] (b) Calculate the pitch of the i-th spiral turn:

[0136] The pitch after the wrapping width compensation is as follows:

[0137] The interval used here is the value obtained in the previous round;

[0138] Cam(i,0)=360° (since each time it goes around a full circle, the angle value of each wheel is 360 degrees), Cam(i,1)=interval_Compst;

[0139]

[0140]

[0141] C_acc=C_acc+interval_Compst;

[0142] The interval calculated here is used for the calculation of the next round;

[0143] s is the cross-sectional perimeter of the wire ring of the current spiral. The accumulated pitch length C_acc that has been traveled in the virtual winding is used as the x-coordinate value of the point Pan(x, y). The y-value of the corresponding position is used as the cross-sectional perimeter of the wire ring of the current spiral. That is, C_acc is used as x, the corresponding point is found, and then y is found from this point. The value of y is assigned to s.

[0144] (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, then i = i + 1, and then return to step (b). If not, stop and let Lt = Len, where Lt is the total wrapping length calculated by virtual winding, that is, the final winding length.

[0145] Before actual winding of each type of wire ring, the above three steps (a) to (c) must be performed to achieve virtual winding. The purpose of virtual winding is, on the one hand, to wind the cloth onto the reel, and while winding the cloth, sample the wound cloth length and the corresponding cloth edge position to generate a cloth length position array. On the other hand, the final cloth length is determined by the cumulative pitch obtained by virtual winding of the cloth, and Le and Re are collected in real time during the process of winding the cloth. In the virtual winding, the real-time collected Le and Re are used to perform the above calculations.

[0146] (2) Performing actual winding calculations to obtain a cam synchronous motion control curve of the winding wheel and the wire ring rotating roller, and controlling the first servo driver and the second servo driver according to the cam synchronous motion control curve, thereby allowing the wrapping cloth to be spirally wrapped on the wire ring according to the set trajectory.

[0147] Compared with the actual winding process, the length position of the wrapping cloth and the position of the wire ring pitch are opposite in the virtual winding process: Figure 1 As shown in FIG, during the virtual winding process, the starting position of the wrapping cloth is at the innermost layer of the reel, that is, the wrapping cloth at the innermost layer of the reel is virtually placed at the starting position of the wire ring; and as shown in FIG. Figure 2 As shown in the figure, during the actual winding process, the outermost layer of the wrapping cloth of the reel is placed at the starting position of the wire ring. That is to say, although the position of the wire ring remains unchanged, the position of the wrapping cloth is opposite, and the corresponding edge values ​​of the wrapping cloth are different.

[0148] Therefore, it is necessary to recalculate the pitch position of the cloth according to the actual cloth winding process. The calculation process is basically the same as the virtual winding calculation process in step (1), except that the real-time edge values ​​Le and Re of the cloth are obtained in a different way. That is, the calculation is also performed using steps a) to c), but in the calculation process, Le and Re are not real-time collected values, but values ​​found from the Pb (x, y, z) point set. Because the values ​​sampled during the virtual winding process are already the real-time values ​​of the cloth, and the virtual winding is only for winding the cloth onto the reel and measuring the edge value of the wound cloth. The cloth wound in the virtual winding is used in the actual winding, so the edge value of the actual wound cloth is also measured and is not constant.

[0149] In the actual winding calculation process, (Lt-Len) is used as the value of x in the Pb(x, y, z) point set to find the corresponding y and z as Le and Re, where Lt is the total cloth length calculated by virtual winding (that is, the final Len value obtained after the above virtual winding is completed), and Len is the cloth length corresponding to the current circle calculated by actual winding (the calculation formula is the same as steps (a) and (b)).

[0150] The actual winding calculation process is as follows:

[0151] (a) Calculate the pitch of the first helical turn:

[0152]

[0153] Cam(1,0)=360°, Cam(1,1)=interval;

[0154]

[0155] Helix angle

[0156] Cumulative pitch C_acc=interval;

[0157] s is the cross-sectional perimeter of the first spiral ring, and the y value of the first point in Pa(x, y) is taken as the value of s;

[0158] Len is the length of the rolled cloth;

[0159] Cam(n,2) represents the cam point set of the wrapping process, and n represents a total of n points.

[0160] Let i=2;

[0161] (b) Calculate the pitch of the i-th spiral turn:

[0162] Use the following formula to calculate the pitch after the wrapping width compensation:

[0163]

[0164] Cam(i,0)=360°, Cam(i,1)=interval_Compst;

[0165]

[0166]

[0167] C_acc=C-acc+interval_Compst;

[0168]

[0169] s is the cross-sectional perimeter of the wire ring of the current spiral. The cumulative pitch C_acc is used as the x in the point Pa(x, y). The point corresponding to x is found, and then y is found from this point. The value of y is assigned to s.

[0170] The steps for obtaining the values ​​of Le and Re are as follows: (Lt-Len) is used as the value of x in the Pb(x, y, z) point set to find the corresponding y and z as Le and Re; because the actual cross-sectional perimeter of the wire ring is used in the calculation of each spiral turn, and the interval calculated from the previous spiral turn is used in the calculation of the pitch, the present invention realizes compensation for wire ring fluctuation and cloth width compensation, that is, compensates for the errors caused by cloth width and wire ring fluctuation, thereby effectively ensuring the accuracy of cloth gap and tail overlap.

[0171] (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, then i=i+1 and return to step (b). If not, proceed to step (d). At this time, after the actual winding calculation process is completed, the Cam(n, 2) array is obtained;

[0172] (d) Use the Cam(n, 2) array to generate the cam synchronous motion control curve of the winding wheel and the bead ring rotating roller:

[0173] The Cam(n, 2) array generates a cam-synchronized motion control curve for the winding wheel and the bead ring rotating roller. This control curve is composed of multiple line segments. Specifically, a point is obtained during the calculation of each spiral turn. Each element in the Cam(n, 2) array represents a point. The horizontal coordinate (Cam(n, 0)) of each point represents the angle of the winding wheel, and the vertical coordinate (Cam(n, 1)) represents the position of the cloth wrapping on the bead ring. The coordinates between two points can be connected to form a straight line, which means that the Cam(n, 2) array can be formed into a curve composed of multiple line segments. The servo controller and servo motor then control the cloth wrapping to spirally wrap the bead ring according to the set trajectory (i.e., the cam-synchronized motion control curve for the cloth wrapping machine's winding wheel and the bead ring rotating roller).

[0174] The control of the winding wheel and the wire ring rotating roller through the cam synchronous motion control curve is achieved using the cam synchronous control algorithm of the existing servo controller. After the curve represented by the cam array is generated in the controller, the servo controller controls the servo driver according to the cam synchronous control algorithm to realize the cam synchronization function of the two motors.

[0175] In the present invention, the process of obtaining the Cam(n, 2) array in the actual winding calculation is the calculation result after compensation using the real-time cloth width and the cross-sectional circumference of the wire ring. The Cam(n, 2) array required for winding each wire ring is different, while the ordinary cloth spiral winding control method does not consider the changes in the cloth and the cross-sectional circumference of the wire ring, that is, the Cam(n, 2) array calculated for each wire ring is the same.

[0176] The accuracy of the cloth gap and the tail overlap is directly related to the cloth edge position, the cross-sectional circumference of the wire ring and the mechanical accuracy of the equipment itself. While ensuring the mechanical accuracy of the equipment, the cloth gap and the tail overlap are only related to the cloth edge position and the cross-sectional circumference of the wire ring. The present invention measures the actual cloth edge position and the actual cross-sectional circumference of the wire ring, and compensates for the errors caused by the cloth edge position and the wire ring fluctuation through a new control algorithm, thereby effectively ensuring the accuracy of the cloth gap and the tail overlap.

[0177] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0178] In the description of the present invention, unless otherwise specified, the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0179] Finally, it should be noted that the above technical solution is only one embodiment of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the application methods and principles disclosed in the present invention, and it is not limited to the method described in the above specific embodiment of the present invention. Therefore, the method described above is only preferred and does not have a restrictive meaning.

Claims

1. A method for controlling spiral wrapping of a wire ring, characterized in that: The method uses the circumference of the bead ring cross section, the distance from the left edge of the wrapping cloth to the center of the reel, and the distance from the right edge of the wrapping cloth to the center of the reel to obtain a cam synchronous motion control curve of the winding wheel and the bead ring rotating mechanism on the bead ring spiral wrapping machine, and controls the motion of the winding wheel and the bead ring rotating mechanism on the bead ring spiral wrapping machine in real time according to the cam synchronous motion control curve; The method comprises symmetrically arranging a first bead ring cross-sectional perimeter measurement sensor and a second bead ring cross-sectional perimeter measurement sensor on the inner and outer sides or on the left and right sides of the bead ring, and obtaining the bead ring cross-sectional perimeter by using the first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor; The method provides a wrapping cloth width measuring sensor on the outer side of a reel of a wire ring spiral wrapping machine, and uses the wrapping cloth width measuring sensor to obtain the distance between the left edge of the wrapping cloth and the center of the reel, and the distance between the right edge of the wrapping cloth and the center of the reel; The method comprises: (1) Wind the wrapping cloth onto the reel and record the length of the wound wrapping cloth and the corresponding distances from the left edge of the wrapping cloth to the center of the reel and the right edge of the wrapping cloth to the center of the reel; at the same time, perform virtual winding according to the parameters of the wire ring and the wrapping cloth; (2) Performing actual winding calculations to obtain a cam synchronous motion control curve, and controlling the movement of the winding wheel and the wire ring rotating mechanism on the wire ring spiral wrapping machine in real time according to the cam synchronous motion control curve.

2. The method for controlling spiral wrapping of wire rings according to claim 1, characterized in that: The operation of step (1) includes: (11), set the parameters of wire ring and wrapping cloth: The parameters of the wire ring include: the outer circumference c of the wire ring, the cross-sectional circumference s of the wire ring; The parameters of the wrapping cloth include: the wrapping cloth gap g, the standard wrapping cloth width w0, the distance Le from the left edge of the wrapping cloth to the center of the reel, and the distance Re from the right edge of the wrapping cloth to the center of the reel; (12) Detect the entire bead ring to obtain the bead ring cross-section perimeter array; (13) The wrapping cloth is wound from the rewinding component onto the reel, and the length position array of the wrapping cloth is obtained during the winding process; at the same time, virtual winding is performed to obtain the pitch of the wrapping cloth wound on the wire ring and the final winding length.

3. The method for controlling spiral wrapping of wire rings according to claim 2, characterized in that: The operation of step (12) includes: At set intervals on the outer circle of the bead ring, the first bead ring cross-section perimeter measuring sensor and the second bead ring cross-section perimeter measuring sensor are used to simultaneously detect the cross section of the bead ring, and the cross-section perimeter s of the bead ring is obtained using the detected data; The cross-sectional perimeter s of the bead ring obtained at every set length is stored to form a cross-sectional perimeter array Pa(x, y) of the bead ring, where x represents the position of the measurement point on the outer circle of the bead ring, and y represents the cross-sectional perimeter of the bead ring at the measurement point.

4. The method for controlling spiral wrapping of wire rings according to claim 3, characterized in that: The operation of obtaining the length position array of the wrapping cloth during the winding process in step (13) includes: By using an encoder and a cloth width measuring sensor, the cloth length and edge position are sampled at set intervals to form a cloth length position array Pb(x, y, z), where x represents the cloth length, y represents the distance from the left edge of the cloth to the center of the reel, and z represents the distance from the right edge of the cloth to the center of the reel.

5. The method for controlling spiral wrapping of wire rings according to claim 4, characterized in that: The operation of performing virtual winding in step (13) to obtain the pitch of the wrapping cloth wound on the wire ring and the final winding length includes: (a) Calculate the pitch interval of the first spiral turn: Cam(1,0)=360°, Cam(1,1)=interval; Helix angle Cumulative pitch C_acc=interval; The value of s is obtained as follows: the y value of the first point in the circle cross-section perimeter array Pa(x, y) is taken as the value of s; Len is the length of the rolled cloth; Cam(n,2) represents the cam point set of the wrapping process, n represents a total of n points; Let i=2; (b) Calculate the pitch of the i-th spiral turn: Use the following formula to calculate the pitch after the wrapping width compensation: Cam(i,0)=360°, Cam(i,1)=interval_Compst; C_acc=C_acc+interval_Compst; The value of s is obtained as follows: take the cumulative pitch C_acc as x in the point Pa(x, y), find the point corresponding to x, then find y from this point, and use the value of y as the value of s; (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, then i=i+1 and then return to step (b). If not, stop and set Lt=Len, where Lt is the final winding length.

6. The method for controlling spiral wrapping of wire rings according to claim 5, characterized in that: The operation of performing actual winding calculation and obtaining the cam synchronous motion control curve in step (2) includes: (a) Calculate the pitch of the first helical turn: Cam(1,0)=360°, Cam(1,1)=interval; Helix angle Cumulative pitch C_acc=interval; The value of s is obtained as follows: the y value of the first point in the circle cross-section perimeter array Pa(x, y) is taken as the value of s; Len is the length of the rolled cloth; Cam(n,2) represents the cam point set of the wrapping process, n represents a total of n points; Let i=2; (b) Calculate the pitch of the i-th spiral turn: Use the following formula to calculate the pitch after the wrapping width compensation: Cam(i,0)=360°, Cam(i,1)=interval_Compst; C_acc=C_acc+interval_Compst; The value of s is obtained as follows: take the cumulative pitch C_acc as x in the point Pa(x, y), find the point corresponding to x, then find y from this point, and use the value of y as the value of s; The values ​​of Le and Re are obtained as follows: (Lt-Len) is used as the value of x in the point set Pb(x, y, z) to find the corresponding y and z as Le and Re; (c) Determine whether C_acc is less than the outer circumference c of the wire ring. If so, i=i+1 and then return to step (b); if not, proceed to step (d); (d) Generate the cam synchronous motion control curve using the Cam(n, 2) array.

7. A bead ring spiral wrapping detection device, used to implement the bead ring spiral wrapping control method according to any one of claims 1 to 6, characterized in that: The detection device is arranged on the spiral wrapping machine for wire rings, and the detection device comprises: a first wire ring cross-section perimeter measurement sensor, a second wire ring cross-section perimeter measurement sensor, and a wrapping width measurement sensor; The first bead ring cross-sectional perimeter measurement sensor and the second bead ring cross-sectional perimeter measurement sensor are symmetrically installed on the inner and outer sides of the bead ring, or symmetrically installed on the left and right sides of the bead ring; The cloth width measuring sensor is installed on the outside of the reel and close to the reel; The first bead ring cross-section perimeter measurement sensor and the second bead ring cross-section perimeter measurement sensor adopt 3D vision sensors; The cloth width measuring sensor adopts CCD or line laser sensor.

8. A wire ring spiral wrapping control system, characterized by: The wire ring spiral wrapping control system includes a controller and the detection device according to claim 7, a first servo driver, and a second servo driver; The first wire ring cross-section perimeter measurement sensor, the second wire ring cross-section perimeter measurement sensor, and the wrapping cloth width measurement sensor in the detection device are respectively connected to the controller; The first servo driver is connected to the controller and the winding motor in the wire ring spiral wrapping machine respectively; The second servo driver is connected to the controller and the bead ring rotating motor in the bead ring spiral wrapping machine respectively; The controller obtains the cam synchronous motion control curve of the winding wheel and wire ring rotating mechanism based on the data collected by the first wire ring cross-section circumference measurement sensor, the second wire ring cross-section circumference measurement sensor, and the cloth width measurement sensor, and controls the first servo drive and the second servo drive in real time according to the cam synchronous motion control curve.

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