A center mechanism for small unmanned aerial vehicle tire vulcanization and a control method thereof

Abstract

The application discloses a center mechanism for small unmanned aerial vehicle tire vulcanization and a control method thereof, which comprises a center shaft, a cylinder assembly is sleeved on the center shaft, the cylinder assembly comprises an upper end cover and a cylinder body arranged in sequence from top to bottom, inner pressure water inlet channels and inner pressure water return channels for realizing water circulation in a capsule are arranged in the cylinder body and the upper end cover, a lower end cover located below the center shaft is arranged at the lower end of the cylinder body, and a water inlet hole for realizing water inlet of the inner pressure water inlet channel and a water return hole for realizing water return of the inner pressure water return channel are arranged on the lower end cover. The overall structure is simple, the size is small, the small unmanned aerial vehicle tire vulcanization demand can be met, and the lower ring assembly can be inserted into a mold.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of small tire vulcanization, and particularly relates to a center mechanism for small unmanned aerial vehicle tire vulcanization and a control method thereof. BACKGROUND

[0002] The center mechanism is also called a capsule operating mechanism, and is an important component of a shaping vulcanizing machine. The center mechanism is used to load a capsule into a tire blank before vulcanization, shape the tire, push the capsule out of the tire after vulcanization, and make the tire separate from a lower mold and a bead under the cooperation of a demolding mechanism, and finally make the capsule exit from the outer tire.

[0003] In the prior art, in order to realize the circulation of steam in the capsule, a water inlet pipeline and a water outlet pipeline are separately arranged outside the lower ring and are communicated with the lower clamp. However, during the operation of the vulcanizing machine, the lower ring, the lower clamp and the pipelines outside the lower clamp need to be raised into the mold together. For small tires, such as 3-inch or 5-inch tires used by small unmanned aerial vehicles, the size of the lower clamp needs to be small to meet the functional requirements. However, the size of the lower clamp in the prior art is large, and thus the vulcanization requirement of the small unmanned aerial vehicle tires cannot be met. SUMMARY

[0004] The application provides a center mechanism for small unmanned aerial vehicle tire vulcanization, which has a simple overall structure and a small size, and can not only meet the vulcanization requirement of the small unmanned aerial vehicle tires, but also realize the extension of the lower ring assembly into the mold.

[0005] To this end, the application adopts the following technical scheme: a center mechanism for small unmanned aerial vehicle tire vulcanization, comprising a center shaft, a cylinder assembly is arranged on the center shaft, the cylinder assembly comprises an upper end cover and a cylinder body arranged in sequence from top to bottom, the cylinder body and the upper end cover are both provided with an internal pressure water inlet channel and an internal pressure water return channel for realizing the circulation of water in the capsule, a lower end cover is arranged below the center shaft at the lower end of the cylinder body, and a water inlet hole for realizing the water inlet of the internal pressure water inlet channel and a water return hole for realizing the water return of the internal pressure water return channel are arranged on the lower end cover.

[0006] A circle of center shaft pistons is arranged outwardly at the lower end of the center shaft, a cavity above the center shaft pistons in the cylinder body is a center shaft water down cavity, a cavity below the center shaft pistons in the cylinder body is a center shaft water up cavity, the cylinder body and the lower end cover are provided with a center shaft water down channel communicated with the center shaft water down cavity, and the cylinder body and the lower end cover are further provided with a center shaft water up channel communicated with the center shaft water up cavity, the lower end cover is further provided with a center shaft water up inlet and outlet hole communicated with the center shaft water up channel and a center shaft water down inlet and outlet hole communicated with the center shaft water down channel.

[0007] As the preferred solution in the above scheme, a lower ring water cylinder assembly for realizing the up and down movement of the cylinder is further arranged outside the cylinder; the lower ring water cylinder assembly comprises a lower ring water cylinder sleeved outside the cylinder, the middle part of the cylinder is outwardly provided with a ring of cylinder pistons located in the lower ring water cylinder, and the outer diameter of the cylinder pistons matches the inner diameter of the cylinder, the lower end of the lower ring water cylinder is inwardly provided with a ring of sealing protrusions matching the outer diameter of the cylinder, the cylinder pistons and the sealing protrusions form a cylinder up-moving water cavity, and the lower ring water cylinder is provided with cylinder up-moving in and out water holes communicating with the cylinder up-moving water cavity; the upper end of the lower ring water cylinder is provided with a water cylinder end cover located between the cylinder and the lower ring water cylinder, the water cylinder end cover and the cylinder pistons form a cylinder down-moving water cavity, the lower ring water cylinder is provided with cylinder down-moving in and out water holes communicating with the cylinder down-moving water cavity, and the upper end of the water cylinder end cover and the upper end of the lower ring water cylinder are both outwardly provided with a ring of mounting flanges.

[0008] Further preferably, sealing assemblies are arranged between the cylinder pistons and the lower ring water cylinder, between the sealing protrusions and the cylinder, between the water cylinder end cover and the cylinder, between the water cylinder end cover and the lower ring water cylinder, between the cylinder and the central shaft, and between the central shaft pistons and the cylinder, and water passage sealing rings are arranged on the water passages connected between the upper end cover and the cylinder and between the upper and lower end covers and the cylinder.

[0009] Further preferably, the sealing assembly between the water cylinder end cover and the cylinder comprises two spaced-apart waterproof sealing rings, the uppermost waterproof sealing ring is provided with a copper sleeve above, and the copper sleeve is provided with a snap spring capable of being clamped on the central shaft; wear-resistant rings are arranged between the upper and lower ends of the upper end cover and the central shaft, between the sealing protrusions and the cylinder, between the cylinder pistons and the lower ring water cylinder, between the water cylinder end cover and the lower ring water cylinder, and between the central shaft pistons and the cylinder.

[0010] Further preferably, the water inlet holes and the central shaft down-moving in and out water holes are arranged on the left side of the lower end cover, the backwater holes and the central shaft up-moving in and out water holes are arranged on the right side of the lower end cover, and the lower end cover is further provided with rotating water supply and drainage assemblies for realizing the in and out water of the water holes;

[0011] The rotating water supply and drainage assemblies comprise rotating links, rotating frames, and rotating seats, the left and right sides of the lower end cover are both hingedly connected with rotating links through corresponding end cover flange shafts, the other ends of the rotating links are hingedly connected with the rotating frames, the other ends of the rotating frames are both hingedly connected with the rotating seats through corresponding rotating flange shafts, the end cover flange shafts, the rotating links, the rotating frames, the rotating flange shafts, and the rotating seats are all provided with water supply and drainage passages for realizing the in and out water of the water holes, two water supply and drainage passages are arranged in the end cover flange shafts, the rotating links, and the rotating flange shafts, and four water supply and drainage passages are arranged in the rotating frames and the rotating seats.

[0012] Further preferably, the end cover flange shaft and the rotating flange shaft have the same structure, each including a first flange plate for connecting with a corresponding part and a flange rotating shaft for realizing the hinging, and the water supply and drainage channels on the end cover flange shaft and the rotating flange shaft are arranged along the axis of the flange rotating shaft;

[0013] The rotating link is arranged in an I-shaped structure, and the left and right sides of the upper and lower ends of the rotating link are arranged as link rotating sleeves, and the middle part of the rotating link is arranged as two water supply and drainage channels of the rotating link, and each of the link rotating sleeves is arranged with a link water supply and drainage hole corresponding to each water supply and drainage channel;

[0014] The rotating frame is arranged in an I-shaped structure, the left and right sides of the upper end of the rotating frame are arranged as rotating frame rotating shafts which can be sleeved in the link rotating sleeves, the left and right sides of the lower end of the rotating frame and the left and right sides of the lower end cover are arranged with second flange plates which can be fixed with the first flange plates, and the middle part of the rotating frame is arranged as four water supply and drainage channels of the rotating frame;

[0015] At least two flange shaft water supply and drainage holes are arranged on each water supply and drainage channel of the rotating frame rotating shaft and the flange rotating shaft and are arranged along the circumference of the corresponding rotating shaft at intervals, and the left and right sides of all the rotating shafts are further arranged with bearings, and the outer side of the bearing is arranged with a bearing retainer;

[0016] The rotating seat includes a lower mounting base, the left and right sides of the mounting base are arranged with rotating seat rotating sleeves which can be sleeved on the flange rotating shafts through the connecting plates arranged upwardly, the rotating seat rotating sleeves are arranged with water supply and drainage pipes for realizing the water supply and drainage of the corresponding water supply and drainage channels, and each of the rotating seat rotating sleeves is arranged with a rotating seat water supply and drainage hole corresponding to each water supply and drainage pipe, and the left and right sides of the two link water supply and drainage holes and the left and right sides of the two rotating seat water supply and drainage holes are arranged with sealing ring positioning grooves for realizing the water supply and drainage sealing between the rotating link and the corresponding part.

[0017] Further preferably, the left and right sides of the upper end of the lower ring water cylinder are arranged with guide sleeves downwardly, the left and right sides of the lower end cover are arranged with guide column connecting holes, the guide columns are arranged in the guide column connecting holes, the upper end of the guide column extends into the guide sleeve, and the guide column can move up and down in the guide sleeve.

[0018] Further preferably, the upper end cover is vertically arranged with an upper end cover fixed through hole for fixing the upper end cover on the upper end of the cylinder body, the upper end of the cylinder body is vertically arranged with an upper end cover fixed hole corresponding to the position of the upper end cover fixed through hole, the upper end cover is further vertically arranged with a lower ring fixed through hole for fixing the lower ring, the upper end of the cylinder body is vertically arranged with a lower ring fixed through hole corresponding to the position of the lower ring fixed through hole, and the cylinder body is arranged with a gap slot below the lower ring fixed through hole.

[0019] Further preferably, the lower end of the lower end cover is provided with a sensor mounting hole for mounting a displacement sensor, the lower end of the central shaft is provided with a mounting hole for mounting a detection block that can be detected by the displacement sensor, and the lower end of the lower end cover is provided below with a sensor cover that can cover the displacement sensor; the lower end of the lower end cover and the upper end of the sensor cover are each provided with a fixed flange, and the outer side of the two fixed flanges is provided with a hoop for fixing the lower end cover and the sensor cover, and the outer side of the hoop is provided with a hoop pressing plate.

[0020] Advantages of the present application:

[0021] 1) The overall structure is small, facilitating the production of small-sized tires and meeting the process requirements; the inner pressure water inlet channel and the inner pressure water return channel are directly arranged on the cylinder body, and the upper and lower moving water holes, the water inlet hole and the water return hole of the central shaft are directly arranged on the lower end cover, which can effectively reduce the diameter of the entire cylinder body, so that the structure of the entire central mechanism is small and can be inserted into the lower mold body, thereby meeting the production needs of small-sized tires (such as 3-inch and 5-inch tires for small unmanned aerial vehicles).

[0022] 2) The connection mode of the lower ring is changed to prolong the service life; the upper end cover is provided with a fixing hole for fixing with the cylinder body, and the upper end cover is also provided with a connecting hole for connecting the lower clamping ring with the cylinder body, so that the lower clamping ring is connected with the cylinder body in an inner flange type, which is not only convenient to install and will not damage the sealing ring.

[0023] 3) The split design not only facilitates the maintenance and replacement of parts, but also facilitates the production of tires of different sizes; the structure of the sleeve outside the central shaft is connected by the upper end cover, the cylinder and the lower end cover, and when any of them is damaged, it can be directly disassembled and replaced, thereby facilitating maintenance, and after replacing the upper end cover of different specifications, different sizes of tires can be produced.

[0024] 4) The lower end cover is provided with a rotating water supply and drainage assembly corresponding to each water hole, which can effectively prolong the service life; the arrangement of the rotating water supply and drainage assembly enables the water supply and drainage of the entire central mechanism to be realized through a hard pipe, which can effectively increase the service life of the water pipe compared with the metal flexible pipe in the prior art; and the arrangement of the guide column and the guide sleeve not only prevents the lower end cover from rotating, but also enables the guide column to be replaced by an internal pressure pipe for realizing internal pressure circulating water when a large-sized tire is vulcanized, thereby ensuring the flow required when a large-sized tire is vulcanized. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a perspective view of the present application.

[0026] Figure 2 It is a perspective view of the cylinder assembly in the present application.

[0027] Figure 3 It is a schematic view of the cylinder assembly in the present application.

[0028] Figure 4 Figure 1 is a perspective view of the present invention. Figure 3 Figure 2 is a cross-sectional view along X-X of the present invention.

[0029] Figure 5 Figure 3 is a perspective view of the rotating water supply and drain assembly of the present invention.

[0030] Figure 6 Figure 4 is a perspective view of the lower ring water of the present invention.

[0031] Figure 7 Figure 5 is a schematic view of the lower ring water cylinder of the present invention.

[0032] Figure 8 Figure 6 is a perspective view of the upper end cap of the present invention. Figure 7 Figure 7 is a cross-sectional view along Y-Y of the present invention.

[0033] Figure 9 Figure 8 is a perspective view of the cylinder body of the present invention.

[0034] Figure 10 Figure 9 is a schematic view of the cylinder body of the present invention.

[0035] Figure 11 Figure 10 is a perspective view of the lower end cap of the present invention.

[0036] Figure 12 Figure 11 is a schematic view of the lower end cap of the present invention.

[0037] Figure 13 Figure 12 is a perspective view of the rotating flange shaft or end cap flange shaft of the present invention. Figure 12 Figure 13 is a cross-sectional view along Z-Z of the present invention.

[0038] Figure 14 Figure 14 is a perspective view of the rotating flange shaft or end cap flange shaft of the present invention.

[0039] Figure 15 Figure 15 is a schematic view of the rotating flange shaft or end cap flange shaft of the present invention.

[0040] Figure 16 Figure 16 is a perspective view of the rotating flange shaft or end cap flange shaft of the present invention. Figure 15 Figure 17 is a cross-sectional view along U-U of the present invention.

[0041] Figure 17 Figure 18 is a perspective view of the rotating flange shaft or end cap flange shaft of the present invention.

[0042] Figure 18 Figure 19 is a schematic view of the rotating flange shaft or end cap flange shaft of the present invention.

[0043] Figure 19 Figure 20 is a perspective view of the rotating flange shaft or end cap flange shaft of the present invention. Figure 18 Figure 21 is a cross-sectional view along V-V of the present invention.

[0044] Figure 20 Figure 22 is a cross-sectional view along W-W of the present invention. Figure 18

[0045] ​Figure 21 Figure 1 is a perspective view of a rotating link in the present application.

[0046] Figure 22 Figure 2 is a schematic view of a rotating link in the present application.

[0047] Figure 23 Figure 3 is a perspective view of a rotating frame in the present application.

[0048] Figure 24 Figure 4 is a schematic view of a rotating frame in the present application.

[0049] Figure 25 Figure 5 is a perspective view of a rotating seat in the present application.

[0050] Figure 26 Figure 6 is a schematic view of a rotating seat in the present application.

[0051] Figure 27 Figure 7 is a schematic view of the present application after the upper end cap has been replaced with a larger size (at this time the upper end cap is connected with the upper ring through threads).

[0052] Figure 28 Figure 8 is a schematic view of the present application when the cylinder is rising.

[0053] Figure 29 Figure 9 is a schematic view of the present application when the cylinder is descending.

[0054] Figure 30 Figure 10 is a flow chart of the present application.

[0055] Reference numerals: Center shaft downward water chamber - A, Center shaft upward water chamber - B, Cylinder body upward water chamber - D, Cylinder body downward water chamber - E, Internal pressure water outlet - a, Internal pressure water return groove - b, Internal pressure water inlet channel - c, Internal pressure water return channel - d, Center shaft downward water channel - e, Center shaft upward water channel - f, Mounting flange - g, Water supply and drainage channel - h, Sealing ring positioning groove - i, First flange - j, Flange rotation shaft - k, Second flange - m 1. Flange shaft water supply and drainage hole -n; 2. Central shaft -1; 3. Central shaft piston -1a; 4. Detection block mounting hole -1b; 5. Upper end cover -2; 6. Upper end cover fixing through hole -2a; 7. Lower ring fixing through hole -2b; 8. Cylinder body -3; 9. Cylinder body piston -3a; 10. Upper end cover fixing hole -3b; 11. Lower ring fixing through hole -3c; 12. Relief groove -3d; 13. Lower ring -4; 14. Lower end cover -5; 15. Return water hole -5b; 16. Inlet water hole -5a; 17. Return water hole -5b; 18. Central shaft upward movement inlet and outlet water hole -5 c. Central shaft downward movement inlet / outlet hole - 5d. Guide post connection hole - 5e. Sensor mounting hole - 5f. Lower ring water cylinder - 6. Sealing protrusion - 6a. Cylinder body upward movement inlet / outlet hole - 6b. Cylinder body downward movement inlet / outlet hole - 6c. Guide sleeve - 6d. Water cylinder end cover - 7. Water channel sealing ring - 8. Waterproof sealing ring - 9. Copper sleeve - 10. Snap ring - 11. Wear-resistant ring - 12. Rotating connecting rod - 13. Connecting rod rotating sleeve - 13a. Connecting rod water supply / drainage hole -13b, Rotating frame -14, Rotating frame rotating shaft -14a, Rotating seat -15, Mounting base -15a, Connecting plate -15b, Rotating seat rotating sleeve -15c, Water supply and drainage pipe -15d, Rotating seat water supply and drainage hole -15e, End cover flange shaft -16, Rotating flange shaft -17, Bearing -18, Bearing retaining ring -19, Guide column -20, Sensor cover -21, Clamp -22, Clamp pressure plate -23, Lower clamp -24. Detailed Implementation

[0056] The present invention will be further described below with reference to the embodiments and accompanying drawings:

[0057] like Figures 1-29 As shown, a central mechanism for vulcanizing tires of a small unmanned aerial vehicle mainly consists of a central shaft 1 and a cylinder assembly. The cylinder assembly is fitted on the outer side of the lower end of the central shaft. A lower ring assembly for fixing the capsule is provided near the upper end of the central shaft. The cylinder assembly is located below the lower ring assembly and can drive the lower ring to move relative to the central shaft. The lower ring assembly is a prior art, and its structure usually consists of two lower rings 4 arranged vertically and a lower clamping plate 24 arranged above the lower rings.

[0058] The cylinder assembly comprises an upper end cover 2 and a cylinder body 3 arranged in sequence from top to bottom, and an inner pressure water inlet channel c and an inner pressure water return channel d for realizing water circulation in the capsule are arranged in the cylinder body 3 and the upper end cover 2, a lower end cover 5 is arranged below the central shaft 1 at the lower end of the cylinder body 3, a water inlet hole 5a for realizing water inlet of the inner pressure water inlet channel c and a water return hole 5b for realizing water return of the inner pressure water return channel d are arranged on the lower end cover 5, a plurality of inner pressure water outlet holes a in communication with the inner pressure water inlet channel are arranged on the upper end cover, and an inner pressure water return groove b in communication with the inner pressure water return channel is also arranged on the upper end cover, and the inner pressure water outlet holes and the inner pressure water return groove are arranged on both sides of the upper end cover. During vulcanization, hot press water enters from the water inlet hole of the lower end cover, then flows along the inner pressure water inlet channel to the upper end cover, enters the capsule through the plurality of inner pressure water outlet holes a, then returns to the inner pressure water return channel along the inner pressure water return groove, and finally flows out through the water return hole. The plurality of inner pressure water outlet holes facilitate the outflow of hot press water, and the inner pressure water return groove arranged in the structure of a rectangular groove can effectively and conveniently return water.

[0059] In order to realize the installation between the cylinder assembly and the lower ring and between the cylinder assemblies, an upper end cover fixing through hole 2a capable of fixing the upper end cover 2 on the upper end of the cylinder body 3 is vertically arranged on the upper end cover 2, and the upper end cover fixing through hole is arranged as a counterbore, an upper end cover fixing hole 3b is vertically arranged at the position corresponding to the upper end cover fixing through hole 2a on the upper end of the cylinder body 3, a lower ring fixing through hole 2b for fixing the lower ring 4 is vertically arranged on the upper end cover 2, and a lower ring fixing through hole 3c is vertically arranged on the upper end of the cylinder body 3 at the position corresponding to the lower ring fixing through hole 2b, in order to facilitate the fixing of the lower ring, a clearance groove 3d is arranged below the lower ring fixing through hole 3c on the cylinder body 3. A lower end cover fixing hole is arranged on the lower end cover, a lower end cover fixing through hole is arranged on the lower end of the cylinder body, and a clearance groove is also arranged above the lower end cover fixing through hole on the cylinder body.

[0060] The upper end cover and the cylinder body can be fixed by screwing a bolt from top to bottom through the upper end cover fixing through hole and then tightening it in the upper end cover fixing hole. The lower ring can be fixed by screwing a bolt from bottom to top through the lower ring fixing through hole and the lower ring fixing through hole and then tightening it on the lower ring. The lower end cover and the cylinder body can be fixed by screwing a bolt from top to bottom through the lower end cover fixing through hole and then tightening it in the lower end cover fixing hole. Due to the arrangement of the clearance groove, the upper end of the cylinder body is an embedded flange structure, which not only facilitates installation, but also facilitates size reduction.

[0061] To realize the up and down movement of the central shaft relative to the cylinder, a circle of central shaft pistons 1a is arranged outwardly at the lower end of the central shaft 1, wherein the cavity above the central shaft pistons 1a in the cylinder 3 is the central shaft down-moving water cavity A, the cavity below the central shaft pistons 1a in the cylinder 3 is the central shaft up-moving water cavity B, and the central shaft down-moving water passage e communicating with the central shaft down-moving water cavity A is arranged on the cylinder 3 and the lower end cover 5, while the central shaft up-moving water passage f communicating with the central shaft up-moving water cavity B is also arranged on the cylinder 3 and the lower end cover 5. To realize the water inlet and outlet of the central shaft down-moving water cavity and the central shaft up-moving water cavity, the central shaft up-moving inlet and outlet water hole 5c communicating with the central shaft up-moving water passage f and the central shaft down-moving inlet and outlet water hole 5d communicating with the central shaft down-moving water passage e are arranged on the lower end cover 5. When liquid is injected into the central shaft down-moving water cavity along the central shaft down-moving water passage through the central shaft down-moving inlet and outlet water hole, the central shaft will be pushed to move downward relative to the cylinder, at this time the central shaft up-moving water cavity will be in a liquid discharge state. When liquid is injected into the central shaft up-moving water cavity along the central shaft up-moving water passage through the central shaft up-moving inlet and outlet water hole, the central shaft will be pushed to move upward relative to the cylinder, at this time the central shaft down-moving water cavity will be in a liquid discharge state.

[0062] A lower ring water cylinder assembly for realizing the up and down movement of the cylinder 3 is also arranged outside the cylinder 3. The lower ring water cylinder 6 is sleeved outside the cylinder 3, a circle of cylinder pistons 3a is arranged outwardly at the middle of the cylinder 3 and located inside the lower ring water cylinder 6, the outer diameter of the cylinder pistons 3a matches the inner diameter of the cylinder 3, a circle of sealing protrusions 6a matching the outer diameter of the cylinder 3 is arranged inwardly at the lower end of the lower ring water cylinder 6, wherein the cylinder pistons 3a and the sealing protrusions 6a form the cylinder up-moving water cavity D, and the cylinder up-moving inlet and outlet water hole 6b communicating with the cylinder up-moving water cavity D is arranged on the lower ring water cylinder 6. To realize the installation between the lower ring water cylinder and the cylinder, the water cylinder end cover 7 located between the cylinder 3 and the lower ring water cylinder 6 is arranged at the upper end of the lower ring water cylinder 6, so that the water cylinder end cover 7 and the cylinder pistons 3a form the cylinder down-moving water cavity E, and the cylinder down-moving inlet and outlet water hole 6c communicating with the cylinder down-moving water cavity E is arranged on the lower ring water cylinder 6. When liquid is injected into the cylinder down-moving water cavity through the cylinder down-moving inlet and outlet water hole, the cylinder will be pushed to move downward relative to the central shaft, at this time the cylinder up-moving water cavity will be in a liquid discharge state. When liquid is injected into the cylinder up-moving water cavity through the cylinder up-moving inlet and outlet water hole, the cylinder will be pushed to move upward relative to the central shaft, at this time the cylinder down-moving water cavity will be in a liquid discharge state.

[0063] For the convenience of the fixation between the lower ring water cylinder and the water cylinder end cover, a mounting flange g is arranged on the upper end of the water cylinder end cover 7 and the upper end of the lower ring water cylinder 6. The mounting flange is arranged as the flange for the fixation between the water cylinder end cover and the lower ring water cylinder. The sealing assembly is arranged between the cylinder piston 3a and the lower ring water cylinder 6, between the sealing protrusion 6a and the cylinder 3, between the water cylinder end cover 7 and the cylinder 3, between the water cylinder end cover 7 and the lower ring water cylinder 6, between the cylinder 3 and the central shaft 1, and between the central shaft piston 1a and the cylinder 3. The water passage sealing ring 8 is arranged on the water passage connected between the upper end cover 2 and the cylinder 3 and on the water passage connected between the lower end cover 5 and the cylinder 3.

[0064] The sealing assembly between the water cylinder end cover 7 and the cylinder 3 includes two spaced waterproof sealing rings 9. The uppermost waterproof sealing ring 9 is provided with a copper sleeve 10. The copper sleeve 10 is provided with a snap spring 11 which can be clamped on the central shaft 1. The sealing structure in other places is provided with at least two waterproof sealing rings which are spaced upward and downward.

[0065] In order to maintain the coaxiality between the central shaft and the corresponding contact components and between the cylinder and the corresponding contact components, the wear-resistant ring 12 is arranged between the upper and lower ends of the upper end cover 2 and the central shaft 1, between the sealing protrusion 6a and the cylinder 3, between the cylinder piston 3a and the lower ring water cylinder 6, between the water cylinder end cover 7 and the lower ring water cylinder 6, and between the central shaft piston 1a and the cylinder 3. The wear-resistant ring is further provided with two wear-resistant rings which are spaced upward and downward at some positions. The wear-resistant ring and the waterproof sealing ring are spaced at some positions.

[0066] In order to facilitate the realization of the water inlet and outlet of the internal pressure passage and the central shaft, the water inlet hole 5a and the central shaft lower movement water inlet and outlet hole 5d are arranged on the left side of the lower end cover 5. The water outlet hole 5b and the central shaft upper movement water inlet and outlet hole 5c are arranged on the right side of the lower end cover 5. The rotary water supply and drainage assembly for realizing the water inlet and outlet of each water hole is further arranged on the lower end cover 5.

[0067] The specific components of the rotary water supply and drainage assembly include the rotary connecting rod 13, the rotary frame 14 and the rotary seat 15. The rotary connecting rod 13 is hinged on the rotary frame 14 through the corresponding end cover flange shaft 16 on the left and right sides of the lower end cover 5. The rotary frame 14 is hinged on the rotary seat 15 through the corresponding rotary flange shaft 17 on the left and right sides of the lower end cover 5. The water supply and drainage passage h for realizing the water inlet and outlet of each water hole is arranged on the end cover flange shaft 16, the rotary connecting rod 13, the rotary frame 14, the rotary flange shaft 17 and the rotary seat 15. Two water supply and drainage passages h are arranged in the end cover flange shaft 16, the rotary connecting rod 13 and the rotary flange shaft 17. Four water supply and drainage passages h are arranged on the rotary frame 14 and the rotary seat 15. Through the arrangement of the rotary water supply and drainage assembly, the water inlet and outlet of the central structure is a hard pipe, which can effectively improve the service life and reduce the replacement frequency.

[0068] Since the lower end cover moves up and down with the cylinder body, in order to realize the function of rotating the water supply and drainage assembly, the end cover flange shaft 16 and the rotating flange shaft 17 are the same in structure, as shown in Figures 14-16 The first flange plate j for connecting with the corresponding part and the flange rotating shaft k for realizing the hinge are included, and the water supply and drainage channels on the end cover flange shaft 16 and the rotating flange shaft 17 are arranged along the axis of the flange rotating shaft k.

[0069] As shown in Figures 21-22 The rotating link 13 is arranged in an I-shaped structure, and the left and right sides of the upper and lower ends of the rotating link 13 are arranged as link rotating sleeves 13a, and the middle part of the rotating link 13 is two water supply and drainage channels of the rotating link 13, and each water supply and drainage channel is provided with a link water supply and drainage hole 13b.

[0070] As shown in Figures 23-24 The rotating frame 14 is arranged in an I-shaped structure, and the left and right sides of the upper end of the rotating frame 14 are arranged as rotating frame rotating shafts 14a that can be sleeved in the link rotating sleeves 13a, and the left and right sides of the lower end of the rotating frame 14 and the left and right sides of the lower end cover 5 are arranged with second flange plates m that can be fixed with the first flange plate j, and the middle part of the rotating frame 14 is arranged as four water supply and drainage channels of the rotating frame 14.

[0071] In order to realize the rotation of the rotating part, at least two flange shaft water supply and drainage holes n are arranged on the rotating frame rotating shaft 14a and the flange rotating shaft k corresponding to each water supply and drainage channel and are arranged in a circumferential interval along the corresponding rotating shaft, and the left and right sides of all rotating shafts are further provided with bearings 18, and the outer side of the bearing 18 is provided with a bearing retainer 19.

[0072] As shown in Figures 25-26 The rotating seat 15 includes a lower mounting base 15a, and the left and right sides of the mounting base 15a are provided with rotating seat rotating sleeves 15c that can be sleeved on the flange rotating shaft k through the connecting plates 15b arranged in an upward extension, and the rotating seat rotating sleeves 15c are provided with water supply and drainage pipes 15d for realizing the water supply and drainage of the corresponding water supply and drainage channels, and the rotating seat water supply and drainage holes 15e are arranged in the rotating seat rotating sleeves 15c corresponding to each water supply and drainage pipe, and the left and right sides of the two link water supply and drainage holes 13b and the left and right sides of the two rotating seat water supply and drainage holes 15e are provided with sealing ring positioning grooves i for realizing the water supply and drainage sealing between the rotating link 13 and the corresponding part.

[0073] In order to prevent the lower end cover from rotating, guide sleeves 6d are arranged on the left and right sides of the upper end of the lower ring water cylinder 6, guide post connecting holes 5e are arranged on the left and right sides of the lower end cover 5, guide posts 20 are arranged in the guide post connecting holes 5e, the upper ends of the guide posts 20 extend into the guide sleeves 6d, and the guide posts 20 can move up and down in the guide sleeves 6d. When the entire center mechanism is used to vulcanize a large tire, such as a 6-inch or 8-inch tire, in order to ensure the flow and flow rate of the hot-pressing water during vulcanization, the guide posts can be replaced with internal pressure pipes for realizing the circulation of water in and out of the internal pressure.

[0074] In order to facilitate the detection of the distance of the center shaft moving up and down, thereby facilitating the determination of the height between the capsule and the lower end cover, a sensor mounting hole 5f for mounting a displacement sensor is arranged at the lower end of the lower end cover 5, a detection block mounting hole 1b for mounting a detection block that can be detected by the displacement sensor is arranged at the lower end of the center shaft 1, and a sensor cover 21 that can cover the displacement sensor is arranged below the lower end cover 5. In order to facilitate the installation between the sensor cover and the lower end cover, a fixed flange is arranged at the lower end of the lower end cover 5 and the upper end of the sensor cover 21, a clamp 22 for fixing the lower end cover 5 and the sensor cover 21 is arranged outside the two fixed flanges, and a clamp pressing plate 23 is arranged outside the clamp 22.

[0075] In the embodiment, the guide sleeves, the rotating connecting rods, the rotating frames, and the rotating seats outside the lower ring water cylinder are welded together, each channel is preferably arranged in an elliptical shape and located in the middle part of the part, and in the processing, the through hole is processed first, and then the end is welded, and the sealing of each channel must be ensured. As shown in Figure 27 After replacing the upper end cover, the application can be applied to the vulcanization of tires of other sizes, and the fixing method between the upper end cover and the lower ring can also adopt a threaded connection method.

[0076] As shown in Figure 30 As described above, the application further discloses a control method of the center mechanism for tire vulcanization of a small unmanned aerial vehicle, which comprises the following steps:

[0077] During vulcanization, the hot-pressing water enters from the water inlet hole of the lower end cover, then flows along the internal pressure water inlet channel to the upper end cover, enters the capsule through the plurality of internal pressure water outlet holes a, then returns to the internal pressure water return channel along the internal pressure water return groove, and finally flows out through the water return hole. The arrangement of the plurality of internal pressure water outlet holes facilitates the outflow of the hot-pressing water, and the internal pressure water return groove arranged in a rectangular groove structure can effectively and conveniently return water.

[0078] The hot water is used to provide appropriate heat to control the temperature in the vulcanization process; this is very important for the manufacture and quality control of the tire, because the appropriate temperature ensures the correct crosslinking and vulcanization of the tire material, and then through the inner pressure water outlet hole a and the inner pressure water return groove, ensures that each part of the tire can get uniform heat, so as to ensure that the vulcanization of the whole tire is uniform. This is very important for improving the quality and performance of the tire; during the vulcanization process, the tire may be deformed due to internal pressure and temperature, and by using the center mechanism vulcanization and the control of the hot water, the deformation can be reduced, thereby ensuring the shape and quality of the tire.

[0079] Although there are many advanced control methods now, such as neural network control, sliding mode control method and deep learning control method, the dynamic control of the flow and control of the hot water through the PID method is still a very efficient method.

[0080] After collecting the temperature data and pressure data, through analog-to-digital conversion, the temperature data and pressure data are collected and learned, the process variable calculation is saved, when the self-learning time is over, the process variable is calculated, the self-diagnosis parameter is generated, and the relearning operation is performed through the self-learning function. In the process of relearning operation, the parameter value is adjusted, so that the parameter value meets the requirements of the hot water control.

[0081] S1, in the process of hot water inflow, the hot water inflow temperature correction function is calculated:

[0082] Wherein, m is the temperature value number per unit time t, T m is the mth temperature value, β t is the temperature correction parameter per unit time t, and ΔT is the temperature change;

[0083] S2, according to the temperature correction function, the transmission flow rate v of the hot water is multiplied by the time t, so as to carry out the output correction calculation of the matrix model F according to the temperature adjustment frequency p,

[0084]

[0085] Wherein, l is the length of the water inlet channel of the center mechanism hot water, r is the radius of the water inlet channel, And Indicates the fluctuation of the hot water,

[0086] S3, the output correction calculation Y(t) = (1+C(t))·F+λ·C(t), λ is the constraint threshold of the correction function;

[0087] In the tire vulcanization process, the real-time temperature data is corrected or adjusted by the temperature correction function C(t) of the hot water pressure, and then the corrected or adjusted data is calculated with the temperature adjusted matrix model function F to determine how to adjust the temperature of the hot water pressure. At the same time, the constraint threshold λ of the correction function limits the amplitude of the correction or adjustment, preventing excessive adjustment action. In this way, accurate control of the temperature of the hot water pressure during the tire vulcanization process can be achieved.

[0088] S4, simultaneously acquiring the pressure value of the hot water inflow, calculating the corresponding pressure correction function:

[0089]

[0090] Where S is the instantaneous pressure value, η is the instantaneous pressure value correction coefficient, P is the length of the water inlet channel, σ is the constraint factor, r is the radius of the water inlet channel, a is the steady-state pressure coefficient, and Q is the steady-state pressure value.

[0091] S5, the two functions are put together to calculate the transfer function to consider the effects of temperature and pressure on the tire vulcanization process;

[0092] Transfer function X(t) = k i Y(t) + k j D(t).

[0093] The calculation formula of the temperature correction function and the pressure correction function varies due to factors such as tire material, size, and design requirements. Therefore, it is necessary to calculate and adjust parameters according to the specific tire vulcanization situation. This method considers the effects of temperature and pressure on the tire vulcanization process, thereby controlling the temperature and pressure of the hot water to better perform the unmanned aerial vehicle tire vulcanization process, improving the yield and work efficiency.

[0094] S6, call the pre-set temperature proportionality coefficient k i and the pressure proportionality coefficient k j control the transfer function output value, and calculate the theoretical output value X(t) of the transfer function at time t.

[0095] After the transfer function is calculated, different tire materials and sizes have different requirements for the temperature and pressure of the hot water. By pre-setting the proportionality coefficients k i and k j , combined with the temperature correction function and the pressure correction function calculated by the hot water, accurate vulcanization of different tires can be achieved. This model has the characteristics of fast response, making the tire vulcanization more quickly adapt to changes in the external environment, and through reasonable parameter setting and system design, the stability of the unmanned aerial vehicle tire vulcanization process and the quality of the final product are ensured.

Claims

1. A center mechanism for small unmanned aerial vehicle tire vulcanization, comprising a center shaft (1), characterized in that: The center shaft (1) is sleeved with a cylinder assembly, which comprises an upper end cover (2) and a cylinder body (3) arranged in sequence from top to bottom, and the cylinder body (3) and the upper end cover (2) are both provided with an internal pressure water inlet channel (c) and an internal pressure water return channel (d) for realizing water circulation in the capsule. The lower end of the center shaft (1) is provided with a ring of center shaft pistons (1a) outwardly, the cavity in the cylinder body (3) above the center shaft pistons (1a) is a center shaft downward water cavity (A), the cavity in the cylinder body (3) below the center shaft pistons (1a) is a center shaft upward water cavity (B), the cylinder body (3) and the lower end cover (5) are provided with a center shaft downward water channel (e) in communication with the center shaft downward water cavity (A), and the cylinder body (3) and the lower end cover (5) are also provided with a center shaft upward water channel (f) in communication with the center shaft upward water cavity (B), and the lower end cover (5) is also provided with a center shaft upward water inlet and outlet hole (5c) in communication with the center shaft upward water channel (f) and a center shaft downward water inlet and outlet hole (5d) in communication with the center shaft downward water channel (e). The cylinder body (3) is also provided with a lower ring water cylinder assembly for realizing the upward and downward movement of the cylinder body (3), the lower ring water cylinder assembly comprises a lower ring water cylinder (6) sleeved outside the cylinder body (3), the middle part of the cylinder body (3) is provided with a ring of cylinder pistons (3a) located in the lower ring water cylinder (6) outwardly, and the outer diameter of the cylinder pistons (3a) matches the inner diameter of the cylinder body (3), the lower end of the lower ring water cylinder (6) is provided with a ring of sealing protrusions (6a) matching the outer diameter of the cylinder body (3) inwardly, the cylinder pistons (3a) and the sealing protrusions (6a) form a cylinder upward water cavity (D), and the lower ring water cylinder (6) is provided with a cylinder upward water inlet and outlet hole (6b) in communication with the cylinder upward water cavity (D); the upper end of the lower ring water cylinder (6) is provided with a water cylinder end cover (7) located between the cylinder body (3) and the lower ring water cylinder (6), the water cylinder end cover (7) and the cylinder pistons (3a) form a cylinder downward water cavity (E), and the lower ring water cylinder (6) is provided with a cylinder downward water inlet and outlet hole (6c) in communication with the cylinder downward water cavity (E); the upper end of the water cylinder end cover (7) and the upper end of the lower ring water cylinder (6) are both provided with a ring of mounting flanges (g) outwardly. The water inlet hole (5a) and the center shaft downward water inlet and outlet hole (5d) are both arranged on the left side of the lower end cover (5), the water return hole (5b) and the center shaft upward water inlet and outlet hole (5c) are both arranged on the right side of the lower end cover (5), and the lower end cover (5) is also provided with a rotating water supply and drainage assembly for realizing the water inlet and outlet of each water hole. The rotating water supply and drainage assembly comprises rotating connecting rods (13), rotating frames (14) and rotating seats (15), both sides of the lower end cover (5) are hinged with rotating connecting rods (13) through corresponding end cover flange shafts (16), the other ends of the rotating connecting rods (13) are hinged on the rotating frames (14), the other ends of the rotating frames (14) are hinged on the rotating seats (15) through corresponding rotating flange shafts (17), the end cover flange shafts (16), the rotating connecting rods (13), the rotating frames (14), the rotating flange shafts (17) and the rotating seats (15) are all provided with water supply and drainage channels (h) for realizing water inlet and outlet of each water hole, and the end cover flange shafts (16), the rotating connecting rods (13) and the rotating flange shafts (17) are all provided with two water supply and drainage channels (h), and the rotating frames (14) and the rotating seats (15) are all provided with four water supply and drainage channels (h); The upper end cover (2) is vertically provided with an upper end cover fixing through hole (2a) for fixing the upper end cover (2) on the upper end of the cylinder body (3), the upper end of the cylinder body (3) is vertically provided with an upper end cover fixing hole (3b) corresponding to the position of the upper end cover fixing through hole (2a), the upper end cover (2) is further vertically provided with a lower ring fixing through hole (2b) for fixing the lower ring (4), and the upper end of the cylinder body (3) is vertically provided with a lower ring fixing through hole (3c) corresponding to the position of the lower ring fixing through hole (2b), and the cylinder body (3) is provided with a gap (3d) below the lower ring fixing through hole (3c).

2. The compact center mechanism for curing the tire of the small unmanned aerial vehicle according to claim 1, characterized in that: Sealing assemblies are arranged between the cylinder piston (3a) and the lower ring water cylinder (6), between the sealing protrusion (6a) and the cylinder body (3), between the water cylinder end cover (7) and the cylinder body (3), between the water cylinder end cover (7) and the lower ring water cylinder (6), between the cylinder body (3) and the central shaft (1), and between the central shaft piston (1a) and the cylinder body (3), and water channel sealing rings (8) are arranged on the water channels connected between the upper end cover (2) and the cylinder body (3) and between the upper and lower end covers (5) and the cylinder body (3).

3. The compact center mechanism for curing tires of small unmanned aerial vehicles according to claim 2, characterized in that: The sealing assembly between the water cylinder end cover (7) and the cylinder body (3) comprises two waterproof sealing rings (9) arranged at intervals, the uppermost waterproof sealing ring (9) is provided with a copper sleeve (10) above, and the copper sleeve (10) is provided with a snap spring (11) above which can be clamped on the central shaft (1); wear-resistant rings (12) are arranged between the upper and lower ends of the upper end cover (2) and the central shaft (1), between the sealing protrusion (6a) and the cylinder body (3), between the cylinder piston (3a) and the lower ring water cylinder (6), between the water cylinder end cover (7) and the lower ring water cylinder (6), and between the central shaft piston (1a) and the cylinder body (3).

4. The compact center mechanism for curing the tire of the small unmanned aerial vehicle according to claim 1, characterized in that: The end cover flange shaft (16) and the rotating flange shaft (17) are the same in structure, both comprising a first flange plate (j) for connecting with corresponding parts and a flange rotating shaft (k) for realizing hinging, and the water supply and drainage channels on the end cover flange shaft (16) and the rotating flange shaft (17) are arranged along the axis of the flange rotating shaft (k). The rotating link (13) is provided as an I-shaped structure, and the left and right sides of the upper and lower ends of the rotating link (13) are provided as link rotating sleeves (13a). The middle part of the rotating link (13) is two water supply and drainage channels of the rotating link (13). Each water supply and drainage channel of the link rotating sleeve (13a) is provided with a link water supply and drainage hole (13b). The rotating frame (14) is provided as an I-shaped structure, and the left and right sides of the upper end of the rotating frame (14) are provided as rotating frame rotating shafts (14a) which can be sleeved in the link rotating sleeves (13a). The left and right sides of the lower end of the rotating frame (14) and the left and right sides of the lower end cover (5) are provided with second flange plates (m) which can be fixed with the first flange plates (j). The middle part of the rotating frame (14) is provided as four water supply and drainage channels of the rotating frame (14). The rotating frame rotating shaft (14a) and the flange rotating shaft (k) are provided with at least two flange shaft water supply and drainage holes (n) which are circumferentially spaced apart and correspond to each water supply and drainage channel. The left and right sides of all rotating shafts are further provided with bearings (18). The outer side of the bearing (18) is provided with a bearing retainer (19). The rotating seat (15) includes a lower mounting base (15a). The left and right sides of the mounting base (15a) are provided with rotating seat rotating sleeves (15c) which can be sleeved on the flange rotating shaft (k) through the upwardly extending connecting plates (15b). The rotating seat rotating sleeve (15c) is provided with water supply and drainage pipes (15d) for realizing water supply and drainage of the corresponding water supply and drainage channels. The rotating seat rotating sleeve (15c) is provided with rotating seat water supply and drainage holes (15e) corresponding to each water supply and drainage pipe. The left and right sides of the two link water supply and drainage holes (13b) and the left and right sides of the two rotating seat water supply and drainage holes (15e) are provided with sealing ring positioning grooves (i) for realizing water supply and drainage sealing between the rotating link (13) and the corresponding parts.

5. The compact center mechanism for curing the tire of the small unmanned aerial vehicle according to claim 1, characterized in that: The left and right sides of the upper end of the lower ring water cylinder (6) are downwardly extended and provided with guide sleeves (6d). The left and right sides of the lower end cover (5) are provided with guide column connecting holes (5e). The guide column connecting holes (5e) are provided with guide columns (20). The upper end of the guide column (20) extends into the guide sleeve (6d), and the guide column (20) can move up and down in the guide sleeve (6d).

6. The compact center mechanism for curing the tire of the small unmanned aerial vehicle according to claim 1, characterized in that: The lower end of the lower end cover (5) is provided with a sensor mounting hole (5f) for mounting a displacement sensor. The lower end of the central shaft (1) is provided with a detection block mounting hole (1b) for mounting a detection block which can be detected by the displacement sensor. The lower side of the lower end cover (5) is provided with a sensor cover (21) which can cover the displacement sensor. The lower end of the lower end cover (5) and the upper end of the sensor cover (21) are each provided with a fixed flange. The outer sides of the two fixed flanges are provided with a hoop (22) for fixing the lower end cover (5) and the sensor cover (21). The outer side of the hoop (22) is provided with a hoop pressing plate (23).

7. A control method for a center mechanism for small unmanned aerial vehicle tire vulcanization, characterized by, The method comprises the following steps: S1, in the process of hot-pressing water inflow, calculating a hot-pressing water inflow temperature correction function: wherein m is the number of temperature values per unit time t, T m is the mth temperature value, β t is the temperature correction parameter per unit time t, and ΔT is the change in temperature. S2, multiply the transmission flow rate v of the hot pressing water with the time t according to the temperature correction function, so as to carry out the output correction calculation of the matrix model F according to the temperature adjustment frequency p, wherein, l is the length of the water inlet channel of the central mechanism hot-pressing water, r is the radius of the water inlet channel, and represents the fluctuation of the hot-pressing water, S3, output correction calculation Y(t) = (1+C(t))·F+λ·C(t), λ is the constraint threshold of the correction function; S4, simultaneously acquire the pressure value of the hot pressing water inflow, and calculate the corresponding pressure correction function: Wherein, S is the inflow instantaneous pressure value, η is the instantaneous pressure value correction coefficient, P is the water inlet channel circumference, σ is the constraint factor, r is the water inlet channel radius, a is the steady-state pressure coefficient, and Q is the steady-state pressure value; S5, two functions are put together to calculate the transfer function, so as to comprehensively consider the influence of temperature and pressure on the tire vulcanization process; Transfer function X(t) = k i Y(t) + k j D(t); S6, call the preset temperature proportionality coefficient k i and pressure proportionality coefficient k j The control transfer function output value, calculate the theoretical output value X (t) at the t time.

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