A parallel attitude adjustment system for material alignment in rubber machinery.

Abstract

The application provides a material centering and parallel posture adjusting execution system for a rubber mechanical device, which comprises a first parallel posture adjusting module, a second parallel posture adjusting module, a first visual detection module and a central control module, the first parallel posture adjusting module and the second parallel posture adjusting module are installed below a laminating belt, the first parallel posture adjusting module and the second parallel posture adjusting module are respectively located at the feeding side and the discharging side of the laminating belt, and the first parallel posture adjusting module and the second parallel posture adjusting module are identical in structure; a support is installed above the laminating belt, and the first visual detection module is arranged on the support; and the central control module is in communication connection with the first parallel posture adjusting module, the second parallel posture adjusting module and the first visual detection module respectively. The application can improve the automatic centering precision and production stability of rubber materials.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for rubber machinery and equipment, and in particular to a material alignment and attitude adjustment execution system for rubber machinery and equipment. Background Technology

[0002] In tire manufacturing, rubber machinery is required to complete processes such as material splicing, conveying, and molding. During conveying or stacking, rubber materials often exhibit lateral, longitudinal, height, and angular misalignment. To address these issues, existing material alignment devices primarily employ single-axis servo slide systems or rotary eccentric guide roller structures. However, while single-axis servo slide systems offer high-precision alignment, they suffer from drawbacks such as large inertia and limited dynamic performance (e.g., response speed, or adaptability to different material specifications). Rotary eccentric guide roller structures, on the other hand, can only perform single-angle fine adjustments and struggle to simultaneously correct lateral misalignment. Therefore, current technologies cannot simultaneously improve both the automatic alignment accuracy and production stability of rubber materials. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a material centering and parallel attitude adjustment execution system for rubber machinery equipment, which can improve the automatic centering accuracy and production stability of rubber materials.

[0004] In a first aspect, embodiments of the present invention provide a material alignment and parallel attitude adjustment execution system for rubber machinery, comprising: a first parallel attitude adjustment module, a second parallel attitude adjustment module, a first vision detection module, and a central control module. The first and second parallel attitude adjustment modules are installed below the bonding belt, located on the feed side and discharge side of the bonding belt, respectively. The first and second parallel attitude adjustment modules have the same structure. The first and second moving platforms are capable of lateral movement. A bracket is installed above the bonding belt, and the first vision detection module is mounted on the bracket. The central control module is communicatively connected to the first, second, and first parallel attitude adjustment modules.

[0005] Furthermore, the first parallel attitude adjustment module is used to receive the first control signal, and adjust the attitude of the body through the first control signal to correct the lateral centering position of the bonding tape, thereby controlling the attitude of the material before discharge.

[0006] The second parallel attitude adjustment module is used to receive the second control signal and adjust the attitude of the body through the second control signal to correct the lateral centering position of the bonding tape, thereby controlling the attitude of the material after feeding.

[0007] The first vision detection module is used to acquire material posture images in real time and send the material posture images to the central control module through transmission signals.

[0008] The central control module includes a vision processing unit and a motion control unit. The vision processing unit is electrically connected to the motion control unit. The vision processing unit is used to receive material posture images and process the material posture images through image algorithms to obtain image deviation information. The motion control unit is used to send a second control signal to the second parallel posture adjustment module according to the image deviation information, calculate the first image deviation information according to the second image deviation information, and send a first control signal to the first parallel posture adjustment module based on the first image deviation information.

[0009] Furthermore, the first parallel attitude adjustment module includes a first fixed base, three sets of first servo drive branches, and a first moving platform. The first moving platform is connected to the first fixed base through the first servo drive branches.

[0010] The second parallel attitude adjustment module includes a second fixed base, three sets of second servo drive branches, and a second moving platform. The second servo drive branches are all fixedly installed on the second base plate, and the second moving platform is connected to the second fixed base through the second servo drive branches.

[0011] Furthermore, each first servo drive branch includes a first servo electric cylinder and a first ball joint connector. The first servo electric cylinder is fixedly mounted on the first fixed base, and the lead screw of the first servo electric cylinder is connected to the first moving platform through the first ball joint connector.

[0012] Each set of second servo drive branches includes a second servo electric cylinder and a second ball joint connector. The second servo electric cylinder is fixedly installed on the second fixed base, and the lead screw of the second servo electric cylinder is connected to the second moving platform through the second ball joint connector.

[0013] The first servo electric cylinder can receive the first control signal, and the second servo electric cylinder can receive the second control signal.

[0014] Furthermore, the central control module sends the first control signal and the second control signal to the first parallel attitude adjustment module and the second parallel attitude adjustment module via the Ethernet real-time bus.

[0015] Furthermore, the first image deviation information includes a first deviation angle and a first deviation lateral distance, and the second image deviation information includes a second deviation angle and a second deviation lateral distance. The first image deviation information and the second image deviation information satisfy a synchronization operation logic, the expression of which is:

[0016] ;

[0017] In the formula, The first deviation is the lateral distance. This is the first deviation angle; The second deviation is the lateral distance. The second deviation angle; k1~k4 are manually set control coefficients; This represents the material deviation value.

[0018] The beneficial effects of the embodiments of the present invention are as follows: The present invention aims to provide a multi-degree-of-freedom attitude adjustment actuator that can be directly applied to rubber machinery equipment. Through the parallel drive structure, the spatial movement of the guide component is realized, and the synchronous adjustment of height offset and angle sway is achieved, thereby significantly improving the automatic centering accuracy and production stability of rubber materials.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of a material alignment and parallel attitude adjustment execution system for rubber machinery equipment provided in an embodiment of the present invention;

[0023] Figure 2 A side view of a material alignment and parallel attitude adjustment execution system for rubber machinery equipment provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the first parallel attitude adjustment module of a material alignment parallel attitude adjustment execution system for rubber machinery equipment provided in an embodiment of the present invention;

[0025] Figure 4 A side view of the material discharge side and the discharge end of a material alignment and attitude adjustment execution system for rubber machinery provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram illustrating the angle between the material on the feeding side and the discharge end measured by the second vision detection module of a material alignment and attitude adjustment execution system for rubber machinery equipment, provided in an embodiment of the present invention.

[0027] Figure 6 An enlarged schematic diagram showing the angle between the material on the feeding side and the discharge end measured by the second vision detection module of a material alignment and attitude adjustment execution system for rubber machinery equipment, provided in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram showing the positions of the first deviation angle and the first deviation lateral distance of a material alignment and attitude adjustment execution system for rubber machinery equipment, provided in an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1

[0031] To facilitate understanding of this embodiment, in conjunction with Figures 1-7 This invention provides a detailed description of a material alignment and parallel attitude adjustment execution system for rubber machinery equipment, as disclosed in an embodiment of the present invention.

[0032] This embodiment provides a material alignment parallel attitude adjustment execution system for rubber machinery equipment. In this embodiment, the material alignment parallel attitude adjustment execution system is applied to the bonding belt 4 and the discharge end 5 of the rubber machinery equipment. The discharge end 5 is installed at the front end of the bonding belt 4.

[0033] Based on this, this embodiment provides a material alignment and attitude adjustment execution system for rubber machinery equipment, see [link to relevant documentation]. Figures 1-3 The material alignment parallel attitude adjustment execution system includes a first parallel attitude adjustment module 1, a second parallel attitude adjustment module 2, a first vision detection module 3, and a central control module. The first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 are installed below the bonding belt 4, and are located on the feeding side and the discharging side of the bonding belt 4, respectively. The first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 have the same structure. The first moving platform 13 and the second moving platform can move laterally. A bracket is installed above the bonding belt 4, and the first vision detection module 3 is installed on the bracket. The central control module is communicatively connected to the first parallel attitude adjustment module 1, the second parallel attitude adjustment module 2, and the first vision detection module 3.

[0034] In this embodiment, both the first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 adopt a three-degree-of-freedom parallel attitude adjustment mechanism. The three-degree-of-freedom parallel attitude adjustment mechanism is a 3-RRS type parallel attitude adjustment mechanism.

[0035] In the aforementioned material alignment parallel attitude adjustment system, the first parallel attitude adjustment module 1 receives a first control signal and adjusts the attitude of the body to correct the lateral alignment position of the bonding belt 4, thereby controlling the attitude of the material before discharge. Specifically, the first parallel attitude adjustment module 1 includes a first fixed base 11, three sets of first servo drive branches 12, and a first moving platform 13. The first moving platform 13 is connected to the first fixed base 11 through the first servo drive branches 12.

[0036] The second parallel attitude adjustment module 2 receives the second control signal and adjusts the attitude of the body to correct the lateral centering position of the bonding belt 4, thereby controlling the attitude of the material after feeding. Specifically, the second parallel attitude adjustment module 2 includes a second fixed base, three sets of second servo drive branches, and a second moving platform. The second servo drive branches are all fixedly mounted on the second base plate, and the second moving platform is connected to the second fixed base through the second servo drive branches.

[0037] Furthermore, in the first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2, the first servo drive branch 12 and the second servo drive branch are symmetrically arranged at 120° on the first fixed base 11 and the second fixed base, respectively forming an equilateral triangle structure, so that the first moving platform 13 and the second moving platform each have three independent degrees of freedom of movement.

[0038] Each first servo drive branch 12 includes a first servo electric cylinder and a first ball joint connector. The first servo electric cylinder is fixedly installed on the first fixed base 11, and the lead screw of the first servo electric cylinder is connected to the first moving platform 13 through the first ball joint connector.

[0039] Each set of second servo drive branches includes a second servo electric cylinder and a second ball joint connector. The second servo electric cylinder is fixedly installed on the second fixed base, and the lead screw of the second servo electric cylinder is connected to the second moving platform through the second ball joint connector.

[0040] The first servo cylinder can receive a first control signal, and the second servo cylinder can receive a second control signal. In this embodiment, the first and second servo cylinders are dustproof servo cylinders, capable of adapting to rubber production environments with high temperatures and dust.

[0041] The first vision detection module 3 is used to acquire material posture images in real time and send the material posture images to the central control module via transmission signals. The first vision detection module 3 includes a line scan camera, an LED light source, and a calibration target. The line scan camera is used to capture material posture images in real time, the LED light source is used to assist the line scan camera in capturing material posture images, and the calibration target is used to check the shooting accuracy.

[0042] The central control module includes a vision processing unit and a motion control unit. The vision processing unit is electrically connected to the motion control unit. The vision processing unit is used to receive material posture images and process the material posture images through image algorithms to obtain second image deviation information. The motion control unit is used to send a second control signal to the second parallel posture adjustment module 2 according to the second image deviation information, and calculate the first image deviation information according to the second image deviation information through a synchronous operation logic formula, and send a first control signal to the first parallel posture adjustment module 1 based on the first image deviation information.

[0043] The central control module sends a first control signal and a second control signal to the first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 via the Ethernet real-time bus (EtherCAT).

[0044] Based on this, when the first parallel attitude adjustment module 1 receives the first control signal, or when the second parallel attitude adjustment module 2 receives the second control signal,

[0045] The first parallel attitude adjustment module 1 or the second parallel attitude adjustment module 2 satisfies the inverse kinematics and forward kinematics in the world coordinate system. The world coordinate system refers to the coordinate system established with the center of the discharge end 5 as the origin. By obtaining the inverse kinematics in the world coordinate system, the elongation of the first servo drive branch 12 or the second servo drive branch can be obtained. By obtaining the forward kinematics in the world coordinate system, the retraction of the first servo drive branch 12 or the second servo drive branch can be obtained.

[0046] Taking the inverse kinematics solution of the second servo drive branch in the world coordinate system as an example, the elongation of the second servo drive branch is calculated as follows: The process is as follows:

[0047] Step 101: Establish the connection point between the second servo drive branch and the second mobile platform, i.e., the platform point, whose expression is:

[0048]

[0049] In the formula, This refers to the platform pose of the second moving platform 13, where x is the lateral coordinate of the second moving platform relative to the discharge end 5, and y is the longitudinal coordinate of the second moving platform relative to the discharge end 5. The angle between the centerline of the material on the discharge side and the target centerline in the horizontal direction when the material on the discharge side is tangent to the material on the discharge end 5. The target centerline is the target reference centerline that the symmetrical centerline of the material itself needs to be aligned with when the material is conveyed on the bonding belt 4; i is used to represent each second servo drive branch. ; Let be a rotation matrix, and its expression is:

[0050]

[0051] In this embodiment, the longitudinal position of the target centerline coincides with the central axis of the discharge end 5; the angle between the material centerline on the discharge side and the target centerline can be measured by the second vision detection module 6 installed above the discharge end 5. Figure 4 This is a schematic diagram showing that the material on the discharge side is tangent to the discharge end 5. Figure 5 This is a schematic diagram showing the measurement range of the second vision detection module 6 above the discharge end 5. Figure 6 This is a schematic diagram showing the angle between the material centerline on the discharge side and the target centerline. N L is the target centerline. F This is the centerline of the material on the discharge side.

[0052] Step 102: Establish the connection points, i.e., hinge points, between the second fixed base and the three sets of second servo drive branches. The expression for these hinge points is:

[0053]

[0054] Based on the platform point and the hinge point, the elongation can be calculated, and its expression is as follows:

[0055]

[0056] For each elongation, its expression can be expanded as follows:

[0057]

[0058]

[0059] Taking the calculation of the forward kinematics in the world coordinate system for the second servo drive branch as an example, the retraction amount of the second servo drive branch is obtained based on the platform pose of the second mobile platform. The process of calculating the platform pose of the second mobile platform is as follows:

[0060] Step 201, with the known elongation l i and hinge point D i In this case, the quadratic nonlinear coupling equation of the second servo drive branch is first established, and its expression is:

[0061]

[0062] Step 202: Based on the quadratic nonlinear coupling equation, define the function vector to obtain the following expression:

[0063]

[0064] Step 203: Then, perform numerical iteration using Newton's method to obtain the following expression:

[0065]

[0066] In the formula, It is about Jacobi.

[0067] In this embodiment, when the number of iterations exceeds the limit, or When the numerical iteration ends, These are positional or angular errors. The value for positional error is 1e-6 (unit: m), and the value for angular error is 1e-4 (unit: rad).

[0068] In a preferred embodiment, the first image deviation information includes a first deviation angle and a first deviation lateral distance, and the second image deviation information includes a second deviation angle and a second deviation lateral distance. Furthermore, the first image deviation information and the second image deviation information satisfy a synchronization operation logic, the expression of which is:

[0069]

[0070] In the formula, The first deviation is the lateral distance. This is the first deviation angle; The second deviation is the lateral distance. The second deviation angle; k1~k4 are manually set control coefficients; This represents the material deviation value.

[0071] Among them, the material deviation value is used to compensate for the error between the first image deviation information calculated from the material posture image captured by the first vision detection module 3 and the actual value; the values ​​of k1~k4 are obtained by obtaining their theoretical values ​​through geometric calibration, and then fine-tuning the theoretical values. Specifically, for k1~k... 3， The theoretical value is fine-tuned primarily based on the installation location of the measurement sensors and their relative accuracy; for k 4，Based on the practical experience of on-site staff, the theoretical values ​​obtained were fine-tuned using the small-gain tuning method. During fine-tuning, the control coefficients should ensure that the material converges smoothly, accurately, and without oscillation to the target position during transmission, while guaranteeing the stability and reliability of the entire system. Generally, the reference value ranges for k1 to k4 are as follows: k1 ranges from 0.8 to 1.2; k2 ranges from 0 to 100 (e.g., 0, 50, 100); k3 ranges from 0.8 to 1.3, with a preferred value of 1.0; and k4 ranges from 0.1 to 0.5.

[0072] In this embodiment, the first deviation angle is the deviation angle between the target centerline and the material centerline on the feed side, and the second deviation angle is the deviation angle between the target centerline and the material centerline on the discharge side; the first deviation lateral distance is the lateral distance between the target centerline and the material centerline on the feed side, and the second deviation lateral distance is the lateral distance between the target centerline and the material centerline on the discharge side. Figure 7 This is a schematic diagram showing the positions of the first deviation angle and the first deviation lateral distance. Figure 7 In the diagram, M represents the actual material outline on the feed side, N represents the target material outline, and L represents the material outline on the feed side. M L represents the actual material centerline on the feed side. N The target centerline.

[0073] Based on the above, the positions of the first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 relative to the discharge end 5 can be calculated using the first image deviation information and the second image deviation information. Then, the attitudes of the first parallel attitude adjustment module 1 and the second parallel attitude adjustment module 2 can be adjusted, including adjusting the elongation and retraction of the first servo drive branch 12 and the second servo drive branch.

[0074] Based on the above, the working principle of the material alignment parallel attitude adjustment execution system provided in this embodiment is as follows:

[0075] The material is placed on the feed side of the bonding belt 4. At this time, the first vision detection module 3 captures an image of the material's posture and sends the image to the vision processing unit of the central control module via a transmission signal. After receiving the image, the vision processing unit processes the image using an image algorithm to obtain the second image deviation information.

[0076] The motion control module sends a second control signal to the second parallel posture adjustment module 2 based on the second image deviation information. After receiving the second control signal, the second parallel posture adjustment module 2 adjusts the posture of the body to correct the lateral centering position of the bonding belt 4, thereby controlling the posture of the material after feeding.

[0077] After the second parallel posture adjustment module 2 adjusts the body posture, the material continues to be transported on the bonding belt 4. At this time, the motion control module calculates the first image deviation information based on the second image deviation information and sends a first control signal to the first parallel posture adjustment module 1 based on the first image deviation information. After receiving the first control signal, the first parallel posture adjustment module 1 adjusts the posture of the body to correct the lateral centering position of the bonding belt 4, thereby controlling the posture of the material before discharge, and finally enabling the material to be transported on the bonding belt 4 to the discharge end 5.

[0078] In summary, the material alignment and attitude adjustment execution system provided in this embodiment can bring the following technical effects:

[0079] The aforementioned material alignment parallel attitude adjustment system achieves closed-loop coordinated control of "discharge side guidance" and "infeed side correction" through a dual-end three-degree-of-freedom parallel attitude adjustment mechanism, enabling six-degree-of-freedom composite alignment of materials during bonding belt transport. This system boasts high structural rigidity, fast dynamic response, and can operate within a lateral displacement range of ±30mm and an angle compensation range of ±3°, with a repeatability accuracy better than ±0.05mm. Specifically, for flexible materials such as tire treads, it effectively solves the problems of uneven tension and lateral deviation; for rigid materials such as belt layers, it effectively eliminates residual stress, ensuring stable material posture, controllable deviation, and high bonding accuracy throughout the bonding process, thereby significantly improving the automation level and product quality of rubber machinery.

[0080] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0081] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A material centering and parallel pose execution system for rubber machinery equipment, characterized by, The application relates to a material posture adjusting device, which comprises a first parallel posture adjusting module (1), a second parallel posture adjusting module (2), a first visual detection module (3) and a central control module, wherein the first parallel posture adjusting module (1) and the second parallel posture adjusting module (2) are installed below a laminating belt (4), the first parallel posture adjusting module (1) and the second parallel posture adjusting module (2) are respectively located on the feeding side and the discharging side of the laminating belt (4), the first parallel posture adjusting module (1) and the second parallel posture adjusting module (2) have the same structure, the first mobile platform (13) and the second mobile platform can move horizontally, a support is installed above the laminating belt (4), the first visual detection module (3) is arranged on the support, and the central control module is in communication connection with the first parallel posture adjusting module (1), the second parallel posture adjusting module (2) and the first visual detection module (3). The first parallel posture adjusting module (1) is used for receiving a first control signal, adjusting the posture of the body through the first control signal to correct the horizontal centering position of the laminating belt (4), and then controlling the posture of the material before discharging. The second parallel posture adjusting module (2) is used for receiving a second control signal, adjusting the posture of the body through the second control signal to correct the horizontal centering position of the laminating belt (4), and then controlling the posture of the material after feeding. The first visual detection module (3) is used for acquiring the material posture image in real time and sending the material posture image to the central control module through a transmission signal. The central control module comprises a visual processing unit and a motion control unit, the visual processing unit is electrically connected with the motion control unit, the visual processing unit is used for receiving the material posture image, processing the material posture image through an image algorithm to obtain image deviation information, the motion control unit is used for sending the second control signal to the second parallel posture adjusting module (2) according to the image deviation information, calculating the first image deviation information according to the second image deviation information, and sending the first control signal to the first parallel posture adjusting module (1) based on the first image deviation information. The first parallel posture adjusting module (1) comprises a first fixed base (11), three groups of first servo drive branch chains (12) and a first mobile platform (13), the first mobile platform (13) is connected with the first fixed base (11) through the first servo drive branch chains (12).

2. A material centering and co-aligning system for a rubber machinery according to claim 1, characterized in that, The second parallel posture adjusting module (2) comprises a second fixed base, three groups of second servo drive branch chains and a second mobile platform, the second servo drive branch chains are fixedly installed on the second bottom plate, and the second mobile platform is connected with the second fixed base through the second servo drive branch chains. Each group of first servo drive branch chains (12) comprises a first servo cylinder and a first spherical hinge connecting head, the first servo cylinder is fixedly installed on the first fixed base, and the lead screw of the first servo cylinder is connected with the first mobile platform (13) through the first spherical hinge connecting head.

3. A material centering and co-aligning system for a rubber machinery apparatus as claimed in claim 2, wherein, Each group of second servo drive branch chains comprises a second servo cylinder and a second spherical hinge connecting head, the second servo cylinder is fixedly installed on the second fixed base, and the lead screw of the second servo cylinder is connected with the second mobile platform through the second spherical hinge connecting head. The first servo cylinder can receive the first control signal, and the second servo cylinder can receive the second control signal. ​ 4. A material centering and co-aligning system for rubber machinery equipment as claimed in claim 1, wherein, The central control module sends a first control signal and a second control signal to the first parallel posture adjustment module (1) and the second parallel posture adjustment module (2) through an Ethernet real-time bus.

5. A material centering and co- alignment system for rubber machinery as claimed in claim 1, wherein, The first image deviation information includes a first deviation angle and a first deviation transverse distance, the second image deviation information includes a second deviation angle and a second deviation transverse distance, and the first image deviation information and the second image deviation information satisfy a synchronous operation logic, and an expression of the synchronous operation logic is: ； In the formula, is a first deviation lateral distance, is a first deviation angle; is a second deviation lateral distance, is a second deviation angle; k 1 ~ k 4 is a control coefficient set artificially; is a material deviation value.

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