Multi-station cooperative rotation control method for three-cord joint position

Abstract

The application discloses a kind of three curtain fabric joint position multi-station collaborative rotation control methods, comprising: obtaining the circumferential angle of three curtain fabric joints on current forming piece, determine the target rotation angle of the overall circumferential position of the three curtain fabric joints;The target rotation angle is distributed to the previous station, and the previous station executes the first rotation angle within its rotation allowable range and feeds back actual rotation angle;According to the difference between the target rotation angle and the actual rotation angle, determine the compensation rotation angle of the next station;When the forming piece turns into the next station, according to the compensation rotation angle, the next station is rotated.The application can determine the compensation rotation amount of the next station according to the actual rotation result of the previous station, so that the overall circumferential position of multiple joints is continuously adjusted between the previous and next stations based on the same target rotation angle, and the consistency of multi-station rotation control is improved.

Description

Technical Field

[0001] This invention relates to the field of tire forming control technology, specifically to a multi-station collaborative rotation control method for the position of a three-cord fabric joint. Background Technology

[0002] During tire forming, semi-finished components such as the carcass ply, inner liner, sidewall, belt layer, and tread need to be sequentially bonded to the forming drum or tire carcass. Material joints or forming joints are formed during the cutting, bonding, and overlapping of these semi-finished components. These joint areas typically exhibit material overlap and localized thickness variations. When multiple joints are improperly distributed along the tire's circumference, it can easily lead to uneven distribution of mass and stiffness in the tire's circumferential direction, thereby affecting the tire's static imbalance, dynamic imbalance, and uniformity indicators.

[0003] Existing technologies already contain control schemes for the circumferential distribution of tire joints. For example, patent CN114571766B discloses a method for dispersing joints in radial passenger car tires, which calculates the angle between adjacent joints based on the positions of the cord material joints and the forming joints, and determines the position of the forming joints of subsequent semi-finished parts accordingly. Another example is patent CN121989486A, which discloses a method for improving tire sidewall depression by superimposing sidewall joints and cord joints, which obtains the center angle of the cord joint and the center angle of the sidewall joint based on circumferential angular coordinates, and achieves joint position control by compensating for the rotation angle of the forming drum or the starting angle of the sidewall adhesive bonding.

[0004] However, when the above-mentioned existing technology is applied to the molding scenario where three fabric joints are formed in the same fabric layer, the following problems still exist: (1) Existing joint dispersion schemes are mainly aimed at the circumferential misalignment between joints of different semi-finished parts. They are usually arranged according to the angular relationship between adjacent joints or the mating position of subsequent joints, which makes it difficult to meet the requirements of actual distribution control of three joints in the same fabric layer. (2) Existing joint angle compensation schemes mostly use the center angle of a single joint or the relative angle between two joints as the control basis, which is difficult to apply to complex scenarios where three joints participate in rotation control. (3) Most of the existing methods for joint misalignment or angle compensation are completed in a single workstation, or each workstation performs rotation according to a preset angle, which makes it difficult to ensure the consistency of the three joints in the angle adjustment of the front and rear workstations.

[0005] Therefore, there is an urgent need for a multi-station collaborative rotation control method suitable for the three-cord fabric joint forming scenario, so that the actual circumferential position of the three cord fabric joints can be used as a unified control basis to participate in the continuous angle adjustment of the front and rear stations, so as to improve the tire uniformity in the three-cord fabric joint scenario. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the purpose of this invention is to provide a multi-station collaborative rotation control method for three fabric joint positions, so as to solve the problem that the existing joint position control method is difficult to form a unified rotation control basis based on the actual circumferential distribution of three fabric joints in the same fabric layer, and the problem that the angle adjustment connection is insufficient when the front and rear stations perform rotation according to preset angles respectively.

[0007] To achieve the above objectives, the present invention provides a multi-station coordinated rotation control method for the three-curtain fabric joint position, comprising: Obtain the circumferential angles of three fabric joints on the current molded part, and determine the target rotation angles that characterize the overall circumferential position of the three fabric joints. The target rotation angle is assigned to the previous station, which then executes the first rotation angle within its allowable rotation range and feeds back the actual rotation angle. The compensation rotation angle for the next station is determined based on the difference between the target rotation angle and the actual rotation angle. When the molded part is transferred to the next station, the next station performs rotation according to the compensated rotation angle.

[0008] This invention first obtains the circumferential angles of three fabric joints on the current molded part, and determines a unified target rotation angle based on these angles. This allows the actual circumferential distribution of the three fabric joints to be treated as a whole for rotation control, rather than using the angle relationship between a single fabric joint or any two fabric joints as independent control criteria. After determining the target rotation angle, it is assigned to the previous workstation. Considering that the previous workstation has a corresponding allowable rotation range, it executes a first rotation angle within this range and provides feedback on the actual rotation angle after execution. The actual rotation angle represents the actual rotation amount completed by the previous workstation for the target rotation angle. Based on the difference between the target rotation angle and the actual rotation angle, a compensation rotation angle is determined for the next workstation. When the current molded part moves from the previous workstation to the next workstation, the next workstation continues to rotate according to the compensation rotation angle, ensuring that the rotation amounts of both the previous and next workstations correspond to the target rotation angle determined based on the overall circumferential position of the three fabric joints.

[0009] Beneficial Effects: Compared with existing technologies, this invention determines a unified target rotation angle based on the circumferential angles of the three cord fabric joints on the current molded part, allowing the three cord fabric joints to participate in rotation control as a whole. This avoids angle adjustments based solely on the local positional relationship between a single cord fabric joint or two cord fabric joints. The target rotation angle is allocated to the previous workstation, and the compensation rotation angle for the next workstation is determined based on the actual rotation angle after the previous workstation's execution. This ensures that the rotation amount of the next workstation matches the actual completion amount of the previous workstation, reducing redundant adjustments, insufficient compensation, or over-compensation caused by the previous and subsequent workstations executing according to preset angles. Therefore, the previous and subsequent workstations can continuously complete the overall position adjustment of the three cord fabric joints based on the same target rotation angle, improving the consistency of cross-workstation rotation control and contributing to improved tire circumferential mass distribution and tire uniformity. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0011] Figure 1 A flowchart of a multi-station coordinated rotation control method for the three-curtain fabric joint position provided in an embodiment of the present invention; Figure 2 A schematic diagram showing the circumferential distance and circumferential angle of three fabric joints relative to a reference position, provided in an embodiment of the present invention. Figure 3 A schematic diagram showing the maximum adjacent interval, joint angle range, and circumferential center angle of three fabric joints provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of production record and cross-workstation reading provided in an embodiment of the present invention. Detailed Implementation

[0012] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0013] like Figure 1 As shown, this embodiment provides a multi-station collaborative rotation control method for three cord fabric joint positions. This method is applied in the tire forming process, and is especially suitable for scenarios where three cord fabric joints are formed in the same cord fabric layer due to cord fabric length, tire specifications or forming process limitations.

[0014] It should be noted that, in this embodiment, the currently formed part refers to the work-in-process component that carries the position control of three cord joints during the tire forming process. This includes the carcass assembly at the previous station, the semi-finished carcass after cord laying, and the tire blank after being transferred to the next station. The previous station is used to complete cord laying, joint detection, and initial rotation control, while the next station is used to receive the currently formed part and continue performing rotation control. In one specific embodiment, the previous station corresponds to the KM station, and the next station corresponds to the PU station. However, the names of the previous and next stations are not limited to the specific names mentioned above. As long as the two stations respectively undertake the functions of front cord joint detection and subsequent rotation adjustment, the multi-station collaborative rotation control method of this embodiment can be applied.

[0015] In this embodiment, the reference position of the previous workstation As the coordinates of the circumference of the forming drum The location is determined, and the circumferential angle is increased in the direction of a preset circumferential direction. The circumferential angles of the three fabric joints are... , and All of these indicate the position of the corresponding fabric joint relative to the reference position. The absolute circumferential angle.

[0016] S1. Obtain the circumferential angles of the three fabric joints on the current molded part, and determine the target rotation angle that characterizes the overall circumferential position of the three fabric joints. This step is used to obtain the circumferential angles of the three fabric joints on the current molded part, and to form a unified positional representation that reflects the overall circumferential distribution of the three fabric joints based on the circumferential angles of the three fabric joints, thereby determining the target rotation angle that needs to be performed on the current molded part. Specifically, first, the circumferential angle sequence of the three fabric joints is obtained and the circumferential central angle is calculated, and then the target rotation angle is determined based on the target angle offset of the circumferential central angle relative to the target joint angle.

[0017] In this embodiment, step S1 includes the following steps: S11. Obtain the circumferential angle sequence of the three curtain joints, and calculate the central angle of the circumferential angle sequence to obtain the circumferential central angle. This step first determines the joint detection position relative to the reference position of the previous station based on the rotation position of the forming drum when the fabric joint passes the preset detection position. The circumferential distance is then determined by combining the circumferential parameters of the forming drum with the fabric width parameters corresponding to the current forming part specifications. This determines the circumferential angles of the three fabric joints and forms a circumferential angle sequence.

[0018] In this embodiment, the reference position of the previous workstation As the coordinates of the circumference of the forming drum The position is determined, and the circumferential angle increases in the preset circumferential direction. After one revolution, the forming drum returns to the reference position of the previous station. Therefore, in circular coordinates and Corresponding to the same physical location. The reference position B of the previous workstation serves as the common calculation reference for the circumferential distance and circumferential angle of the three fabric joints.

[0019] During the fabric installation process, the fabric thickness signal is acquired. When the fabric thickness signal reaches the joint determination threshold and continuously meets the preset sampling conditions, it is determined that the first fabric joint has passed the preset detection position, and the forming drum angle value, circumferential displacement value, or encoder pulse value corresponding to that moment is acquired. Based on the forming drum angle value, circumferential displacement value, or encoder pulse value, the position of the first fabric joint relative to the previous station reference position is determined. Circumferential distance Specifically, when the obtained value is a circumferential displacement, the circumferential displacement value is defined as the distance in the circumferential direction. When the obtained value is the forming drum angle or encoder pulse value, it is converted by combining the forming drum circumferential parameters to obtain the circumferential distance. .

[0020] It should be noted that the fabric thickness signal is used to determine the moment when the first fabric joint passes the preset detection position, and the circumferential distance. The change in fabric thickness is determined based on the rotational position of the forming drum at that moment, and is not included in the circumferential angle calculation.

[0021] Obtain the corresponding molding formula based on the specification number of the current molded part. The molding formula includes the circumference length of the molding drum. and curtain width parameters and .in, This indicates the effective coverage size of the first bonding section of the curtain when it is in the bonded and unfolded state. This indicates the effective coverage size of the second bonding section of the curtain when it is in the bonded and unfolded state.

[0022] Determine the circumferential distance corresponding to the first fabric joint. Then, based on the curtain width parameter and The positions of the second and third fabric joints relative to the reference position of the previous workstation are determined sequentially. The circumferential distance. Specifically, the circumferential distances corresponding to the three fabric joints are:

[0023]

[0024]

[0025] In the formula, , and These represent the positions of the first, second, and third fabric joints relative to the reference position of the previous workstation. The circumferential distance. Then, the circumferential distances corresponding to the three fabric joints are converted into circumferential angles:

[0026]

[0027]

[0028] Furthermore, the circumferential angles of the three fabric joints are expressed as follows:

[0029]

[0030]

[0031] In the formula, , and These represent the positions of the three fabric joints relative to the reference position of the previous workstation. Circumferential angle; This indicates the position of the first fabric joint relative to the reference position of the previous workstation. Circumferential distance; This represents the normalized function for circumferential angles, which normalizes the angles by... Addition and subtraction Multiples of integers cause the normalization result to fall into the range. Within the range.

[0032] It should be noted that the location of the first curtain joint is circumferentially spaced... Once confirmed, and Used to sequentially determine the circumferential distance corresponding to the second fabric splice. And the circumferential distance corresponding to the third curtain joint The remaining circumferential segment between the third fabric joint and the first fabric joint is the length of the circumference of the forming drum. Closure formation.

[0033] like Figure 2 As shown, the first curtain joint Relative to the reference position of the previous workstation The circumferential distance is The second curtain joint and the third curtain joint Based on the curtain width parameter and The effective coverage size of the corresponding bonding segment is determined recursively. Among them, , and All based on the previous workstation position corresponding The rays, acting as the starting rays, terminate at the first fabric joint. The second curtain joint and the third curtain joint .therefore, , and This indicates the three fabric joints relative to the reference position. The absolute circumferential angle, not the angular increment between adjacent fabric joints.

[0034] Therefore, according to the arrangement order of the three fabric joints on the circumference of the forming drum, the... , and The results are summarized to form the circumferential angle sequence corresponding to the current molded part. :

[0035] In the formula, This represents the circumferential angle sequence of the three fabric joints on the current molded part.

[0036] It should be noted that in the circumferential angle sequence , and Instead of three independent rotational control targets, they are used to jointly characterize the actual circumferential distribution of three fabric joints on the current molded part.

[0037] After forming the circumferential angle sequence, the central angle of the circumferential angle sequence is calculated according to the method described in S111 to obtain the circumferential central angle of the three curtain joints.

[0038] S111. Take the circumferential arc segment corresponding to the largest adjacent interval of the three curtain joints on the circumference as the exclusion area, and take the midpoint of the remaining circumferential arc segment as the circumferential central angle. This step further defines the method for calculating the central angle in S11. Specifically, it involves determining the maximum adjacent interval between two adjacent fabric joints on the circumference, using the circumferential arc segment corresponding to this maximum adjacent interval as the exclusion area, and using the midpoint of the remaining arc segment on the circumference excluding the exclusion area as the circumferential central angle.

[0039] When the three curtain joints are distributed in When the three fabric joints are located on both sides, directly determining their distribution range based on the ordinary difference between the minimum and maximum circumferential angles might misidentify the three actually concentrated joints as spanning a large circumferential area. Therefore, by comparing the circumferential adjacent intervals between the three fabric joints, the maximum circumferential arc segment excluding the three joints is determined. After excluding the circumferential arc segment corresponding to the maximum adjacent interval, the remaining circumferential arc segment is a continuous arc segment covering the three fabric joints along a predetermined circumferential direction. Taking the midpoint of the remaining circumferential arc segment as the circumferential central angle avoids the three fabric joints being distributed in a specific area. When the position is on both sides, the problem of circular period boundary caused by directly calculating based on the minimum and maximum circumferential angles.

[0040] Specifically, the circumferential angle sequence In , and Arrange the angles in ascending order to obtain the sorted angles. , and The sorting is only used to calculate the interval between adjacent circles and does not change the... , and The correspondence between the three curtain joints is established. The circumferential interval and span between adjacent sorting angles are calculated respectively. The first and last adjacent intervals formed by the positions:

[0041]

[0042]

[0043] In the formula, , and These represent the angular intervals between two adjacent fabric joints along the circumference. Represents the maximum sorting angle With minimum sorting angle Crossing between The first and last adjacent positions are spaced apart. , and The maximum value in is determined as the maximum adjacent interval. ,Right now:

[0044] Maximum adjacent interval The corresponding circumferential arc segment is defined as the exclusion area. The remaining arc segments on the circumference, excluding the exclusion area, represent the joint angle range covering the three fabric joints. Let the angle span of the remaining circumferential arc segments be... ,but:

[0045] In the formula, It represents the angular span of the remaining arc segment of the circle.

[0046] Subsequently, the endpoint of the maximum adjacent interval along the preset circumferential direction is taken as the starting point of the remaining arc segment of the circle, and the circumferential angle corresponding to this starting point is denoted as... Taking the midpoint of the remaining arc segment along the predetermined circumferential direction as the circumferential central angle, then:

[0047] In the formula, Indicates the circumferential center angle of the three fabric joints; This indicates the starting angle of the remaining arc segment of the circle.

[0048] To facilitate the explanation of the specific process of determining the maximum adjacent interval, the remaining arc segment of the circle, and the circumferential central angle based on the aforementioned circumferential angle sequence, the following is combined with... Figure 3 The example shown illustrates this. Let the circumferential angles of the three fabric joints be 300°, 30°, and 80° respectively (i.e.: , , Arrange the circumferential angles in ascending order of their values ​​to obtain: , , Based on the three sorted circumferential angles, calculate the angular interval and span between adjacent sorted angles. The first and last adjacent intervals of the position:

[0049]

[0050]

[0051] In the above three circumferential intervals, Maximum, that is This indicates that the largest adjacent interval corresponds to to The circular arc segments between these points constitute the exclusion zone. The remaining arc segments on the circumference, excluding this exclusion zone, constitute the starting point. Crossing along the preset circumference Location extended to The circumferential arc segment. Therefore, the angular span of the remaining circumferential arc segment is:

[0052] The starting angle of the remaining arc segment of the circumference for Therefore, the circumferential central angle is:

[0053] It should be noted that, This represents the starting angle of the remaining arc segment along the preset circumferential direction, not the angle with the smallest value after sorting. In this embodiment, the remaining arc segment is the angle starting from... Crossing along the preset circumference Location extended to The circumferential arc segment, therefore, the starting angle of the remaining circumferential arc segment is... ,Right now .

[0054] Therefore, when the three curtain joints are distributed in When the position is on both sides, the remaining circumferential arc segment covering the three curtain joints is determined by excluding the circumferential arc segment corresponding to the largest adjacent interval, and the midpoint of the remaining circumferential arc segment is determined as the circumferential center angle.

[0055] S12. Determine the target rotation angle based on the target angle offset of the circumferential center angle relative to the target joint angle; After obtaining the circumferential center angle representing the overall circumferential position of the three fabric joints through S11, the circumferential center angle is compared with the target joint angle. The target rotation angle to be performed on the current molded part is determined based on the target angle offset between the two. The target joint angle is determined based on the preset target joint angle corresponding to the current molded part specification, or based on the offset angle between the target joint position of the subsequent semi-finished part and the preset joint.

[0056] In one embodiment, a target joint angle corresponding to the specification number of the current molded part is obtained. The target joint angle is denoted as... This indicates the desired circumferential angle position of the three fabric joints during subsequent molding. In another embodiment, the target joint angle is determined based on the target joint position of the subsequent semi-finished product and a preset joint offset angle, ensuring that the overall circumferential position of the three fabric joints maintains a preset circumferential offset relationship with the joints of the subsequent semi-finished product. The target joint angle... With the central angle of the circumference The same circumferential coordinate reference and angle increase direction are used to ensure that the two can be compared in the same angular direction.

[0057] S121. Calculate the target angle offset between the circumferential center angle and the target joint angle; Determining the target joint angle Then, move the circumferential center angle Angle with target joint A circumferential comparison is performed to obtain the target angular offset between the two. This target angular offset represents the degree of deviation of the overall position of the three fabric joints relative to the target joint angle. Represented as:

[0058] In the formula, Indicates the target joint angle Relative to the circumferential central angle The target angle offset. Wherein, the target angle offset... The positive and negative signs are used to indicate the rotation direction corresponding to the adjustment of the circumferential center angle towards the target joint angle.

[0059] Since both the circumferential central angle and the target joint angle are circumferential angles, when they are distributed in... When the target angle is at opposite sides, the target angle offset obtained by direct subtraction may have a large absolute value, but the actual required circumferential rotation may be small. Therefore, it is necessary to normalize the target angle offset with a directional circumferential angle according to S122.

[0060] S122, Normalize the target angle offset to Within the range, the rotation angle of the target is obtained; This embodiment is described above. Based on the function, a directional circular angle normalization function is introduced. Used to offset the target angle Normalization to Within the range.

[0061] The normalized function for the directional circumferential angle is expressed as:

[0062] In the formula, This indicates that the angle is normalized to... The normalized function for circumferential angles within the range; This indicates that the angle is normalized to... A normalized function for directional circular angles within a given range.

[0063] It should be noted that, through The function can avoid the circumferential central angle Angle with target joint Distributed in When positioned on both sides, the smaller actual rotation angle is miscalculated as a larger reverse angle.

[0064] Normalized target angle offset The target rotation angle is determined. Then the target rotation angle Represented as:

[0065] In the formula, This indicates the target rotation angle required to adjust the current overall circumferential position of the molded part from the current position of the three fabric joints to the target joint angle. The target rotation angle is... The absolute value of represents the amount of rotation, and its positive or negative sign is used to distinguish opposite directions of rotation.

[0066] To illustrate the specific process of determining the target rotation angle based on the target angle offset, the following sections discuss the distribution of the circumferential center angle and the target joint angle in areas not covered by the target angle offset. The two sides of the position, and their distribution in The situation on both sides of the position will be explained.

[0067] The circumferential center angle and the target joint angle are not distributed in In the case of positions on both sides, for example, if the circumferential central angle for Target joint angle for Then the target angle offset for Therefore, the corresponding target rotation angle is:

[0068] Among them, target angle offset Already in Within this range, the value remains unchanged after normalization of the circumferential angle along the belt direction. This result indicates that the current molded part needs to be rotated in the positive direction. This adjusts the overall circumferential position of the three fabric joints to the position corresponding to the target joint angle.

[0069] Furthermore, when the circumferential central angle and the target joint angle are distributed in... When the target angle offset is located on both sides, the direct subtraction may result in a large absolute value. Therefore, it is necessary to determine the smaller directional rotation amount to be used by normalizing the circumferential angle with direction. For example, if the circumferential center angle... for Target joint angle for The target angle offset is obtained by directly subtracting the two. for Due to the circumferential central angle and target joint angle Distributed in Position on both sides, directly adopted While rotation angles can achieve the same circumferential position, their absolute value is large, which does not conform to the small directional rotation relationship in the circumferential direction. Therefore, the target angle offset... Normalizing the circumferential angles with direction, we get:

[0070] in, and At the corresponding termination positions on the circumference, after normalization of the circumferential angles in the direction of the belt, Convert to a positive form with a smaller absolute value This result indicates that the currently formed part is rotating in the positive direction. This allows the overall circumferential position of the three fabric joints to be adjusted to the position corresponding to the target joint angle.

[0071] Therefore, regardless of whether the circumferential central angle and the target joint angle are distributed in... Both sides of the position can be normalized by the directional circumferential angle to obtain the position located at The target rotation angle within the range.

[0072] S1 converts the actual circumferential distribution of the three fabric joints into a unified target rotation angle. The target rotation angle serves as the input for the rotation control executed by the previous station in S2.

[0073] S2. The target rotation angle is assigned to the previous station, and the previous station performs the first rotation angle within its rotation allowable range and feeds back the actual rotation angle. The target rotation angle obtained through S1 This indicates the total rotational adjustment required for the current molded part based on the overall circumferential position of the three fabric joints. Since the current molded part is still at the previous station when the target rotation angle is determined, the target rotation angle is first assigned to the previous station, which then utilizes its operable rotational capabilities to complete at least a portion of the rotational adjustment. However, the target rotation angle... This refers to the total rotation adjustment amount determined for the current molded part, and does not guarantee that the previous station can independently complete the entire rotation amount under the current molding state. The previous station may be limited by the current molded part's support state, clamping state, process position, and transfer requirements. Therefore, it is necessary to determine the first rotation angle that can be executed in this operation based on the previous station's allowable rotation range. .

[0074] Obtain the allowable rotation range corresponding to the previous workstation. The allowable rotation range of the previous workstation is predetermined based on the allowable rotation range of the equipment at the previous workstation and the current forming state. Let the allowable rotation range be... ,in, This indicates the minimum rotation angle allowed to be executed at the previous workstation. This indicates the maximum allowable rotation angle at the previous workstation. The allowable rotation range uses the same positive and negative directional convention as the target rotation angle. Positive and negative angles represent opposite rotation directions, and the allowable rotation range defines the range of rotation angles that the previous workstation can execute in the corresponding direction.

[0075] In this embodiment, step S2 includes the following steps: S21. When the target rotation angle is within the rotation allowable range, the target rotation angle is taken as the first rotation angle; When the target rotates at an angle satisfy:

[0076] When this is the case, it indicates that the allowable rotation range of the previous station can cover the entire target rotation amount required for the current forming part. Therefore, the target rotation angle is... Directly determined as the first rotation angle :

[0077] Using the above method, there is no need to pre-divide the target rotation angle into two fixed rotation amounts. Instead, the previous station where the current part is located prioritizes completing the rotation adjustment within its allowable range. When the target rotation angle is within the allowable rotation range, the first rotation angle is the same as the target rotation angle. From the command perspective, the previous station can complete the entire target rotation amount; however, the actual rotation amount completed by the previous station still needs to be based on the actual rotation angle obtained in S23. Confirmed. That is to say, even... It cannot be directly assumed that the compensation rotation angle of the subsequent workstation is... It is still necessary to determine whether there is any unfinished rotation based on the actual rotation results of the previous station.

[0078] S22. When the target rotation angle exceeds the rotation allowable range, the boundary angle within the rotation allowable range that is consistent with the direction of the target rotation angle is determined as the first rotation angle. When the target rotates at an angle When the rotation exceeds the allowable range of the previous station, it indicates that the previous station cannot independently complete the full target rotation amount required for the current part being formed. In this case, without changing the rotation direction indicated by the target rotation angle, the previous station performs the maximum rotation amount that it can complete within its allowable range in the same rotation direction. Therefore, the boundary angle in the allowable rotation range that is consistent with the direction of the target rotation angle is determined as the first rotation angle.

[0079] Specifically, when the target rotation angle The maximum boundary angle greater than the allowable rotation range hour:

[0080] When the target rotates at an angle Minimum boundary angle less than the allowable rotation range hour:

[0081] Combining step S21, the first rotation angle The limiting relationship is expressed as:

[0082] The aforementioned limiting relationship ensures that the first rotation angle always remains within the allowable rotation range of the previous station, while also maintaining consistency between the rotation direction of the previous station and the rotation direction indicated by the target rotation angle. This prevents the previous station from rotating in the opposite direction first, which would increase the compensation amount for the subsequent station. To facilitate the explanation of the process for determining the first rotation angle when the target rotation angle exceeds the allowable rotation range of the previous station, specific numerical values ​​are used for illustration below.

[0083] For example, the target rotation angle for The allowable rotation range of the previous workstation is Due to the target rotation angle The maximum boundary angle greater than the allowable rotation range Therefore, the maximum boundary angle that is consistent with the direction of the target rotation angle is determined as the first rotation angle, i.e. .

[0084] This result indicates that the current molded part requires a total rotation in the positive direction. However, the previous station can only execute in the forward direction at most within the current allowable rotation range. Therefore, first As the rotation command angle of the previous station, the rotation amount not completed by the previous station is compensated by the next station.

[0085] It should be noted that the first rotation angle This is the rotation command angle received by the previous workstation based on its own allowable rotation range. When the target rotation angle exceeds the allowable rotation range, the first rotation angle... Rotation angle relative to the target They are not equal.

[0086] However, the rotational amount that needs to be compensated for at the next workstation cannot be directly calculated according to... Calculate the first rotation angle. This only indicates the rotation command received at the previous workstation; the actual rotation amount performed by the previous workstation may deviate from the angle specified in the rotation command. Therefore, it is also necessary to obtain the actual rotation angle after execution by the previous workstation according to step S23. .

[0087] S23. The actual rotation angle is determined based on the encoder feedback value, servo drive feedback value, or rotation execution value recorded by the programmable controller of the previous station.

[0088] The previous station according to the first rotation angle After rotation is executed, the actual rotation angle is determined based on the encoder feedback value, servo drive feedback value, or rotation execution value recorded by the programmable controller from the previous station. .

[0089] Specifically, the feedback positions before and after the previous station's rotation are obtained, and the actual rotation angle corresponding to this rotation is determined based on the directional angular change between the feedback positions before and after the rotation. .

[0090] The actual rotation angle and the target rotation angle are defined by the same rotation direction. Used to indicate the previous station's rotation angle relative to the first rotation angle. The actual amount of directional rotation completed. First rotation angle. Compared with the actual rotation angle These represent the rotation command amount and the actual rotation amount completed, respectively. For example, the first rotation angle received by the current workstation. for However, the actual feedback result after the rotation was completed was At that time, the actual rotation amount completed by the previous station should be determined as follows: Instead .

[0091] Therefore, the actual rotation angle is used. Including the calculation of the compensation rotation angle for the next workstation allows the instruction execution deviation from the previous workstation to be included in the remaining rotation amount, avoiding direct calculation based on the first rotation angle. The calculation may result in insufficient or excessive compensation.

[0092] The target rotation angle is determined by S2. Assigned as the first rotation angle that the previous station can execute The actual rotation angle is obtained based on the feedback results from the previous workstation. Based on this, S3 further adjusts the parameters according to the target rotation angle. Compared with the actual rotation angle The difference between the values ​​determines the compensation rotation angle that needs to be performed at the next workstation.

[0093] S3. Determine the compensation rotation angle of the next station based on the difference between the target rotation angle and the actual rotation angle. The rotation angle of the previous station relative to the target has been determined using S2. Actual rotation amount completed Due to the target rotation angle This indicates the total amount of rotational adjustment required for the current molded part based on the overall circumferential position of the three fabric joints, while the actual rotation angle... This indicates the actual amount of rotation completed at the previous station. Therefore, the difference between the two can represent the amount of rotation that has not yet been completed before the current part is transferred to the next station.

[0094] This step does not use the target rotation angle. With the first rotation angle The difference between them determines the compensation rotation angle because the first rotation angle The rotation angle received from the previous workstation does not fully represent the actual execution result of that workstation. By using the actual rotation angle... By participating in the difference calculation, the possible rotational execution deviations of the previous station can be included in the compensation amount of the subsequent station.

[0095] In this embodiment, step S3 includes the following steps: S31. Calculate the difference between the target rotation angle and the actual rotation angle; After obtaining the target rotation angle The actual rotation angle of the previous station Then, calculate the difference between the two:

[0096] In the formula, This indicates the amount of directional rotation that the current molded part has not yet completed relative to the target rotation angle after the previous station has completed its actual rotation.

[0097] When the target rotates at an angle Compared with the actual rotation angle When the rotation directions are the same, the difference between the two represents the remaining rotation amount after deducting the actual rotation amount completed by the previous station from the total rotation adjustment amount; when the two directions are different, the difference can also reflect the deviation between the actual rotation direction of the previous station and the target rotation direction.

[0098] It should be noted that the target rotation angle and actual rotation angle All of these are directional circumferential angles. In some cases, the difference obtained by direct subtraction may exceed [the specified value]. The range may be such that there is an equivalent rotation angle with the same termination position but a smaller absolute value. Therefore, the difference needs to be normalized to a directional circumferential angle according to S32.

[0099] S32. Normalize the difference through the circumferential angle of the belt direction and determine it as the compensation rotation angle; Rotate the target by an angle Compared with the actual rotation angle The difference between them is normalized by the circumferential angle of the belt direction to obtain the compensated rotation angle. :

[0100] In the formula, This indicates the compensation rotation angle that needs to be performed at the next workstation. Indicates the target rotation angle; This indicates the actual rotation angle of the previous workstation.

[0101] The purpose of using directional circumferential angle normalization is to uniformly represent the residual rotation amount between the target rotation angle and the actual rotation angle. Within the range, the absolute value of the compensation rotation angle represents the amount of rotation that the next station needs to perform, and the sign of the compensation rotation angle represents the corresponding rotation direction.

[0102] To facilitate the explanation of the process for determining the compensation rotation angle, the numerical examples from S22 and S23 will be used below. In this example, the target rotation angle... for First rotation angle for The actual rotation angle fed back after the previous station performed the rotation. for ,but:

[0103] Among them, the difference between the target rotation angle and the actual rotation angle Already in Within the range, therefore, the value of the circumferential angle in the direction of the belt remains unchanged after normalization.

[0104] The result indicates that the previous workstation was targeting The target rotation angle was actually completed. After rotation, the currently formed part still needs to be rotated in the positive direction. Therefore, The compensation rotation angle for the next workstation is determined.

[0105] Furthermore, when the difference between the target rotation angle and the actual rotation angle exceeds... When the range is defined, the difference can be converted into a smaller directional rotation amount with the same circumferential termination position by normalizing the directional circumferential angle. For example, if the target rotation angle is... for The actual rotation angle is determined based on the rotation feedback from the previous workstation. for After subtracting the two directly and normalizing by the circumferential angle of the belt direction, we get:

[0106] Among them, positive and reverse The same ending position corresponds to the same position on the circumference. Normalization Then, the next workstation only needs to rotate in the negative direction. This will allow you to complete the remaining rotation adjustments.

[0107] Therefore, regardless of whether the difference between the target rotation angle and the actual rotation angle is within the preset directional angle range, a compensating rotation angle with a clear rotation direction and a rotation amount suitable for the subsequent workstation can be obtained through directional circumferential angle normalization. The compensating rotation angle... It is not recalculated by the subsequent workstation according to an independent preset target, but rather by rotating the same target angle determined by S1. Based on this, and combined with the actual rotation angle fed back from the previous station in S2, Sure.

[0108] S3 converts the portion of the target rotation angle that was not actually completed by the previous station into a compensating rotation angle for the next station, thereby establishing an angular connection between the actual execution result of the previous station and the rotation control of the next station.

[0109] S4. When the molded part is transferred to the next station, the next station performs rotation according to the compensation rotation angle. S3 has already determined the compensation rotation angle that the current molded part still needs to undergo after the actual rotation was completed at the previous station. Since the current molded part needs to be transferred from the previous station to the next station, and the compensation rotation angle is determined at the previous station based on the overall circumferential position of the three fabric joints and the actual execution result of the previous station, it is necessary to ensure that the compensation rotation angle can be transferred to the next station along with the current molded part.

[0110] If the compensation rotation angle is only transmitted as station-level data without establishing a correspondence with a specific molded part, a mismatch may occur when the compensation rotation angle read from a later station does not match the molded part currently entering that station during the continuous production of multiple molded parts. Therefore, this step writes the relevant rotation control data into the production record corresponding to the current molded part, and after the current molded part is transferred to the next station, the corresponding compensation rotation angle is extracted and executed based on the production record.

[0111] In this embodiment, step S4 includes the following steps: S41. Write the circumferential angle sequence, the actual rotation angle and the compensated rotation angle into the production record of the molded part; After obtaining the circumferential angle sequence Actual rotation angle and compensated rotation angle Then, the circumferential angle sequence Actual rotation angle and compensated rotation angle Write the production record corresponding to the current molded part.

[0112] Writing the above data together into the production record of the current molded part ensures that the original position data of the three fabric joints, the actual execution result of the previous station, and the compensation amount required by the next station are correlated, preventing the next station from obtaining only an independent rotation angle lacking a source relationship. The production record is not only used to transfer the compensation rotation angle between the preceding and following stations, but also indicates which set of circumferential angles of the three fabric joints and which actual rotation result determined the compensation rotation angle.

[0113] S411. The production record uses the tire barcode corresponding to the current molded part as the reading index, and the production record includes the current molded part specification and the target rotation angle. The production record uses the tire barcode corresponding to the currently molded part as the reading index. The tire barcode identifies the current molded part and is used to read the corresponding production record after the current molded part is transferred to the next workstation. By using the tire barcode corresponding to the current molded part as the reading index, the angle data in the production record can be associated with the specific molded part, allowing the next workstation to read the corresponding data based on the currently entering molded part, rather than calling the compensation rotation angle according to the data generation order or the workstation cache order.

[0114] In addition to the circumferential angle sequence written by S41 Actual rotation angle and compensated rotation angle In addition, the production record also includes the current molded part specifications and the target rotation angle. .

[0115] The following is an example of the data fields for production records:

[0116] The current molded part specification indicates the tire specification corresponding to the angle data, and the target rotation angle. This indicates the total rotational adjustment required by both the previous and next workstations. The tire barcode serves as an index for reading production records; it is not required that the tire barcode itself directly store the aforementioned angle data. The production record corresponding to the currently formed part can be retrieved through the index.

[0117] After the production record is written, the current molded part is transferred from the previous station to the next station, and the next station reads the compensation rotation angle corresponding to the current molded part.

[0118] S42. When the molded part is transferred to the next station, the next station reads the production record and extracts the compensation rotation angle. After the current molded part is transferred to the next workstation, the corresponding production record is read according to the tire barcode of the current molded part, and the compensation rotation angle is extracted from the production record. When the next workstation reads the production record, it uses the tire barcode carried or corresponding to the currently formed part as the query condition to extract the compensation rotation angle. It matches the molded part entering the next station. The next station only needs to extract the compensation rotation angle that has been determined based on the target rotation angle and the actual rotation angle of the previous station from the production record. It does not need to recalculate the target rotation angle based on the circumferential angle of the three fabric joints, nor does it need to redetermine the compensation amount according to the preset angle of the next station itself.

[0119] By reading the same production record, the next workstation can also obtain the target rotation angle. and actual rotation angle This confirms the compensation rotation angle. The correspondence between the rotation result and the previous station's rotation execution result. However, the compensation rotation angle... The total rotation adjustment calculated by the previous station does not necessarily mean that the next station can directly execute the full compensation rotation under the current state. The next station also has its own allowable rotation range. Therefore, the compensation rotation angle needs to be verified before executing the compensation rotation.

[0120] S43. Verify whether the compensation rotation angle is within the rotation allowable range of the next workstation. If it is, then perform rotation according to the compensation rotation angle. Obtain the allowable rotation range corresponding to the next workstation and determine the compensation rotation angle. Whether the part is within the allowable rotation range is determined in advance based on the allowable rotation range of the equipment at the next station and the current forming state. The allowable rotation range of the next station is used to limit the range of directional rotation angles that the currently formed part can perform at the next station. Since the forming stage, the current state of the formed part, and the rotation operation conditions are different between the previous and next stations, the allowable rotation range of the next station may be different from that of the previous station.

[0121] Therefore, even with compensation for rotation angle It is accurately calculated based on the target rotation angle and the actual rotation angle of the previous station. Before execution at the next station, it is still necessary to determine whether it is within the allowable rotation range of the next station. (If compensating for the rotation angle...) If the rotation is within the allowable range of the next workstation, then the next workstation will rotate according to the compensated rotation angle. Perform a rotation.

[0122] To facilitate the explanation of the execution process when the compensation rotation angle meets the allowable rotation conditions of the subsequent workstation, the numerical example in S32 will continue to be used for illustration below. In this example, the compensation rotation angle in the production record... for If the allowable rotation range of the next workstation is If the conditions for execution are met at the next workstation, then the next workstation will proceed according to... Perform rotation. The next workstation then performs the rotation. After the compensated rotation, the actual rotation amount of the previous station and the compensated rotation amount of the next station satisfy the following:

[0123] The result is related to the target rotation angle. Consistency indicates that the previous and subsequent workstations jointly completed the total rotational adjustment determined based on the overall circumferential position of the three fabric joints.

[0124] It should be noted that the above summation relationship applies to the example case where the target rotation angle, actual rotation angle, and compensated rotation angle do not cross the boundary of the directional circumferential angle. For cases where the angular boundary is crossed, the correspondence between the rotation angles is determined according to the directional circumferential angle normalization rule.

[0125] When the compensation rotation angle is within the allowable rotation range of the next station, the next station will fully execute the compensation rotation angle; when the compensation rotation angle is not within the allowable rotation range of the next station, an abnormal prompt or amplitude limitation will be issued.

[0126] S431. When the compensated rotation angle is not within the rotation allowable range of the next station, output a rotation angle abnormality prompt, or perform rotation after limiting the compensated rotation angle according to the rotation allowable range of the next station. When compensating for rotation angle If the angle is less than the minimum boundary angle of the allowable rotation range of the next station, or greater than the maximum boundary angle of the allowable rotation range of the next station, then the compensation rotation angle is determined. The rotation angle is not within the allowable rotation range of the next station. If the compensation rotation angle exceeds the allowable rotation range of the next station, it means that the next station cannot fully perform the rotation according to the compensation rotation angle in the current state. Therefore, it is necessary to select an output error message based on the current molding process requirements, or to limit the compensation rotation angle.

[0127] In one implementation, an abnormal rotation angle warning is output, and the current compensating rotation is stopped. When using the warning method, rotation actions exceeding the allowable range are not forcibly executed at subsequent workstations, allowing for the checking of the joint position of the current molded part, the actual rotation result of the previous workstation, or the rotation conditions of the subsequent workstation. The abnormal rotation angle warning may include the tire barcode corresponding to the current molded part and the compensating rotation angle. And the allowable rotation range of the next station. Among them, the tire barcode is used to identify the current molded part with an abnormal rotation angle, and the compensation rotation angle and the allowable rotation range of the next station are used to indicate the extent to which the angle of the abnormality exceeds the limit.

[0128] In another implementation, the compensation rotation angle is adjusted according to the allowable rotation range of the subsequent workstation. Amplitude limiting is applied. When compensating for rotation angle... When the angle exceeds the maximum boundary angle of the allowable rotation range of the next workstation, the maximum boundary angle is taken as the actual rotation angle performed by the next workstation; when compensating for the rotation angle... When the angle is less than the minimum boundary angle of the allowable rotation range of the next workstation, the minimum boundary angle shall be taken as the actual rotation angle performed by the next workstation.

[0129] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-station coordinated rotation control method for the joint positions of three fabric panels, characterized in that, include: Obtain the circumferential angles of three fabric joints on the current molded part, and determine the target rotation angles that characterize the overall circumferential position of the three fabric joints. The target rotation angle is assigned to the previous station, which then executes the first rotation angle within its allowable rotation range and feeds back the actual rotation angle. The compensation rotation angle for the next station is determined based on the difference between the target rotation angle and the actual rotation angle. When the molded part is transferred to the next station, the next station performs the rotation according to the compensation rotation angle; The step of obtaining the circumferential angles of three fabric joints on the current molded part and determining the target rotation angle that characterizes the overall circumferential position of the three fabric joints includes: obtaining the circumferential angle sequence of the three fabric joints, and calculating the central angle of the circumferential angle sequence to obtain the circumferential central angle; and determining the target rotation angle based on the target angle offset of the circumferential central angle relative to the target joint angle. The calculation of the central angle of the circumferential angle sequence to obtain the circumferential central angle includes: taking the circumferential arc segment corresponding to the largest adjacent interval of the three curtain joints on the circumference as the exclusion area, and taking the midpoint of the remaining arc segment on the circumference as the circumferential central angle. The step of determining the target rotation angle based on the target angle offset of the circumferential center angle relative to the target joint angle includes: calculating the target angle offset between the circumferential center angle and the target joint angle; and normalizing the target angle offset to... Within the range, the target rotation angle is obtained; The step of executing a first rotation angle from the previous workstation within its allowable rotation range and feeding back the actual rotation angle includes: when the target rotation angle is within the allowable rotation range, using the target rotation angle as the first rotation angle; when the target rotation angle exceeds the allowable rotation range, determining the boundary angle within the allowable rotation range that is consistent with the direction of the target rotation angle as the first rotation angle.

2. The multi-station coordinated rotation control method for the three-fabric joint position according to claim 1, characterized in that, When the molded part is transferred to the next station, the next station performs rotation according to the compensated rotation angle, including: Write the circumferential angle sequence, actual rotation angle, and compensated rotation angle into the production record of the molded part; When the molded part is transferred to the next station, the next station reads the production record and extracts the compensation rotation angle. Verify whether the compensated rotation angle is within the allowable rotation range of the next workstation. If it is, then perform rotation according to the compensated rotation angle.

3. The multi-station coordinated rotation control method for the three-fabric joint position according to claim 1, characterized in that, The actual rotation angle is determined based on the encoder feedback value, servo drive feedback value, or rotation execution value recorded by the programmable controller of the previous station.

4. The multi-station coordinated rotation control method for the three-fabric joint position according to claim 1, characterized in that, The step of determining the compensation rotation angle for the next workstation based on the difference between the target rotation angle and the actual rotation angle includes: Calculate the difference between the target rotation angle and the actual rotation angle; The difference is normalized by the circumferential angle along the belt direction and determined as the compensation rotation angle.

5. The multi-station coordinated rotation control method for the three-fabric joint position according to claim 2, characterized in that, The production record uses the tire barcode corresponding to the current molded part as the reading index, and the production record includes the current molded part specification and the target rotation angle.

6. The multi-station coordinated rotation control method for the three-fabric joint position according to claim 2, characterized in that, When the compensated rotation angle is not within the allowable rotation range of the next station, an abnormal rotation angle prompt is output, or the compensated rotation angle is limited according to the allowable rotation range of the next station before rotation is performed.

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