Greenhouse gas emissions from a vehicle

Abstract

The application discloses a kind of embryo rotation positioning system and control method, comprising the following steps: S1, based on the embryo basic data obtained, pre-calculate the core parameters of manipulator execution grabbing action;S2, according to the core parameter manipulator executes grabbing action, when detecting the rising edge electric signal, the position data of current encoder is latched, and the calibrated reading code height is calculated based on the position data;S3, embryo rises to the calibrated reading code height, and it is judged whether there is the first time to grab completion mark: if there is no mark, it is judged as first time to grab cycle, jump to S4;If there is the mark, it is judged as having completed first time to grab, and it needs to execute bar code identification and positioning, jump to S5.The application optimizes full closed-loop control process, realizes embryo height real-time calibration, eccentricity correction, two-stage bar code identification and positioning, hierarchical fault-tolerant control, improves embryo rotation positioning precision and bar code identification success rate, and guarantees equipment single-cycle processing efficiency and long-term utilization rate.

Description

Technical Field

[0001] This invention relates to the field of all-steel radial tire manufacturing technology, specifically a tire blank rotation positioning system and control method. Background Technology

[0002] In the intelligent manufacturing system for all-steel radial tires, after the tire blank leaves the green tire warehouse, it needs to be precisely fed into the vulcanizing machine via an automated conveying system. A key prerequisite is that the tire blank must be rotated to a specified angle to ensure that the sidewall printing and markings do not overlap or interfere with the characters and patterns inside the mold cavity. This process requirement imposes stringent standards on the tire blank's positioning accuracy (within ±5°), barcode recognition efficiency, and equipment operating cycle time (single cycle ≤30 seconds, utilization rate ≥85%). Currently, the industry generally adopts standardized rotary manipulator systems, whose core consists of a frame, lifting device, tire gripper, and rotary barcode reading and positioning module. Lifting and lowering are achieved through a motor-driven gear rack and slide rail, and the gripping, rotating, scanning, and lowering actions are completed based on preset fixed parameters. Although the proposed solution has a relatively mature mechanical structure and maintenance system, it has significant shortcomings at the control logic level: First, the fixed-height gripping method lacks the ability to sense and correct the eccentricity of the tire blank in the tray, leading to fluctuations in positioning accuracy and making it difficult to consistently meet the ±5° process requirements; second, barcode recognition relies solely on a single 360° rotation scan without secondary verification or intelligent rescanning mechanisms, resulting in repeated loops or shutdowns upon recognition failure, severely impacting equipment uptime and cycle efficiency; third, the system lacks tire height adaptive detection, failing to dynamically adjust the reading height according to tire blank specifications, causing scanning field of view deviation and further reducing recognition success rate; finally, the overall control flow is an open-loop fixed sequence, lacking status feedback and branch jump logic based on action results, making dynamic optimization and fault tolerance impossible. These deficiencies severely restrict the reliable application of the all-steel tire blank automatic conveying system in high-speed, high-precision vulcanization production lines. Therefore, a tire blank rotary positioning system and control method are proposed. Summary of the Invention

[0003] The purpose of this invention is to provide a fetal rotation positioning system and control method to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a method for controlling the rotation and positioning of a fetus, comprising the following steps: S1. Based on the acquired embryo data, the core parameters for the robotic arm to perform the grasping action are pre-calculated; S2. The robotic arm performs a grasping action according to the core parameters. When a rising edge electrical signal is detected, the current encoder position data is latched, and the calibrated code reading height is calculated based on the position data. S3. The embryo rises to the calibrated reading height and checks if there is a first-time grasp completion indicator: If this identifier is not present, it is determined to be the first crawl loop, and the process jumps to S4; If this icon is present, it indicates that the initial capture has been completed, and barcode recognition and positioning need to be performed, then proceed to S5; S4. The tire carcass continues to be raised to the preset rotational safety position, and then lowered to the tire placement height to complete the placement of the tire carcass, thus solving the problem of the tire carcass being eccentric in the tray. After placement, the tire carcass is first gripped and the marking is set. The robot arm returns to the initial position and jumps back to S1 to enter the second cycle with the marking. S5. The robotic arm drives the tire blank, which is located at the calibrated barcode reading height, to rotate and perform barcode optimization scanning. If the robotic arm rotates beyond the preset maximum angle and still fails to recognize the tire barcode, it is determined that the scan has failed. The scan failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the cumulative number of failed scans exceeds N, a shutdown alarm will be triggered, indicating that the barcode could not be found, and the current loop will be terminated. If the tire barcode is successfully identified, the system calculates the target location of the tire based on the barcode information and the current encoder position, and the process jumps to S6; S6. The robotic arm stops after reversing for a preset time and performs a second scan verification until the preset scan timeout threshold is reached. If the tire barcode is not recognized within the scanning timeout threshold, it is determined to be a secondary verification failure. The barcode failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the embryo barcode is successfully identified, the target position of the embryo is recalculated based on the second scan result, and the process jumps to S7; S7. The tire blank is lifted to the preset safe rotation position, and then the robot arm drives the tire blank to rotate to the target position of the tire blank after S6 calibration, thus completing the angle positioning; S8. Lower the completed angular positioning of the tire blank to the target workstation, and then perform a full mechanism reset action to return to the initial position, completing a single complete tire blank gripping, positioning, and transfer cycle.

[0005] As a further aspect of the present invention: step S1 specifically includes: Receive basic data transmitted by the conveyor line, the basic data including at least the tire height; Based on the aforementioned basic data, the core parameters for the robotic arm to perform the grasping action are pre-calculated. These core parameters include the robotic arm's descent height, tire retrieval height, tire placement height, and code reading height.

[0006] As a further aspect of the present invention, step S2 specifically includes: The robotic arm is controlled to perform a grasping action based on the descent height; During the grasping action, the signal of the tire height detection photoelectric sensor is collected in real time. When the photoelectric sensor is blocked by the tire blank and generates a rising edge electrical signal, the current encoder position data is latched. The calibrated reading height is calculated based on the location data.

[0007] As a further aspect of the present invention: the step of correcting the eccentricity of the embryo within the tray in step S4 specifically includes: Control the robotic arm to perform lifting and lowering movements and gripper opening and closing movements to adjust the position of the tire blank in the tray; The robotic arm is controlled to perform the tire release action, so that the tire blank, after being adjusted in position, falls into the tray, thus completing the correction of the tire blank's eccentricity.

[0008] As a further aspect of the present invention: the step of determining the target location of the embryo in step S5 specifically includes: The target rotation angle of the embryo is determined based on the obtained barcode information; Obtain the current angle value fed back by the encoder; Calculate the difference between the target rotation angle and the current angle value, and determine the target rotation angle as the target position of the embryo.

[0009] A fetal rotation positioning system, the system comprising: A conveyor line for transporting a pallet to a gripping position, the pallet being used to carry the tire blank; A robotic arm, positioned above the gripping position, is used to grip the embryo located at the gripping position; The controller is connected to both the conveyor line and the robot arm, and is used to receive data transmitted by the conveyor line and control the robot arm to perform corresponding actions based on the data.

[0010] As a further aspect of the present invention: the robotic arm specifically includes: A gripper, used to grasp the embryo located at the gripping position; A rotating mechanism, connected to the gripper, is used to drive the gripper to rotate. A lifting mechanism, connected to the rotating mechanism and mounted on the frame, is used to drive the rotating mechanism to perform lifting movements. An encoder is mounted on the lifting mechanism.

[0011] As a further aspect of the present invention: the controller specifically includes: The receiving unit is used to receive the tire blank basic data, latch encoder position data and rising edge electrical signal of the photoelectric switch transmitted by the conveyor line; The calculation unit is used to pre-calculate the gripper's descent height, tire picking height, tire placement height, and code reading height, and to calculate the calibrated code reading height and tire blank target position based on the latched encoder position data; The identification unit is used to determine whether the embryo is currently in the first grasping cycle or the second positioning cycle based on the status of the identification after the first grasping is completed, and to set the identification after the first grasping is completed; The actuator is used to control the robotic arm to perform lifting, rotating, and tire gripping / releasing actions. The monitoring unit is used to count the number of failed QR code scanning attempts and trigger a shutdown alarm when the cumulative number of attempts exceeds N.

[0012] As a further aspect of the present invention: the gripper is equipped with a photoelectric switch, which is used to detect the height of the embryo and generate a rising edge electrical signal when the photoelectric signal is blocked by the embryo.

[0013] As a further aspect of the present invention, it also includes a barcode reading mechanism, which is communicatively connected to the controller and configured to identify the barcode on the side wall of the tire after the lifting mechanism drives the tire on the gripper to rise to the barcode reading height, and during the rotation of the tire by the rotating mechanism.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention optimizes the closed-loop control process to achieve real-time calibration of tire blank height, eccentric gripping correction, dual-level barcode recognition and precise positioning, and hierarchical fault-tolerant control. This comprehensively improves the tire blank rotation positioning accuracy and barcode recognition success rate, ensures the single-cycle processing efficiency and long-term uptime of the equipment, and is adapted to the high-precision and high-efficiency production requirements of automated conveying of all-steel green tires and vulcanization.

[0015] This invention significantly improves barcode recognition accuracy by adding a verification step of reversing and stopping the scan after the initial successful rotational scan. This cross-verification of the two scan results greatly enhances the accuracy of barcode recognition. Simultaneously, the target position is recalibrated based on the second scan result, further improving the accuracy of tire blank rotational positioning and ensuring stable positioning accuracy within ±5 degrees. This significantly improves barcode recognition success rate and equipment operational stability. Furthermore, real-time tire height calibration and encoder position latching during the descent process allow for adaptation to all-steel tire blanks of different specifications. The addition of an eccentricity pre-correction step solves the positioning deviation problem caused by tire blank eccentricity within the pallet, ensuring stable tire blank rotational positioning accuracy within ±5 degrees, fully meeting the high-precision requirements of vulcanization positioning.

[0016] This invention employs a dual-level barcode scanning verification mechanism, using cross-verification through an initial rotation for barcode searching and a second reverse rotation to stop scanning, significantly reducing the probability of missed barcode scans and misidentifications. Simultaneously, it incorporates tiered fault-tolerant control logic to prevent downtime directly caused by a single failed scan, ensuring a stable equipment uptime of over 85%. The fully closed-loop branch jump control process dynamically adjusts action steps based on the tire condition, avoiding invalid action loops. The duration of a single complete loop can be stably controlled within 25 seconds, meeting the production line's cycle time requirements. Furthermore, the process can be optimized for different tire specifications, enhancing scenario adaptability. The entire process is equipped with a triple protection mechanism of real-time position calibration, dual-level verification, and tiered fault tolerance, reducing the probability of invalid equipment actions and downtime due to malfunctions. Additionally, the accompanying correction measures reduce the risk of tire damage and equipment collisions, improving the long-term operational stability of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the embryo rotation positioning control method of the present invention; Figure 2 This is a system block diagram of the present invention; Figure 3 This is a schematic diagram of the robotic arm of the present invention; Figure 4 This is a schematic diagram of the controller of the present invention; Attached figures: 1. Conveyor line; 2. Robotic arm; 21. Gripper; 22. Rotating mechanism; 23. Lifting mechanism; 3. Controller; 4. Photoelectric switch; 5. Code reading mechanism. Detailed Implementation

[0018] The technical solutions of the embodiments 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, and 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.

[0019] Example 1 Please see Figure 1-4 In this embodiment of the invention, a method for controlling the rotation and positioning of a fetus includes the following steps: S1. Based on the acquired embryo data, the core parameters for the robotic arm to perform the grasping action are pre-calculated; Specifically, the controller receives basic data transmitted from the conveyor line, which includes at least the tire height; and pre-calculates the core parameters for the robotic arm to perform the grasping action based on the basic data. The core parameters include the robotic arm's descent height, tire retrieval height, tire placement height, and code reading height.

[0020] S2. The robotic arm performs a grasping action according to the core parameters. When the rising edge electrical signal is detected, the current encoder position data is latched, and the calibrated code reading height is calculated based on the position data. Specifically, the robot arm is controlled to perform the grasping action based on the pre-calculated descent height. During the grasping action, the controller collects the signal of the tire height detection photoelectric sensor in real time. When the photoelectric sensor is blocked by the tire blank and generates a rising edge electrical signal, the current encoder position data is latched. The calibrated reading height is calculated based on the position data to adapt to the position deviation between different specifications of tire blanks and the tray, and to adapt to the height difference of different specifications of tire blanks, thereby improving the accuracy of scanning and positioning.

[0021] S3. The embryo rises to the calibrated reading height and checks if there is a first-time grasp completion indicator: If this identifier is not present, it is determined to be the first crawl loop, and the process jumps to S4; If this icon is present, it indicates that the initial capture has been completed, and barcode recognition and positioning need to be performed, then proceed to S5; Specifically, after the tire blank is grasped by the gripper, it rises to the calibrated barcode reading height, and the marking unit determines whether the tire blank has a first grasp completion mark. If there is no mark, it is determined to be the first grasp loop and jumps to S4. If there is a mark, it is determined that the first grasp has been completed, and barcode recognition and positioning need to be performed, jumping to S5. The first grasp completion mark realizes the branch jump of the action flow. The subsequent execution steps can be dynamically adjusted according to the results of the previous actions to avoid invalid action loops and ensure that the single cycle processing time of the equipment is stably controlled within 25 seconds.

[0022] S4. The tire carcass continues to be raised to the preset rotational safety position, and then lowered to the tire placement height to complete the placement of the tire carcass, thus solving the problem of the tire carcass being eccentric in the tray. After placement, the tire carcass is first gripped and the marking is set. The robot arm returns to the initial position and jumps back to S1 to enter the second cycle with the marking. Specifically, after receiving the rising edge electrical signal, the receiving unit controls the gripper to open and grasp the tire blank. During the grasping process, since the gripper's position remains unchanged, it automatically corrects itself while grasping the tire blank, thus solving the problem of tire blank eccentricity in the tray. This avoids problems such as grasping deviation, scanning field deviation, and insufficient positioning accuracy caused by tire blank position shift, improving the stability of positioning and recognition from the source. Since the tire blank is a rotating body with its center of gravity at the geometric center, when the tire blank is picked up and then lowered, gravity will drive the tire blank to move towards the posture with the lowest center of gravity and the most balanced force, naturally returning it to the center position. In addition, it should be noted that a centering detection photoelectric sensor can be added to the gripper. During the gripper's descent, the centering photoelectric sensor detects the amount of tire blank eccentricity, and the controller adjusts the opening and closing center of the gripper in real time based on the amount of eccentricity to achieve dynamic centering grasping, which can also solve the problem of tire blank eccentricity.

[0023] After the eccentricity correction is completed, the controller controls the lifting mechanism to drive the gripper and tire blank to continue to lift to the preset safe position, and the marking unit marks the tire blank for the first gripping completion, indicating that the tire blank is in the first gripping state. Then it is put back into the tray. At this time, the tire blank in the tray will not have the problem of eccentricity, and jumps back to steps S1-S3 to enter the second cycle with marking.

[0024] S5. The robotic arm drives the tire blank, which is located at the calibrated barcode reading height, to rotate and perform barcode optimization scanning. If the robotic arm rotates beyond the preset maximum angle and still fails to recognize the tire barcode, it is determined that the scan has failed. The scan failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the cumulative number of failed scans exceeds N, a shutdown alarm will be triggered, indicating that the barcode could not be found, and the current loop will be terminated. If the tire barcode is successfully identified, the system calculates the target location of the tire based on the barcode information and the current encoder position, and the process jumps to S6; Specifically, during the barcode optimization scanning action, the robotic arm drives the tire blank, which is at the calibrated reading height, to rotate and scan. If the robotic arm's rotation angle exceeds the preset maximum angle threshold and the tire blank barcode is still not recognized, the scan is considered a failure, the scan failure count counter is incremented by 1, and then the robotic arm is controlled to reset to the initial position, and the process jumps back to step S1. In this embodiment, the preset maximum angle threshold is preferably 360°; that is, if the tire blank fails to recognize the barcode after rotating a full circle, the scan is considered a failure. Conversely, if the tire blank barcode is successfully recognized before the robotic arm rotates to the preset maximum angle threshold, the scan is considered successful. At this time, the system calculates the target position of the tire blank based on the acquired barcode information and the real-time angle value fed back by the current encoder, and jumps the process to step S6.

[0025] It should be noted that the specific process of calculating the target position of the tire blank includes: first, based on the successfully acquired barcode information, parsing and determining the target rotation angle that the tire blank needs to reach; then, synchronously acquiring the feedback angle value of the current encoder as the current actual angle of the tire blank; finally, calculating the angle difference between the target rotation angle and the current actual angle, and using this angle difference as the target position of the tire blank for subsequent processes to accurately position and execute.

[0026] S6. The robotic arm stops after reversing for a preset time and performs a second scan verification until the preset scan timeout threshold is reached. If the tire barcode is not recognized within the scanning timeout threshold, it is determined to be a secondary verification failure. The barcode failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the embryo barcode is successfully identified, the target position of the embryo is recalculated based on the second scan result, and the process jumps to S7; Specifically, during the secondary barcode scanning verification, the robotic arm first reverses for a preset time and then stops to eliminate mechanical transmission gaps or adjust the tire's posture. Then, it performs the secondary barcode scanning verification. In this embodiment, the preset time is preferably 2 seconds. This verification process continues until a preset scanning timeout threshold is reached. If the tire barcode is not detected within the scanning timeout threshold, the secondary verification is deemed a failure, the barcode failure count counter is incremented by 1, and the robotic arm is then reset to its initial position, and the process jumps back to step S1. When the barcode failure count counter accumulates to more than N times, a shutdown alarm is triggered. In this embodiment, N is preferably a constant greater than 3. Conversely, if the tire barcode is successfully detected within the scanning timeout threshold, the secondary verification is deemed successful. At this point, the system recalculates the target position of the tire based on the barcode result obtained from the secondary scanning and jumps the process to step S7.

[0027] S7. The tire blank is lifted to the preset safe rotation position, and then the robot arm drives the tire blank to rotate to the target position of the tire blank after S6 calibration, thus completing the angle positioning; Specifically, after receiving the instruction to jump to step S7, the controller first controls the lifting mechanism to raise the tire blank to a preset safe rotation position. This preset safe rotation position refers to the vertical height at which the outer contour of the tire blank can maintain a safe distance from surrounding equipment or fixed structures during rotation, avoiding mechanical interference or collision. After the tire blank reaches the safe rotation position, the controller sends a rotation drive instruction to the robot arm. Based on the target position of the tire blank calculated in step S6, the robot arm drives the tire blank to rotate until the current actual angle of the tire blank is completely consistent with the angle of the target position, thereby completing the precise angle positioning of the tire blank and providing an accurate position reference for subsequent processes.

[0028] S8. Lower the completed angular positioning of the tire blank to the target workstation, and then perform the full mechanism reset action to return to the initial position, completing a single complete tire blank gripping, positioning, and transfer cycle. The duration of a single cycle is ≤25 seconds.

[0029] Example 2 This embodiment adapts and optimizes the control process to meet the processing requirements of small-sized all-steel tire blanks.

[0030] Since small-sized tire blanks have a low probability of being off-center in the tray, in order to improve processing efficiency, a tire blank specification determination mechanism is introduced in the branch judgment stage of step S3: when the tire blank specification parameters transmitted by the conveyor line are less than the preset threshold, the first correction operation in step 4 is automatically skipped, the first grab completion status flag is directly set, and the process jumps to the barcode scanning stage in step 5. The remaining control logic is consistent with that in Example 1. By simplifying unnecessary correction actions, the single cycle time is further shortened while ensuring positioning accuracy and barcode recognition success rate, thereby improving the processing efficiency of small-sized tire blanks.

[0031] Example 3 This embodiment is designed for tire production scenarios with high cleanliness requirements and is compatible with robotic arms that use stainless steel chains and clean lubrication systems.

[0032] In the control process, a new gripper pressure closed-loop control module is added to the gripper opening and closing stages in steps 4 and 8. This module dynamically sets the gripper opening and closing pressure threshold based on the tire blank specifications, precisely controlling the gripping force and preventing surface contamination or physical damage to the tire blank due to excessive contact. Simultaneously, during the rotation scanning stage, the rotation speed curve is optimized—uniform acceleration and deceleration control is used during the low-speed code-finding stage to effectively suppress tire blank shaking and prevent surface particles from falling off or becoming contaminated due to vibration. The remaining core functions, such as the control logic, still use the architecture of Example 1, ensuring positioning accuracy and high recognition success rate while fully meeting the requirements of a high-cleanliness production environment for the integrity and cleanliness of the tire blank surface.

[0033] Please see Figure 2-4 A fetal rotation positioning system, the system comprising: Conveyor line 1 is used to transport pallets to the gripping position, and the pallets are used to carry the tire blanks; Robotic arm 2 is positioned above the gripping position and is used to grip the embryo located at the gripping position; The controller 3 is connected to both the conveyor line 1 and the robot 2. It receives data transmitted from the conveyor line 1 and controls the robot 2 to perform corresponding actions based on the data.

[0034] Specifically, conveyor line 1 is configured as a carrying and transport unit for the tire blanks. It extends along a preset logistics direction to transport the pallet carrying the tire blanks to a predetermined gripping position. In this embodiment, conveyor line 1 can adopt mature linear conveying equipment in the prior art, such as roller conveyors, belt conveyors, or chain conveyors. Its surface is provided with a positioning guide structure adapted to the bottom of the pallet to ensure the straightness and stability of the pallet during the transport process. The robot arm 2 is mounted above the conveyor line via a frame. Specifically, the frame is a gantry structure with its two side columns fixed to the ground. On a surface or independent base, a crossbeam spans directly above the conveyor line, forming a spanning installation layout to avoid interference with the operation of conveyor line 1 itself. The robotic arm 2 is suspended on the crossbeam of this frame, located in the corresponding gripping area above conveyor line 1. The gripping area is defined as a specific section on conveyor line 1 below the vertical projection of the robotic arm 2, serving as the working space for the tire blank to adjust its posture. The robotic arm 2 is configured to match the inner contour of the tire blank to achieve stable gripping and rotational drive. The controller 3 is electrically connected to both conveyor line 1 and robotic arm 2. The controller 3 has pre-stored control programs and process parameters for tire blank rotation and positioning. It is configured to receive position signals, speed signals, and pallet identification data transmitted from conveyor line 1, and generate corresponding control commands based on this data to coordinate the start and stop actions of conveyor line 1 with the gripping, rotation, and release actions of robotic arm 2.

[0035] Please see Figure 2-4 In one embodiment, preferably, the robotic arm 2 specifically includes: Grabber 21 is used to grasp the embryo located at the grasping position; The rotating mechanism 22 is connected to the gripper 21 and is used to drive the gripper 21 to rotate. The lifting mechanism 23 is connected to the rotating mechanism 22 and is mounted on the frame. It is used to drive the rotating mechanism 22 to perform lifting and lowering movements. An encoder is mounted on the lifting mechanism 23.

[0036] Specifically, the robotic arm 2 comprises, from top to bottom, a lifting mechanism 23, a rotating mechanism 22, and a gripper 21, which are connected in series and mounted on the frame. In this embodiment, preferably, the lifting mechanism 23 is mounted on the crossbeam of the frame, and its power source is a lifting motor. In this embodiment, the rated power of the lifting motor is configured as 1.5kW, and the rated current is 4.6A, to meet the requirements of rapid start-stop and heavy-load holding of the tire blank and end effector assembly in the vertical direction. The maximum design stroke of the lifting mechanism 23 is 625mm, which covers the entire vertical working space from the gripping position of the conveyor line 1 to the upper safety clearance position. It should be noted that an encoder is installed on the lifting mechanism 23, which is connected to the controller 3 for signal acquisition of the displacement data of the lifting mechanism 23 in real time, realizing closed-loop feedback control of the lifting position; the rotating mechanism 22 is connected to the elevator. The lower output side of mechanism 23 is powered by a rotary motor with a rated power of 1.5kW and a rated current of 4.6A. Its rotational design speed is 1.1r / s. The output end of the rotary mechanism is fixedly connected to the gripper 21, which is used to drive the gripper 21 and the tire blank it grips to rotate circumferentially around the vertical axis. The gripper 21 is located at the bottom of the rotary mechanism 22. Its specific form can be selected according to the tire blank specifications. In addition, as the transmission foundation of the system, the conveyor line 1 is driven by a conveyor motor with a power of 0.37kW, a conveying design speed of 45m / min, and a rated load capacity of 100kg, which is sufficient to bear the weight of standard specification tire blanks and pallets and ensure smooth transmission. It should be noted that the gripper 21, rotary mechanism 22 and lifting mechanism 23 are all equipment that can be directly purchased from the market, and will not be described in detail here.

[0037] Please see Figure 4 In one embodiment, preferably, the controller 3 specifically includes: The receiving unit is used to receive the tire blank basic data and latch encoder position data transmitted by the conveyor line 1; The calculation unit is used to pre-calculate the descent height, tire picking height, tire releasing height and code reading height of the gripper 21, and calculate the calibrated code reading height and tire blank target position based on the latched encoder position data; The identification unit is used to determine whether the embryo is currently in the first grasping cycle or the second positioning cycle based on the status of the identification after the first grasping is completed, and to set the identification after the first grasping is completed; The execution unit is used to control the robotic arm 2 to perform lifting, rotating, and tire gripping / releasing actions; The monitoring unit is used to count the number of failed QR code scanning attempts and trigger a shutdown alarm when the cumulative number of attempts exceeds N.

[0038] Specifically, controller 3 is functionally divided into five interconnected modules: a receiving unit, a calculation unit, an identification unit, an execution unit, and a monitoring unit. The receiving unit serves as the system's data entry point, with its communication interface electrically connected to the sensor group of conveyor line 1 and the encoder on lifting mechanism 23. It receives the basic data of the tire blank transmitted by the conveyor line in real time and synchronously latches the position data fed back by the encoder during the movement of lifting mechanism 23, providing a high-precision original position reference for subsequent calculations. The calculation unit is data-connected to the receiving unit and pre-stores the tire blank gripping process model. This unit is configured to pre-calculate the standard descent height, tire picking height, tire placement height, and code reading height of gripper 21 based on the basic data of the tire blank. Simultaneously, it is also configured to dynamically calibrate the preset code reading height based on the encoder position data latched by the receiving unit and calculate the target position parameters required for the tire blank to rotate to the target phase angle, compensating for the cumulative errors caused by mechanical transmission clearance and tire blank placement deviation. The identification unit is used to maintain the position of the tire blank at the current workstation. The system has a state transition logic. This unit includes a readable and writable first-grab completion flag, configured to determine whether the tire blank is in the first-grab cycle or the second-positioning cycle based on the current state of this flag. When the first-grab cycle is successfully completed, the flag is automatically set, switching the system state to the second-positioning ready state. The execution unit is connected to the calculation unit, the flag unit, and the drive motors of the robotic arm 2. It is configured to convert the height and position parameters output by the calculation unit into specific motor drive pulses or analog commands, and to sequentially control the robotic arm to perform lifting, rotating, and tire-grabbing / releasing actions according to the cycle type determined by the flag unit. The monitoring unit communicates with the receiving unit and an external barcode scanner to count the number of failed barcode scans during the tire blank identification process in real time. This unit has a counting threshold N, where N is a positive integer greater than or equal to 1. In this embodiment, it is preferably set to 3. When the cumulative number of failed barcode scans exceeds N, a stop alarm signal is triggered, and the system is locked to prevent erroneous tire blanks from flowing into the next process.

[0039] Please see Figure 3 In one embodiment, preferably, the gripper 21 is provided with a photoelectric switch 4, which is used to detect the height of the embryo and generate a rising edge electrical signal when the photoelectric signal is blocked by the embryo.

[0040] Specifically, the photoelectric switch 4, as a real-time sensing element for the tire embryo height, is fixedly installed on the gripper 21. Preferably, the photoelectric switch 4 uses a diffuse reflection or through-beam photoelectric sensor, and its optical axis is parallel to or at a specific angle to the lifting and lowering direction of the gripper to ensure accurate detection of the presence or absence of the tire embryo top surface. The signal output terminal of the photoelectric switch 4 is electrically connected to the receiving unit of the controller 3. When the gripper 21 descends, the emitted beam of the photoelectric switch 4 is blocked by the tire embryo top surface, and its internal optical path state changes, immediately generating an electrical signal that detects the rising edge of the tire embryo, and transmitting the signal to the controller in real time. The installation height of the photoelectric switch 4 is calibrated so that its trigger point corresponds to the safe approach distance of the gripper 21 relative to the tire embryo top surface, which ensures detection reliability and avoids contact between the sensor body and the tire embryo.

[0041] Please see Figure 1 In one embodiment, preferably, the device further includes a barcode reading mechanism 5, which is communicatively connected to the controller 3. The barcode reading mechanism 5 is configured to identify the barcode on the side wall of the tire after the tire blank on the gripper 21 is raised to the barcode reading height by the lifting mechanism 23 and the tire blank is rotated by the rotating mechanism 22.

[0042] Specifically, the barcode reading mechanism 5 is fixedly installed on the frame, with its reading direction facing the side area of ​​the gripping position of the conveyor line 1, ensuring that the optical path covers the side wall trajectory surface when the tire carcass rotates. The barcode reading mechanism 5 is communicatively connected to the controller 3, used to receive the trigger command from the controller 3 and transmit the barcode recognition result and image data back to the controller 3. In this embodiment, the barcode reading mechanism 5 preferably adopts an industrial-grade fixed barcode reader or a smart camera, which has global shutter and high-speed decoding capabilities to meet the requirements of relative motion blur suppression during the tire carcass rotation process. Its installation height matches the barcode reading height pre-calculated and calibrated by the aforementioned calculation unit. The field of view of the barcode reading mechanism is configured to cover at least one preset angle range of tire carcass rotation to ensure that the barcode scanning is completed within a limited rotation stroke.

[0043] During operation, after the conveyor line 1 transports the pallet carrying the tire blank to the gripping position and stops, the receiving unit acquires the basic data of the tire blank. Based on this, the calculation unit pre-calculates the descent height, tire picking height, and code reading height of the gripper 21. The execution unit drives the lifting mechanism 23 to drive the rotating mechanism 22 and the gripper 21 to descend. During the descent, the photoelectric switch 4 installed on the gripper 21 monitors the tire blank height in real time. When the light beam is blocked by the top surface of the tire blank, a rising edge electrical signal is immediately generated. The controller 3 then latches the current encoder position data as the reference for the measured tire height and controls the lifting mechanism 23 to decelerate to the preset tire picking height to complete the gripping. After the gripper 21 firmly grasps the tire blank, the lifting mechanism then... 23. The tire carcass is raised to the calibrated reading height. At this moment, the marking unit determines whether there is a first grasp completion mark. If there is no mark, it is determined that the current is the first grasp cycle: the tire carcass is raised to the preset rotation safety position to avoid surrounding interference, and then lowered to the tire placement height to complete the placement of the tire carcass in the tray, thereby eliminating the eccentricity problem of the tire carcass in the tray; after placement, the marking unit sets the first grasp completion mark on the tire carcass, the robot arm 2 is reset to the initial position, the process jumps back to the initial, so that the tire carcass automatically enters the second cycle with the mark. In this stage, only the posture normalization and status marking of the tire carcass are completed, and barcode recognition and angle positioning are not performed; If the identifier is present, the system determines that the initial grasp has been completed and enters the barcode recognition and positioning process. Robotic arm 2 rotates the tire carcass located at the calibrated reading height, performing a barcode optimization scan. If the robotic arm 2 rotates beyond the preset maximum angle and still fails to recognize the tire carcass barcode, it is considered a scan failure. The monitoring unit increments the scan failure count by 1, and robotic arm 2 resets to its initial position and jumps back to the initial step to re-enter the second loop. If the cumulative number of scan failures exceeds N, a shutdown alarm is triggered, indicating that no barcode was found and terminating the current loop. If the tire carcass barcode is successfully recognized, the system calculates the target location of the tire carcass based on the barcode information and the current encoder position. After the robot arm 2 reverses for a preset time, it stops and performs a second barcode scan verification until the preset scanning timeout threshold is reached. If the barcode is not recognized within the timeout, it is determined that the second verification has failed, the barcode failure count is incremented by 1, and the robot arm is reset and jumps back to the initial step. If the barcode is successfully recognized, the target position of the tire blank is recalibrated and calculated based on the second barcode scan result. The tire blank is first lifted to the preset rotational safety position, and then the robot arm 2 drives the tire blank to rotate to the calibrated target position of the tire blank, completing the angular positioning with an accuracy of ±5°. Finally, the tire blank with the angular positioning completed is lowered to the target workstation, and the entire mechanism is reset to return to the initial position, completing a single complete tire blank gripping, positioning, and transfer cycle.

[0044] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0045] Therefore, the above description is only a preferred embodiment of this application and is not intended to limit the scope of this application; that is, all equivalent modifications made in accordance with the scope of the claims of this application shall be within the protection scope of the claims of this application.

Claims

1. A method for controlling the rotational positioning of a fetus, characterized in that, Includes the following steps: S1. Based on the acquired embryo data, the core parameters for the robotic arm to perform the grasping action are pre-calculated; S2. The robotic arm performs a grasping action according to the core parameters. When a rising edge electrical signal is detected, the current encoder position data is latched, and the calibrated code reading height is calculated based on the position data. S3. The embryo rises to the calibrated reading height and checks if there is a first-time grasp completion indicator: If this identifier is not present, it is determined to be the first crawl loop, and the process jumps to S4; If this icon is present, it indicates that the initial capture has been completed, and barcode recognition and positioning need to be performed, then proceed to S5; S4. The tire carcass continues to be raised to the preset rotational safety position, and then lowered to the tire placement height to complete the placement of the tire carcass, thus solving the problem of the tire carcass being eccentric in the tray. After placement, the tire carcass is first gripped and the marking is set. The robot arm returns to the initial position and jumps back to S1 to enter the second cycle with the marking. S5. The robotic arm drives the tire blank, which is located at the calibrated barcode reading height, to rotate and perform barcode optimization scanning. If the robotic arm rotates beyond the preset maximum angle and still fails to recognize the tire barcode, it is determined that the scan has failed. The scan failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the cumulative number of failed scans exceeds N, a shutdown alarm will be triggered, indicating that the barcode could not be found, and the current loop will be terminated. If the tire barcode is successfully identified, the system calculates the target location of the tire based on the barcode information and the current encoder position, and the process jumps to S6; S6. The robotic arm stops after reversing for a preset time and performs a second scan verification until the preset scan timeout threshold is reached. If the tire barcode is not recognized within the scanning timeout threshold, it is determined to be a secondary verification failure. The barcode failure count is incremented by 1, the robotic arm is reset to the initial position, and the process jumps back to S1. If the embryo barcode is successfully identified, the target position of the embryo is recalculated based on the second scan result, and the process jumps to S7; S7. The tire blank is lifted to the preset safe rotation position, and then the robot arm drives the tire blank to rotate to the target position of the tire blank after S6 calibration, thus completing the angle positioning; S8. Lower the completed angular positioning of the tire blank to the target workstation, and then perform a full mechanism reset action to return to the initial position, completing a single complete tire blank gripping, positioning, and transfer cycle.

2. The embryo rotation positioning control method according to claim 1, characterized in that, Step S1 specifically includes: Receive basic data transmitted by the conveyor line, the basic data including at least the tire height; Based on the aforementioned basic data, the core parameters for the robotic arm to perform the grasping action are pre-calculated. These core parameters include the robotic arm's descent height, tire retrieval height, tire placement height, and code reading height.

3. The embryo rotation positioning control method according to claim 2, characterized in that, Step S2 specifically includes: The robotic arm is controlled to perform a grasping action based on the descent height; During the grasping action, the signal of the tire height detection photoelectric sensor is collected in real time. When the photoelectric sensor is blocked by the tire blank and generates a rising edge electrical signal, the current encoder position data is latched. The calibrated reading height is calculated based on the location data.

4. The embryo rotation positioning control method according to claim 1, characterized in that, The step S4, which involves correcting the eccentricity of the embryo within the tray, specifically includes: Control the robotic arm to perform lifting and lowering movements and gripper opening and closing movements to adjust the position of the tire blank in the tray; The robotic arm is controlled to perform the tire release action, so that the tire blank, after being adjusted in position, falls into the tray, thus completing the correction of the tire blank's eccentricity.

5. The embryo rotation positioning control method according to claim 1, characterized in that, The step of determining the target location of the embryo in step S5 specifically includes: The target rotation angle of the embryo is determined based on the obtained barcode information; Obtain the current angle value fed back by the encoder; Calculate the difference between the target rotation angle and the current angle value, and determine the target rotation angle as the target position of the embryo.

6. A embryo rotation positioning system, characterized in that, The system includes: A conveyor line for transporting a pallet to a gripping position, the pallet being used to carry the tire blank; A robotic arm, positioned above the gripping position, is used to grip the embryo located at the gripping position; The controller is connected to both the conveyor line and the robot arm, and is used to receive data transmitted by the conveyor line and control the robot arm to perform corresponding actions based on the data.

7. The embryo rotation positioning system according to claim 6, characterized in that, The robotic arm specifically includes: A gripper, used to grasp the embryo located at the gripping position; A rotating mechanism, connected to the gripper, is used to drive the gripper to rotate. A lifting mechanism, connected to the rotating mechanism and mounted on the frame, is used to drive the rotating mechanism to perform lifting movements. An encoder is mounted on the lifting mechanism.

8. The embryo rotation positioning system according to claim 7, characterized in that, The controller specifically includes: The receiving unit is used to receive the basic data of the tire blank and the position data of the latch encoder transmitted by the conveyor line; The calculation unit is used to pre-calculate the gripper's descent height, tire picking height, tire placement height, and code reading height, and to calculate the calibrated code reading height and tire blank target position based on the latched encoder position data; The identification unit is used to determine whether the embryo is currently in the first grasping cycle or the second positioning cycle based on the status of the identification after the first grasping is completed, and to set the identification after the first grasping is completed; The actuator is used to control the robotic arm to perform lifting, rotating, and tire gripping / releasing actions. The monitoring unit is used to count the number of failed scans and trigger a shutdown alarm when the cumulative number exceeds N.

9. The embryo rotation positioning system according to claim 7, characterized in that, The gripper is equipped with a photoelectric switch, which is used to detect the height of the embryo and generate a rising edge electrical signal when the photoelectric signal is blocked by the embryo.

10. The embryo rotation positioning system according to claim 7, characterized in that, It also includes a barcode reading mechanism, which is communicatively connected to the controller and is configured to identify the barcode on the side wall of the tire after the lifting mechanism raises the tire on the gripper to the barcode reading height, and during the rotation of the tire by the rotating mechanism.

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