A device for stripping and recycling waste tire steel wire ring and rubber

Abstract

The application relates to the technical field of waste tire recycling, and discloses a waste tire steel ring and rubber stripping and recycling device, which comprises a bottom plate, a tire fixing mechanism and a moving mechanism. The tire fixing mechanism drives the tire to rotate through a servo motor and a clamp. The moving mechanism drives the stripper to move in space through a lifting assembly and a horizontal moving assembly. The control part of the device comprises an industrial controller, a man-machine interaction interface, a servo driver group, a sensor assembly and a communication bus. The industrial controller is internally provided with a stripping control program and is configured to control the stripper to move to a working position under the rotating state of the tire, and to perform closed-loop adjustment on the feeding speed of the stripper and the rotating speed of the tire according to the stripping force detected in real time, so as to complete a multi-stage self-adaptive stripping operation and control the stripper to reset after the stripping is completed. The application can dynamically adjust the stripping parameters according to the change of the stripping force, and improves the stripping quality and the safety of the equipment.

Description

Technical Field

[0001] This invention relates to the field of waste tire recycling technology, specifically to a waste tire steel wire ring and rubber stripping and recycling device. Background Technology

[0002] With the continuous growth of car ownership, the amount of waste tires generated is increasing year by year. How to efficiently recycle and utilize waste tires has become a global environmental issue. The steel wires and rubber in waste tires are both recyclable resources, and effectively separating the two is a key step in achieving resource utilization.

[0003] Currently, there are some mechanical devices for separating the steel wire bead from the rubber of waste tires. For example, there are separation devices that use extrusion rollers to squeeze the bead area, devices that use a rotary motion mechanism to cut and peel off the inner liner, and simple devices that use fixed blades in conjunction with tire rotation to scrape and peel off the tire.

[0004] However, the aforementioned existing devices still have the following shortcomings in use: Firstly, most existing devices use manual or semi-automatic control methods, requiring operators to manually adjust the feed position and speed based on experience. This reliance on operator proficiency results in low peeling efficiency and inconsistent quality, with significant differences in peeling effects between different tires and different parts of the same tire.

[0005] Secondly, existing equipment lacks real-time monitoring and feedback control of the peeling force. Waste tires vary in brand, specifications, wear, and aging, requiring different peeling forces. Excessive peeling force can damage the peeler or deform the steel wire ring, while insufficient peeling force results in incomplete rubber removal, necessitating rework.

[0006] Third, existing devices cannot adaptively handle abnormal peeling conditions. When encountering abnormally strong local adhesion between the rubber and the steel wire ring, the device cannot identify and adjust its strategy in time, which can easily lead to problems such as peeler jamming and blade breakage, lacking the ability to intervene intelligently in the process.

[0007] Fourth, the existing equipment control systems are limited in function, mostly only having basic start-stop control, lacking complete intelligent functions such as operation process management, equipment self-diagnosis and alarm, real-time monitoring of key process parameters, and operation data recording and statistics, making it difficult to meet the requirements of modern manufacturing for equipment informatization and data traceability.

[0008] Therefore, it is necessary to invent a waste tire steel wire ring and rubber stripping and recycling device to solve the above problems. Summary of the Invention

[0009] This invention provides a waste tire steel wire ring and rubber stripping and recycling device, including a base plate, a tire fixing mechanism, and a moving mechanism. The tire fixing mechanism drives the clamp to rotate the tire via a servo motor, and the moving mechanism drives the stripper to move in space via a lifting component and a horizontal moving component. The device's control components include an industrial controller, a human-machine interface, a servo driver group, a sensor component, and a communication bus. The industrial controller has a built-in stripping control program, configured to control the stripper to move to the working position while the tire is rotating, and to perform closed-loop adjustment of the stripper's feed speed and the tire's rotation speed based on the real-time detected stripping force to complete a multi-stage adaptive stripping operation. After the stripping is completed, the stripper is controlled to reset, solving the problems mentioned in the background art.

[0010] This invention provides the following technical solution: a waste tire steel wire ring and rubber stripping and recycling device, comprising a base plate, a tire fixing mechanism and a moving mechanism being provided on the top of the base plate, the tire fixing mechanism including a bracket fixedly installed on the top of the base plate, a servo motor being installed on the top of the bracket, and a clamp being installed at the output end of the servo motor; the moving mechanism including a column fixedly installed on the top of the base plate, a lifting component being provided on the side wall of the column, a horizontal moving component being provided at the moving end of the lifting component, a stripper being installed at the output end of the horizontal moving component, and a control component being installed on one side of the base plate.

[0011] The control components include an industrial controller, a human-machine interface, a servo drive group, a sensor assembly, and a communication bus. The industrial controller is connected to the human-machine interface, the servo drive group, and the sensor assembly via the communication bus. The servo drive group includes a first servo drive, a second servo drive, and a third servo drive, which are respectively connected to and drive the servo motor, the servo motor of the lifting assembly, and the servo motor of the horizontal movement assembly. The sensor assembly includes at least a force sensor, a displacement sensor, and an angle sensor. The force sensor is installed between the peeler and the output end of the horizontal movement assembly to detect the contact force between the peeler and the tire wire ring in real time. The displacement sensor is installed on the horizontal movement assembly and / or the lifting assembly to detect the spatial position of the peeler. The angle sensor is installed at the output end of the servo motor to detect the rotation angle of the tire. The industrial controller has a built-in peeling control program, which is configured to: control the lifting component and the horizontal moving component to move the peeler to the working position when the tire is rotating, and perform closed-loop adjustment of the feed speed of the peeler and the rotation speed of the tire according to the detection signal of the sensor component to complete the rubber peeling operation, and control the peeler to return to its original position after peeling is completed.

[0012] The present invention has the following beneficial effects: 1. This invention achieves precise force feedback closed-loop control of the peeling process, ensuring that the contact force between the peeler and the tire steel wire ring is always maintained within a preset optimal threshold range. Compared with the prior art, this invention can dynamically adjust the feed speed and rotation speed according to the peeling force detected in real time during the peeling process, realizing precise control of peeling quality, improving the separation quality of the steel wire ring and rubber, and effectively protecting the core working components of the equipment, thus extending the service life of the equipment.

[0013] 2. This invention constructs a multi-stage control strategy for initial entry and stable peeling, and sets up an intelligent identification and processing mechanism for abnormal adhesion points in the stable peeling stage. When the peeling force is detected to continuously exceed the threshold range and cannot be recovered by conventional speed adjustment, the system can actively pause the feed and assist in breaking the abnormal adhesion points through reciprocating torsion. This improves the success rate and adaptability of peeling operations, avoids operation interruptions and equipment failures caused by local jamming, and ensures the operational efficiency of continuous industrial production. 3. This invention enables the control system to automatically match the corresponding stripping parameter set according to different tire specifications through the establishment of a parameter database and a self-learning update mechanism. It also feeds back the parameters that have been confirmed to be effective after adaptive adjustment in each actual operation to the database for continuous optimization. This realizes the transformation of stripping parameters from manual experience setting to data-driven automated decision-making, which reduces the intensity of manual labor while ensuring the consistency and stability of stripping operations for different batches and different specifications of tires. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the tire fixing mechanism of the present invention; Figure 3 This is a schematic diagram of the moving mechanism of the present invention; Figure 4 This is a schematic diagram of the stripping control program flow of the present invention; Figure 5 This is a schematic diagram of the multi-stage adaptive stripping control process of the present invention; In the diagram: 1. Base plate; 2. Tire fixing mechanism; 21. Bracket; 22. Servo motor; 23. Clamp; 3. Moving mechanism; 31. Column; 32. Lifting assembly; 33. Horizontal moving assembly; 4. Peeler; 5. Control components. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The waste tire steel wire ring and rubber stripping and recycling device involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1-3 The device shown is a waste tire steel wire ring and rubber stripping and recycling device, including a base plate 1. The top of the base plate 1 is provided with a tire fixing mechanism 2 and a moving mechanism 3. The tire fixing mechanism 2 includes a bracket 21 fixedly installed on the top of the base plate 1. A servo motor 22 is installed on the top of the bracket 21 to provide driving power for the rotation of the tire. A clamp 23 is installed at the output end of the servo motor 22. The clamp 23 is used to clamp the waste tire and drive the tire to rotate around the axis under the drive of the servo motor 22. The moving mechanism 3 includes a column 31 fixedly installed on the top of the base plate 1. A lifting component 32 is provided on the side wall of the column 31. A horizontal moving component 33 is provided at the moving end of the lifting component 32. A stripper 4 is installed at the output end of the horizontal moving component 33. The lifting component 32 and the horizontal moving component 33 are used to drive the stripper 4 to move in space. The stripper 4 contacts the rotating tire and peels the rubber off the steel wire ring. A control component 5 is installed on one side of the base plate 1. The control component 5 is used to control the coordinated operation of the various components.

[0017] Both the lifting assembly 32 and the horizontal moving assembly 33 adopt a servo-driven screw linear transmission mechanism. This transmission mechanism includes a guide rail, a slider slidably connected to the guide rail, a servo motor fixed to one end of the guide rail, a screw connected to the output end of the servo motor, and a nut seat threadedly connected to the screw. The nut seat is fixedly connected to the slider. The guide rail and the screw are arranged parallel to each other. The servo motor drives the screw to rotate, and the nut seat drives the slider to slide linearly along the guide rail.

[0018] The guide rail of the horizontal moving component 33 is fixedly installed on the moving end of the lifting component 32, and its slider constitutes the moving end of the horizontal moving component 33; the guide rail of the lifting component 32 is fixedly installed on the side wall of the column 31 in the vertical direction, and its slider constitutes the lifting end of the lifting component 32; the peeler 4 is fixedly installed on the slider of the horizontal moving component 33.

[0019] During the operation, the operator clamps and fixes the waste tire in the clamp 23. The servo motor 22 is controlled by the control component 5 to drive the clamp 23 to rotate the tire continuously. At the same time, the lifting component 32 and the horizontal moving component 33 are controlled to move the peeler 4 to the working position where it contacts the tire's steel wire ring. Under the combined action of the tire rotation and the moving feed, the peeler 4 peels the rubber off the steel wire ring, completing the peeling and recycling operation of the waste tire's steel wire ring and rubber.

[0020] The control unit 5 includes an industrial controller, a human-machine interface, a servo driver group, sensor components, and a communication bus. The industrial controller is connected to the human-machine interface, the servo driver group, and the sensor components via the communication bus. In this embodiment, the industrial controller is a programmable logic controller; in other embodiments, an embedded industrial computer may also be used. The communication bus is an industrial Ethernet bus; in other embodiments, a fieldbus may also be used. The servo driver group includes a first servo driver, a second servo driver, and a third servo driver, which are respectively connected to and drive the servo motor 22, the servo motor of the lifting component 32, and the servo motor of the horizontal movement component 33. The sensor assembly includes at least a force sensor, a displacement sensor, and an angle sensor. The force sensor is installed between the peeler 4 and the output end of the horizontal movement assembly 33 and is a strain gauge force sensor, used to detect the contact force between the peeler 4 and the tire wire ring in real time. The displacement sensor is installed on the horizontal movement assembly 33 and / or the lifting assembly 32 and is a grating ruler displacement sensor, used to detect the spatial position of the peeler 4. The angle sensor is installed at the output end of the servo motor 22 and is a rotary encoder, used to detect the rotation angle of the tire. It should be further noted that the displacement sensor is mounted on the horizontal movement assembly 33 and / or the lifting assembly 32, specifically including the following three implementation methods: Implementation Method 1: The displacement sensor adopts a grating ruler displacement sensor. Its grating ruler is fixedly installed on one side of the guide rail of the horizontal moving assembly 33 along the guide rail direction. The reading head is fixedly installed on the slider of the horizontal moving assembly 33. When the servo motor of the horizontal moving assembly 33 drives the screw to rotate, causing the slider to slide horizontally along the guide rail, the reading head follows the slider's movement. By reading the scale changes on the grating ruler, the horizontal displacement of the slider is output in real time. This horizontal displacement is the radial feed displacement of the peeler 4 along the tire. This method is suitable for scenarios requiring precise control of the radial feed depth of the peeler 4.

[0021] Implementation Method 2: The displacement sensor adopts a grating ruler displacement sensor. Its scale grating is fixedly installed on one side of the guide rail of the lifting assembly 32 along the guide rail direction, and the reading head is fixedly installed on the slider of the lifting assembly 32. When the servo motor of the lifting assembly 32 drives the screw to rotate, causing the slider to slide along the vertical guide rail, the reading head moves with the slider, outputting the vertical displacement of the slider in real time. This vertical displacement is the height position of the peeler 4. This method is suitable for scenarios requiring precise control of the lifting height of the peeler 4.

[0022] Implementation Method 3: A set of displacement sensors is installed on both the horizontal moving assembly 33 and the lifting assembly 32 to detect the horizontal feed displacement and vertical lifting displacement of the peeler 4, respectively. The industrial controller determines the precise spatial position of the peeler 4 in a two-dimensional plane by combining the signals from the two sets of displacement sensors. This method is suitable for scenarios requiring precise positioning of the peeler 4 throughout its entire stroke.

[0023] In this embodiment, the third implementation method is preferred, that is, displacement sensors are installed on both the horizontal moving component 33 and the lifting component 32 to achieve all-round precise control of the spatial position of the peeler 4.

[0024] Furthermore, in the above technical solution, the sensor assembly also includes a temperature sensor and a vibration sensor. The temperature sensor is installed on the peeler 4 and is a thermocouple temperature sensor, used to detect the working temperature of the peeler 4 in real time. The vibration sensor is installed on the peeler 4 and is a piezoelectric accelerometer sensor, used to detect the vibration amplitude of the peeler 4 in real time. Furthermore, in the above technical solution, the control component 5 also includes an emergency stop button, which is directly connected to the enable terminal of each servo driver via hard wiring. When the emergency stop button is triggered, each servo driver immediately cuts off the motor power output, and the industrial controller records the current operating status and saves the abnormal interruption data to ensure the safety of the equipment and operators.

[0025] The industrial controller has a built-in stripping control program, such as... Figure 4 As shown, the stripping control program is configured to perform the following steps: S1: After the industrial controller is powered on, it reads the status information of each servo drive and the initial readings of each sensor through the communication bus, and controls the lifting assembly 32 and the horizontal moving assembly 33 to move the stripper 4 to the initial standby position to confirm that each actuator and sensor is working properly. If an abnormality is detected, an alarm signal is issued through the human-machine interface and the operation process is terminated.

[0026] S2: The industrial controller receives tire specification parameters input by the operator through a human-machine interface, including tire diameter, tire width, and radial depth of the steel wire bead. Based on the recognition results, it retrieves the peeling parameter set corresponding to the tire specification from the industrial controller's built-in parameter database. The peeling parameter set includes tire rotation speed, peeler feed speed, peeler cutting depth, peeling force threshold range, and safe position coordinates.

[0027] The parameter database is an updatable database. The industrial controller connects to the upper management system via a communication bus and can receive updated tire specification parameters and corresponding stripping parameter sets from the upper management system. At the same time, the industrial controller associates and stores the actual stripping parameters that have been adaptively adjusted and confirmed to be effective in each stripping operation with the tire specifications, which is used to optimize and update the parameter database.

[0028] S3: After receiving a signal from the operator confirming that the tire has been clamped through the human-machine interface, the industrial controller sends a start command to the first servo driver, driving the servo motor 22 to rotate the clamp 23 and the tire clamped on it at a first preset speed (e.g., 10~30 rpm). At the same time, the industrial controller monitors the rotation angle of the tire in real time through the angle sensor to confirm that the tire has entered a uniform rotation state.

[0029] S4: Based on the safe position coordinates and the cut depth of the peeler in the peeling parameter set, the industrial controller sends motion commands to the second and third servo drives respectively, controlling the lifting assembly 32 and the horizontal movement assembly 33 to move the peeler 4 from the initial standby position to the working start position of the tire wire bead. During the approach of the peeler 4, the industrial controller monitors the contact force between the peeler 4 and the tire in real time through a force sensor. When the contact force reaches a preset approach contact force threshold, such as 5N, it is determined that the peeler 4 has reached the working start position.

[0030] S5: After confirming that the stripper 4 has reached the start position of the operation, the industrial controller executes multi-stage stripping control. For example... Figure 5 As shown, the process includes the following sub-stages: S51: The industrial controller controls the horizontal moving component 33 to drive the peeler 4 to feed radially toward the steel wire ring at a first feed speed, for example, 0.5 mm / s. Simultaneously, it controls the servo motor 22 to drive the tire to rotate at a first rotation speed, for example, 10 rpm. The industrial controller monitors the peeling force in real time through a force sensor. When the peeling force reaches a preset cutting completion force threshold, for example, 50 N, it determines that the peeler 4 has completed the initial cutting of the rubber layer and enters the stable peeling stage.

[0031] S52: The industrial controller controls the horizontal moving component 33 to drive the stripper 4 to continue feeding radially along the tire at a second feed speed, for example, 1~3 mm / s, and at the same time controls the servo motor 22 to drive the tire to rotate at a second rotation speed, for example, 15~25 rpm, according to the tire specification parameters.

[0032] The industrial controller acquires peel force data in real time via a force sensor at a preset sampling frequency, such as 100Hz, and compares the acquired peel force value with a peel force threshold range in the peel parameter set, such as 80~150N. If the current peeling force is within the peeling force threshold range, then the current feed rate and rotation speed remain unchanged; If the current peeling force is lower than the lower limit of the peeling force threshold range, it is determined that the peeler 4 is not in sufficient contact with the rubber. The industrial controller sends an acceleration command to the third servo driver to increase the feed speed of the horizontal moving component 33, for example, by gradually increasing it in steps of 0.2 mm / s, until the peeling force is restored to the threshold range. If the current peeling force is higher than the upper limit of the peeling force threshold range, it is determined that the peeler 4 has encountered a peeling area with increased resistance. The industrial controller sends a deceleration command to the third servo driver to reduce the feed speed of the horizontal moving component 33, for example, by gradually reducing it in steps of 0.2 mm / s. At the same time, it sends a deceleration command to the first servo driver to reduce the rotation speed of the servo motor 22, for example, by gradually reducing it in steps of 2 revolutions / minute, until the peeling force returns to the threshold range.

[0033] The peel force threshold range is a dynamic threshold range. The industrial controller dynamically calculates and updates the current peel force threshold range of the tire based on the actual peel force change curve recorded by the peeler 4 in the initial cutting stage, so as to adapt to the peel force differences caused by different tires due to different rubber aging and wear conditions.

[0034] It should be further explained that the current tire's peel force threshold range is dynamically calculated and updated, and the specific method is as follows: During the initial penetration phase, the industrial controller continuously collects peel force data at a preset sampling frequency, such as 100Hz, forming a curve of peel force changing over time. When the peel force reaches the penetration completion force threshold, the industrial controller captures all peel force data points within the interval from when the peel force first exceeds the approaching contact force threshold to when it reaches the penetration completion force threshold, and calculates the average peel force μ and standard deviation σ within this interval.

[0035] The industrial controller sets the lower limit of the current tire's peel force threshold range as μ-2σ and the upper limit as μ+2σ. If the calculated lower limit is lower than the preset minimum safe peel force, such as 30N, then the lower limit of 30N is used; if the calculated upper limit is higher than the preset maximum safe peel force, such as 200N, then the upper limit of 200N is used. In this way, the industrial controller can automatically generate a peel force threshold range that matches the actual rubber condition of each tire after the initial cutting stage, thereby achieving adaptive peel control for tires with different aging levels and wear conditions.

[0036] For example, for tires with severely aged and brittle rubber, the peel force variation curve in the initial cutting stage fluctuates less, the calculated σ value is smaller, and the threshold range is narrower. The control system will then use more precise force control for peeling. For tires with more elastic rubber and stronger adhesion, the peel force variation curve in the initial cutting stage fluctuates more, the calculated σ value is larger, and the threshold range is wider. The control system will allow the peel force to fluctuate within a wider range to avoid frequent adjustments that could reduce work efficiency.

[0037] If the peeling force remains above the upper limit of the threshold range for a preset time, such as 5 seconds, and cannot be recovered by deceleration adjustment, the industrial controller determines that there is an abnormal adhesion point at the current peeling position. It controls the horizontal moving component 33 to pause feeding and maintain the current position of the peeler 4, while simultaneously controlling the servo motor 22 to reciprocate at a third rotational speed, such as 5 revolutions per minute, by a preset angle, such as ±30°. This reciprocating torsional action assists the peeler 4 in breaking the abnormal adhesion point. After a preset number of reciprocating torsions, such as 3-5 times, the industrial controller resumes normal stable peeling operation. If the peeling force still remains above the upper limit of the threshold range after the preset number of reciprocating torsions, the industrial controller issues an abnormal adhesion alarm signal through the human-machine interface and suspends operation.

[0038] S53: The industrial controller uses a displacement sensor to detect the total radial displacement of the stripper 4 along the tire in real time. When the total radial displacement reaches the radial depth of the wire bead corresponding to the tire specification parameters, the rubber stripping operation of the tire is determined to be complete. The industrial controller controls the horizontal moving component 33 to stop feeding and controls the servo motor 22 to decelerate and stop.

[0039] Throughout the adaptive peeling operation, the industrial controller displays the peeling force change curve, the current position of peeler 4, the tire rotation angle, and the current operation stage information in real time through the human-machine interface.

[0040] S6: After confirming that the peeling operation is completed, the industrial controller controls the horizontal moving component 33 to drive the peeler 4 to move radially backward to a safe clearance position, for example, 10mm backward, and then controls the lifting component 32 to drive the peeler 4 to rise to the initial standby height, thus completing a single peeling operation cycle.

[0041] S7: The industrial controller stores data such as tire specifications, peeling duration, average peeling force, maximum peeling force, and abnormal event records for this peeling operation in its built-in memory and displays them through the human-machine interface, providing data support for subsequent process optimization and equipment maintenance.

[0042] During the peeling operation, the industrial controller also monitors the temperature of the peeler 4 in real time through a temperature sensor. When the temperature of the peeler 4 exceeds the preset temperature threshold, such as 80°C, it is determined that the peeler 4 is in an overheated state. The industrial controller controls the horizontal moving component 33 to stop feeding and controls the servo motor 22 to decelerate until the temperature of the peeler 4 drops to a safe temperature, such as below 60°C, and then resumes operation, effectively preventing the peeler 4 from being damaged due to overheating.

[0043] Meanwhile, the industrial controller monitors the vibration status of the stripper 4 in real time through vibration sensors. When the vibration amplitude exceeds the preset vibration threshold, such as 5~15m / s², it is determined that the stripper 4 has abnormal vibration (which may be caused by stripper wear, unstable tire clamping, or improper stripping parameters). The industrial controller controls the horizontal moving component 33 to stop feeding and issues an alarm signal through the human-machine interface to remind the operator to check the equipment status.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A waste tire steel wire ring and rubber stripping and recycling device, comprising a base plate (1), wherein a tire fixing mechanism (2) and a moving mechanism (3) are provided on the top of the base plate (1), characterized in that: The tire fixing mechanism (2) includes a bracket (21) fixedly installed on the top of the base plate (1), a servo motor (22) is installed on the top of the bracket (21), and a clamp (23) is installed at the output end of the servo motor (22); the moving mechanism (3) includes a column (31) fixedly installed on the top of the base plate (1), a lifting component (32) is provided on the side wall of the column (31), a horizontal moving component (33) is provided at the moving end of the lifting component (32), a peeler (4) is installed at the output end of the horizontal moving component (33), and a control component (5) is installed on one side of the base plate (1); The control unit (5) includes an industrial controller, a human-machine interface, a servo driver group, a sensor assembly, and a communication bus. The industrial controller is connected to the human-machine interface, the servo driver group, and the sensor assembly via the communication bus. The servo driver group includes a first servo driver, a second servo driver, and a third servo driver, which are respectively connected to and drive the servo motor (22), the servo motor of the lifting assembly (32), and the servo motor of the horizontal movement assembly (33). The sensor assembly includes at least a force sensor, a displacement sensor, and an angle sensor. The force sensor is installed between the peeler (4) and the output end of the horizontal movement assembly (33) to detect the contact force between the peeler (4) and the tire wire ring in real time. The displacement sensor is installed on the horizontal movement assembly (33) and / or the lifting assembly (32) to detect the spatial position of the peeler (4). The angle sensor is installed on the output end of the servo motor (22) to detect the rotation angle of the tire. The industrial controller has a built-in peeling control program, which is configured to: control the lifting assembly (32) and the horizontal moving assembly (33) to move the peeler (4) to the working position when the tire is rotating, and perform closed-loop adjustment of the feed speed of the peeler (4) and the rotation speed of the tire according to the detection signal of the sensor assembly to complete the rubber peeling operation, and control the peeler (4) to return to its original position after peeling is completed.

2. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The peeling control program is configured to monitor the contact force between the peeler (4) and the tire in real time by force sensor during the process of the peeler (4) approaching the tire. When the contact force reaches the preset approach contact force threshold, it is determined that the peeler (4) has reached the start position of the operation.

3. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The peeling control program is configured to perform multi-stage peeling control, including an initial cutting stage and a stable peeling stage; in the initial cutting stage, the industrial controller controls the peeler (4) to feed at a first feed speed and drive the tire to rotate at a first rotation speed, and enters the stable peeling stage when the peeling force reaches the preset cutting completion force threshold. During the stable peeling stage, the industrial controller controls the peeler (4) to feed at the second feed speed and drive the tire to rotate at the second rotation speed. The peeling force value is collected in real time by the force sensor, and the peeling force value is compared with the preset peeling force threshold range. The feed speed and rotation speed are dynamically adjusted according to the comparison result.

4. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: During the stable peeling phase, if the current peeling force is lower than the lower limit of the peeling force threshold range, the industrial controller increases the feed speed of the horizontal moving component (33) until the peeling force returns to the threshold range; if the current peeling force is higher than the upper limit of the peeling force threshold range, the industrial controller decreases the feed speed of the horizontal moving component (33) and simultaneously decreases the rotation speed of the servo motor (22) until the peeling force returns to the threshold range.

5. The waste tire steel wire ring and rubber stripping and recycling device according to claim 4, characterized in that: If the peeling force continues to exceed the upper limit of the threshold range within a preset time and cannot be restored by deceleration adjustment, the industrial controller determines that there is abnormal adhesion at the current peeling position, controls the horizontal moving component (33) to pause feeding and maintain the current position of the peeler (4), and controls the servo motor (22) to reciprocate at a preset angle at a third rotation speed, and assists the peeler (4) to break the abnormal adhesion point through reciprocating torsion action, and then resumes normal stable peeling operation.

6. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The peel force threshold range is a dynamic threshold range. The industrial controller dynamically calculates and updates the current tire peel force threshold range based on the actual peel force change curve recorded by the peeler (4) during the initial cutting stage.

7. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The peeling control program is configured to detect the total feed displacement of the peeler (4) along the tire radial direction in real time through a displacement sensor. When the total feed displacement reaches the radial depth of the wire ring corresponding to the tire specification parameters, the peeling operation is determined to be completed, and the horizontal moving component (33) is controlled to stop feeding and the servo motor (22) is controlled to decelerate and stop.

8. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The control unit (5) also includes an emergency stop button, which is directly connected to the enable terminal of each servo driver via hard wiring. When the emergency stop button is triggered, each servo driver immediately cuts off the motor power output, and the industrial controller records the current operating status and saves the abnormal interruption data.

9. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The sensor assembly also includes a temperature sensor and a vibration sensor. The temperature sensor is installed on the peeler (4) to detect the working temperature of the peeler (4), and the vibration sensor is installed on the peeler (4) to detect the vibration amplitude of the peeler (4). The industrial controller monitors the temperature of the peeler (4) through the temperature sensor. When the temperature of the peeler (4) exceeds the preset temperature threshold, the feed is paused until the temperature drops below the safe temperature. The industrial controller monitors the vibration state of the peeler (4) through the vibration sensor. When the vibration amplitude exceeds the preset vibration threshold, the feed is stopped and an alarm signal is issued.

10. The waste tire steel wire ring and rubber stripping and recycling device according to claim 1, characterized in that: The industrial controller is a programmable logic controller or an embedded industrial computer; the communication bus is an industrial Ethernet bus or a fieldbus; the industrial controller is connected to the upper management system through the communication bus, receives updated tire specification parameters and corresponding stripping parameter sets from the upper management system, and associates and stores the actual stripping parameters that have been confirmed to be effective after adaptive adjustment in each stripping operation with the tire specifications for optimization and updating of the parameter database.

Images