Belt bonding method, system, and tire belt production line

Abstract

This application provides a method, system, and production line for bonding belt layers in tires. The method includes: S1 acquiring three-dimensional spatial data of the belt layer rubber material before it is conveyed to the bonding station, and constructing a three-dimensional digital model; S2 extracting geometric feature parameters based on the three-dimensional digital model, and pre-generating a target conveying speed and lateral displacement curve of the belt layer rubber material based on the geometric feature parameters and preset standard geometric feature parameters; S3 pre-adjusting the belt layer rubber material to the target conveying speed; and pre-positioning the belt layer rubber material laterally according to the initial value of the lateral displacement curve; S4 when the first end of the belt layer rubber material is detected to have reached the starting position of the bonding station, controlling the belt layer rubber material to maintain the target conveying speed, and controlling the lateral position of the belt layer rubber material in real time according to the lateral displacement curve, and bonding the belt layer rubber material to the bonding drum. This invention constructs a closed-loop control system of "perception-planning-feedback execution" to achieve high yield and fully automated manufacturing.

Description

Technical Field

[0001] This application relates to the field of tire manufacturing technology, and in particular to a belt layer bonding method, system and tire belt layer production line. Background Technology

[0002] Tire belt bonding is a crucial process in radial tire manufacturing, and its precision and quality directly determine the tire's dynamic balance and final service life. As tire manufacturing moves towards high-end and intelligent processes, the industry is placing increasingly higher demands on the automation level, precision, and consistency of the belt bonding process.

[0003] Currently, tire belt layer bonding mainly adopts a semi-automatic mode. In this mode, the cutting equipment automatically cuts the belt layer rubber material to a fixed length. During the conveying process, photoelectric sensors detect the edge position of the rubber material, and an independent correction mechanism (such as a swing-type correction roller or an electric side plate) corrects it laterally based on the straight conveying direction. Subsequently, the equipment automatically conveys the rubber material to the bonding drum and rolls it for bonding. After bonding is completed, the system identifies the joint quality through a detection device. When non-conformities such as overlap, gaps, or misalignment are detected, the process is paused, and the on-site operator manually intervenes to repair them.

[0004] However, existing semi-automatic methods have the following inherent drawbacks: Firstly, the adhesive material may have length errors during the fixed-length cutting process, leading to overlaps or gaps at the joints during bonding, and this length error cannot be compensated for by the lateral correction mechanism. Secondly, the localized lateral correction force applied to the adhesive material by the correction mechanism during transport can easily cause uneven stress distribution within the material. During subsequent bonding, the adhesive material may rebound or deform due to stress release, resulting in overlaps, gaps, or misalignments in the joint area, affecting the final product qualification rate. Summary of the Invention

[0005] The purpose of this application is to provide a belt layer bonding method, system, and tire belt layer production line, which aims to solve the defects of overlap, gap, and misalignment in the belt layer rubber joint area caused by cutting size errors and local lateral correction forces applied by the correction mechanism, and to ensure the qualification rate of the final bonded product.

[0006] To address the aforementioned technical problems, this application provides the following technical solutions: The first aspect of this application provides a method for bonding a belt layer, comprising the following steps: S1 acquires the three-dimensional spatial data of the belt layer adhesive before it is conveyed to the bonding station and constructs a three-dimensional digital model. S2 extracts geometric feature parameters based on the three-dimensional digital model, and pre-generates the target conveying speed and lateral displacement curve of the belt layer rubber material based on the geometric feature parameters and the preset standard geometric feature parameters; S3 pre-adjusts the speed of the belt layer rubber material to the target conveying speed; and pre-positions the belt layer rubber material laterally according to the initial value of the lateral displacement curve. S4 When it is detected that the first end of the belt layer adhesive material has reached the starting position of the bonding station, the belt layer adhesive material is controlled to maintain the target conveying speed, and the lateral position of the belt layer adhesive material is controlled in real time according to the lateral displacement curve so as to bond the belt layer adhesive material to the bonding drum.

[0007] In some modified embodiments of the first aspect of this application, the method for obtaining the three-dimensional spatial data of the belt layer adhesive in step S1 includes: The belt layer adhesive is actively scanned at a speed greater than the conveying speed of the belt layer adhesive, so as to provide a time margin for the pre-positioning and pre-speed adjustment before the first end of the belt layer adhesive reaches the bonding station.

[0008] In some modified embodiments of the first aspect of this application, the method for pre-generating the target conveying speed in step S2 includes: Based on the three-dimensional digital model, the length dimension of the belt layer rubber material is extracted; The deviation between the length dimension and the preset standard length dimension is calculated to generate the target conveying speed.

[0009] In some modified embodiments of the first aspect of this application, the method for pre-generating the lateral displacement curve in step S2 includes: Based on the three-dimensional digital model, the centerline trajectory of the belt layer rubber material is extracted; Calculate the discrete lateral deviation value of the centerline trajectory relative to the preset standard centerline trajectory; Calculate the ratio of the stated length dimension to the standard length dimension; Adjust the length position corresponding to the discrete lateral deviation value based on the length ratio; The adjusted data pair is subjected to curve fitting to obtain the lateral displacement curve.

[0010] In some modified embodiments of the first aspect of this application, after step S1 and before step S2, the method further includes: The quality control feature parameters of the three-dimensional digital model are extracted and compared with the corresponding standard quality control feature parameters in the pre-stored standard material model. Based on the comparison results, a grade label for the belt layer rubber material is generated. The grade label includes a defect label and one or more qualified product labels. When the grade label is the waste label, an interception instruction is generated to prohibit the execution of step S2 and subsequent steps.

[0011] In some modified embodiments of the first aspect of this application, step S4 further includes a bonding end stage: Real-time acquisition of three-dimensional point cloud data of the head region and the tail region to be bonded on the bonding drum of the belt layer adhesive material; Extract the first and last boundary contours from the end 3D point cloud data, calculate the end error between the two boundary contours, and generate fine-tuning instructions based on the end error. The lateral displacement curve and / or the target conveying speed are adjusted according to the fine-tuning instructions to cause controllable local elastic deformation of the belt layer material, so as to seamlessly fit the tail end face and the head end face of the belt layer material.

[0012] A second aspect of this application provides a belt layer bonding system, comprising: Base; The support frame is slidably connected to the base in a lateral direction; A lateral drive mechanism is connected to both the base and the support frame, and is used to drive the support frame to slide laterally. A transmission mechanism, disposed on the support frame, is used to convey the belt layer rubber material; A three-dimensional vision sensor, connected to the support frame, is used to collect three-dimensional spatial data of the belt layer adhesive before the belt layer adhesive is conveyed to the bonding station; A distance sensor is used to detect in real time the distance between the beginning of the belt layer adhesive and the starting position of the bonding station; A bonding drum is disposed opposite to the transmission mechanism, forming a bonding station between them. The bonding drum is used to receive the belt layer adhesive material conveyed by the transmission mechanism and to bond the belt layer adhesive material to its surface. The processor is connected to the lateral drive mechanism, the transmission mechanism, the three-dimensional vision sensor, and the distance sensor, respectively, and the processor is configured for the belt layer bonding method described in the first aspect.

[0013] Some modified embodiments of the second aspect of this application also include: A gantry frame is spanned across the transmission mechanism and slidably connected to the support frame along the conveying direction; the three-dimensional vision sensor is disposed on the crossbeam of the gantry frame. A longitudinal drive mechanism is connected to the gantry and the support frame respectively, and is used to drive the gantry to slide along the conveying direction.

[0014] In some modified embodiments of the second aspect of this application, the longitudinal drive mechanism includes: The motor is connected to the column of the gantry frame; the column is slidably connected to the support frame along the conveying direction; The gear is connected to the output end of the motor; A rack extends along the conveying direction and is disposed on the support frame, the rack meshing with the gear.

[0015] A third aspect of this application provides a tire belt layer production line, comprising: The cutting system is used to cut the belt layer rubber material into a preset length; The belt layer bonding system described in the second aspect is located downstream of the cutting system, and the transmission mechanism of the belt layer bonding system is used to receive the cut belt layer adhesive material.

[0016] Compared to existing technologies, the belt layer bonding method provided in the first aspect of this application acquires complete three-dimensional spatial data of the adhesive material before it is delivered to the bonding station and constructs a high-fidelity three-dimensional digital model. Based on the geometric feature parameters (such as length dimensions, centerline trajectory, etc.) extracted from this model, and calculating the deviation from the preset standard geometric features, a target conveying speed and lateral displacement curve that match it are pre-generated globally and in advance, establishing a precise, unified, and executable physical benchmark for the entire bonding process.

[0017] Before bonding, the system pre-adjusts the speed and pre-positions the adhesive material laterally to ensure that when the first end of the adhesive material arrives at the starting position of the bonding drum, the conveying and guiding actuator is already running stably in the target working state. This avoids fluctuations in the initial segment position caused by the actuator being in the acceleration or adjustment phase, and fundamentally ensures the accurate alignment of the first end bonding.

[0018] During the lamination process, the adhesive material is continuously conveyed at a constant target speed. This speed is calculated based on the deviation between the extracted length of the adhesive material and the standard length: if the material is too short, the conveying speed is appropriately reduced to extend the lamination time; if it is too long, the speed is moderately increased, thus ensuring that the adhesive material achieves precise end-to-end alignment on the lamination drum and realizes functional matching with the standard length. Because the conveying speed is constant throughout the process, the adhesive material experiences a consistent motion along its entire length, thus bearing uniform and controllable tensile or compressive strain, effectively avoiding stress concentration caused by sudden speed changes or local corrections.

[0019] Simultaneously, the system implements full-process synchronous dynamic centering control of the adhesive material based on a pre-generated lateral displacement curve. This curve is precisely calculated based on the point-by-point offset between the adhesive material's centerline along its entire length and the preset standard centerline trajectory, ensuring spatial continuity and foresight in the control commands. Therefore, regardless of whether the adhesive material has initial bending, serpentine shape, or irregular edges, its centerline can maintain high-precision alignment with the standard centerline trajectory throughout the entire bonding process from start to finish.

[0020] In summary, this invention constructs a complete "perception-planning-feedback execution" closed-loop control system through a three-pronged approach: pre-speed adjustment and pre-positioning based on panoramic modeling before bonding, constant speed strain compensation during bonding, and high-precision alignment execution during bonding. This ensures the longitudinal length accuracy, lateral alignment accuracy, and high-precision docking quality of the belt layer bonding, providing solid and reliable technical support for tire forming processes to move towards high consistency, high yield, and fully automated and intelligent manufacturing. Attached Figure Description

[0021] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein: Figure 1 A schematic diagram of the first-view structure of the belt-layer bonding system of this application is shown. Figure 2 A schematic diagram of the second view of the belt layer bonding system of this application is shown (the bonding drum is not shown in the figure). Figure 3 A schematic diagram of the transmission mechanism of this application is shown from a first-view perspective. Figure 4 A schematic diagram of the transmission mechanism of this application from a second perspective is shown; Figure 5 The schematic diagram shows a first-view structural schematic of the lateral drive mechanism and the base of this application; Figure 6 The diagram schematically illustrates the second-view structural diagram of the lateral drive mechanism and the base of this application.

[0022] Explanation of icon numbers: 1. Base; 2. Support frame; 21. Supporting component; 22. Supporting component; 3. Lateral drive mechanism; 4. Transmission mechanism; 41. Servo motor; 42. Circular conveyor belt; 43. Driven synchronous pulley; 5. 3D vision sensor; 6. Bonding drum; 7. Processor; 8. Gantry frame; 9. Longitudinal drive mechanism; 91. Motor; 92. Rack; 10. First guide rail; 11. Second guide rail; 12. Pressure roller mechanism; 13. Edge guard mechanism; 14. Magnetic block mechanism; 15. Bonding mechanism; 16. Position detection unit. Detailed Implementation

[0023] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0024] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0025] refer to Figures 1 to 6 The first aspect of this application provides a method for bonding a belt layer, comprising the following steps: Before the belt layer adhesive is conveyed to the bonding station, S1 acquires the three-dimensional spatial data of the belt layer adhesive and constructs a three-dimensional digital model.

[0026] Specifically, the belt layer adhesive material has been cut into preset specifications and sizes according to the production process requirements before entering the bonding process.

[0027] The system can acquire three-dimensional spatial data of the belt layer rubber surface through the three-dimensional vision sensor 5. The three-dimensional spatial data can include: the length dimension, width dimension, edge shape, and surface undulation information of the belt layer rubber.

[0028] In some embodiments, the 3D vision sensor 5 can employ a static scanning method, meaning there is no relative movement between the 3D vision sensor 5 and the support surface of the transmission mechanism 4. When the belt layer adhesive material is in the transmission mechanism... As the transmission mechanism 4 passes through the field of view of the 3D vision sensor 5, it continuously acquires 3D spatial data of the belt layer surface. To ensure that complete acquisition is completed before the belt layer adhesive is conveyed to the bonding station, the 3D vision sensor 5 can be set at the input end of the transmission mechanism 4.

[0029] In other embodiments, the method for obtaining the three-dimensional spatial data of the belt layer adhesive in step S1 includes: The belt layer adhesive is actively scanned at a speed greater than the conveying speed of the belt layer adhesive, so as to provide a time margin for the pre-positioning and pre-speed adjustment before the first end of the belt layer adhesive reaches the bonding station.

[0030] Specifically, the 3D vision sensor 5 can be mounted on a movable gantry 8. Depending on the actual production line layout and cycle time requirements, the scanning modes of the gantry 8 can include the following two: High-speed chasing scanning mode in the same direction: In this mode, during the working stroke, the gantry 8 is controlled to move along the conveying direction, and its movement speed is significantly greater than the conveying speed of the belt layer rubber material (for example, the speed of the gantry 8 can be set to 3 to 5 times the conveying speed). At this time, the scanning speed is the speed difference between the gantry 8 and the belt layer rubber material. The three-dimensional vision sensor 5 quickly scans the surface of the rubber material and completes the three-dimensional data acquisition. During the reset return stroke, the gantry 8 quickly moves in the opposite direction of the conveying direction and returns to the initial position.

[0031] Reverse opposing scanning mode: In this mode, during the working stroke, the gantry 8 is controlled to move in the opposite direction of the conveying direction. At this time, the scanning speed is the sum of the speeds of the gantry 8 and the belt layer tape. This mode can obtain a very high relative scanning speed without the need for an extremely high absolute speed of the gantry 8, and complete data acquisition in a very short time. During the reset return stroke, the gantry 8 moves quickly along the conveying direction and returns to the initial position.

[0032] Both scanning modes employ a dynamic reciprocating scanning pattern of "working stroke - reset return stroke" to achieve seamless connection of continuously fed belt layer adhesive. Sufficient calculation time is allocated before the first end of the belt layer adhesive reaches the bonding station, providing adjustment time for subsequent pre-positioning and pre-speed adjustment. This ensures that pre-positioning and pre-speed adjustment are completed before the first end of the belt layer adhesive is detected to have reached the starting position of the bonding station.

[0033] In actual continuous production, multiple belt layer adhesive materials may be present on the conveyor mechanism 4 at the same time. When the belt layer adhesive material at the rear reaches the vicinity of the bonding station and performs speed change actions such as pre-speed adjustment, the speed of the belt layer adhesive material in the scanning area in front of the conveyor mechanism 4 will fluctuate.

[0034] Therefore, in some embodiments, a preset safety distance is provided when adjacent belt layer adhesive materials enter the transmission mechanism 4. This safety distance is configured such that when any piece of belt layer adhesive material is in the scanning range, none of the belt layer adhesive materials on the transmission mechanism 4 enter the bonding preparation range or bonding station where speed control is required. This spatially isolates speed-changing interference and maintains a uniform speed environment to the greatest extent possible during the scanning phase. Alternatively, In other embodiments, the method for acquiring three-dimensional spatial data in step S1 may also include a dynamic compensation mechanism based on hardware synchronization and algorithm correction. Specifically, in terms of hardware, an encoder can be installed on the drive roller of the transmission mechanism 4. The encoder is used to acquire the conveying speed of the transmission mechanism 4 in real time. The displacement pulse signal output by the encoder is directly connected to the external trigger interface of the three-dimensional vision sensor 5. Whenever the rubber material theoretically moves a preset fixed distance (e.g., 0.1 mm), the encoder emits a pulse, forcibly triggering the three-dimensional vision sensor 5 to acquire a frame of image (or a contour line). This ensures that, regardless of how the actual speed of the belt layer rubber material fluctuates, the acquired raw image data always maintains a uniform spacing in spatial distribution, avoiding data stacking or omissions.

[0035] In terms of software, in order to eliminate point cloud distortion caused by the slight elastic deformation or attitude deflection of the rubber material during the speed change process, the processor 7 calculates the actual displacement deviation and attitude change of the rubber material at each acquisition moment during scanning based on the speed sequence fed back by the encoder in real time, and calibrates the point cloud data acquired at different times to a unified reference coordinate system based on the point cloud motion compensation method, thereby ensuring the accuracy of the reconstructed three-dimensional digital model.

[0036] A three-dimensional digital model can be constructed using three-dimensional point cloud processing software (such as PCL point cloud library or three-dimensional reconstruction software module): the processor 7 performs noise reduction filtering on the acquired three-dimensional spatial data to remove outlier noise points caused by ambient light or surface texture of the rubber; then, the filtered point cloud data is fitted with a surface and reconstructed into a mesh to generate a three-dimensional digital model that can truly reflect the actual geometric shape of the belt layer rubber.

[0037] In some embodiments, after step S1 and before step S2, a pre-quality control and triage step based on a three-dimensional digital model is further included: The quality control feature parameters of the three-dimensional digital model are extracted and compared with the corresponding standard quality control feature parameters in the pre-stored standard material model. Based on the comparison results, a grade label for the belt layer rubber material is generated. The grade label includes a defect label and one or more qualified product labels. When the grade label is the waste label, an interception instruction is generated to prohibit the execution of step S2 and subsequent steps.

[0038] Specifically, quality control characteristic parameters may include at least one of the following: length dimension, width dimension, straightness of edge contour, surface undulation, or thickness uniformity of the belt layer rubber compound. The standard material model can be pre-stored in the local database of processor 7 after statistical averaging or manual calibration based on the three-dimensional spatial data of qualified rubber compounds collected in the early stage.

[0039] Processor 7 compares the extracted quality control feature parameters with the corresponding standard quality control feature parameters in the pre-stored standard material model (e.g., comparing the extracted length dimension with the pre-stored standard length dimension, comparing the extracted width dimension with the pre-stored standard width dimension, etc.). When the deviation of each feature parameter is within the preset tolerance range, a qualified product label is generated. The qualified product label can be specifically divided into superior product label, good product label, and ordinary qualified product label according to the average value or weighted comprehensive score of each deviation (the smaller the comprehensive deviation, the higher the grade). Conversely, when any feature parameter deviation exceeds the tolerance range, a veto is triggered, and a defective product label is generated.

[0040] When the grade label is determined to be a waste label, the processor 7 generates an interception command. Based on the interception command, the system can control the sound and light alarms to remind the staff to remove the adhesive material with the waste label; alternatively, an adsorption mechanism can be set downstream of the scanning area. The adsorption mechanism operates based on the interception command to remove the adhesive material marked as waste, thereby directly blocking the execution of step S2 and subsequent steps.

[0041] By comparing the 3D model with the standard model before bonding, this embodiment can not only directly eliminate unqualified rubber materials to reduce the scrap rate, but also classify and manage qualified rubber materials. Based on the grade data of each layer of rubber materials, the system can directly predict the final quality grade of the tire after molding, realizing the forward shift of quality control and graded management. At the same time, the filing and retention of data throughout the entire process provides data support for quality traceability and process development, completely changing the passive situation of traditional open-loop management and constructing a complete closed-loop quality control system.

[0042] S2 extracts geometric feature parameters based on the three-dimensional digital model, and pre-generates the target conveying speed and lateral displacement curve of the belt layer rubber material based on the geometric feature parameters and preset standard geometric feature parameters.

[0043] Specifically, geometric characteristic parameters may include the length of the belt layer material, the centerline trajectory, the width at different positions along the length direction, the curvature variation of the edge curve, and the local thickness of the surface. Quality control characteristic parameters may be the same as or different from geometric characteristic parameters. The difference lies in their functional positioning: quality control characteristic parameters focus on comparing with preset standards to determine the material grade (e.g., exceeding tolerances results in scrap), while geometric characteristic parameters focus on characterizing the material's true physical form, serving as the basis for subsequent planning of the pre-generated target conveying speed and lateral displacement curve.

[0044] In some embodiments, the extracted geometric feature parameters can be compared with preset standard geometric feature parameters, the deviation between the two can be calculated, and the target conveying speed and lateral displacement curve of the belt layer rubber material can be pre-generated based on the deviation.

[0045] In some embodiments, geometric feature parameters may include the length dimension of the belt layer rubber material and the centerline trajectory. Correspondingly, preset standard geometric feature parameters include standard length dimension and standard centerline trajectory.

[0046] The method for pre-generating the target conveying speed in step S2 includes: Based on the three-dimensional digital model, the length dimension of the belt layer rubber material is extracted; The deviation between the length dimension and the preset standard length dimension is calculated to generate the target conveying speed.

[0047] Specifically, the processor 7 can calculate the target conveying speed based on the length of the belt layer adhesive, the standard length, and the reference rotation speed of the bonding drum 6, using the following formula: V 目标 =V 基准 ×(L 初 / L0)×f Among them, V 目标 The pre-generated target delivery speed; V 基准 To match the surface linear velocity of drum 6; L0 is the standard length dimension; L 初 The length dimension of the extracted belt layer rubber material.

[0048] f is the material compensation coefficient, ranging from 1 to 1.3, used to compensate for the nonlinear deformation behavior of the belt layer rubber compound during tension or compression. When L 初 When L < L0 (the rubber compound is too short and needs to be stretched), f takes a value greater than 1; L 初 When the length is greater than L0 (the rubber compound is too long and requires compression / relaxation), the value of f is also greater than 1. The value of f differs between tension and compression; the specific value can be determined by testing under laboratory conditions.

[0049] For example, the material compensation coefficient f can be determined as follows: For a specific specification of belt layer compound, tensile and compressive stress-strain tests are performed in advance under laboratory conditions. The average modulus ratio of the compound within the target strain range is obtained by fitting the test data, and this ratio is stored in the processor as the f value. For different batches or different formulations of the compound, corresponding f values ​​can be calibrated separately. If the current belt layer compound has not been pre-calibrated with an f value, then f takes the default value of 1.00, i.e., no material compensation is performed.

[0050] When L 初 When <L0, the calculated V 目标 <V 基准By reducing the conveying speed, the traction force of the bonding drum is used to make the belt layer adhesive material stretch evenly during the bonding process, so that the actual bonding length after stretching reaches a uniform standard length. When L 初 When =L0, the calculated V 目标 =V 基准 The belt layer adhesive is directly conveyed and bonded at the original speed; When L 初 When >L0, the calculated V 目标 >V 基准 By increasing the conveying speed, the belt layer adhesive material is made to have slight slack or allow slight slippage during the bonding process, thereby eliminating excess length.

[0051] This method differs from traditional localized centralized adjustment (stretching / relaxation). By controlling the conveying speed, it achieves uniform adjustment of the rubber compound as a whole, thereby effectively avoiding uneven distribution of rubber compound quality caused by excessive local deformation. It fundamentally solves the technical problem of unstable tire dynamic balance index caused by local stretching due to inconsistent material length.

[0052] The method for pre-generating the lateral displacement curve in step S2 includes: Based on the three-dimensional digital model, the centerline trajectory of the belt layer rubber material is extracted; Calculate the discrete lateral deviation value of the centerline trajectory relative to the preset standard centerline trajectory; Calculate the ratio of the stated length dimension to the standard length dimension; Adjust the length position corresponding to the discrete lateral deviation value based on the length ratio; The adjusted data pair is subjected to curve fitting to obtain the lateral displacement curve.

[0053] Specifically, processor 7 extracts the centerline trajectory of the belt layer rubber material based on a three-dimensional digital model along its longitudinal extension direction. Since the rubber material may bend or deviate during cutting and conveying, this centerline trajectory may not be an ideal straight line. Processor 7 compares the extracted actual centerline trajectory with a preset standard centerline trajectory (i.e., a preset ideal straight line reference, which spatially corresponds to the centerline of the bonding area of ​​the bonding drum and serves as a reference for lateral alignment). It samples at equal intervals along the length of the rubber material to obtain a series of discrete lateral deviation values ​​(e.g., 0.2mm to the right at the initial length position L1, 0.3mm to the right at L2, etc.). These data constitute discrete data pairs reflecting the lateral morphology of the rubber material.

[0054] Because the adhesive material may be in a stretched or slightly relaxed state under the influence of the target conveying speed, processor 7 calculates the length ratio of the length dimension to the standard length dimension and uses this length ratio as a position mapping coefficient. For each discrete lateral deviation value, the corresponding length position is proportionally converted based on the length ratio, thus calculating the actual length position in the bonding state. This conversion process only changes the longitudinal position where the lateral deviation occurs, without changing the absolute magnitude of the lateral deviation value itself.

[0055] This method decouples the coupling interference between longitudinal stretching and lateral skew of the adhesive material by introducing a length ratio for pre-mapping of coordinate positions. It achieves dynamic, continuous, and precise correction during high-speed bonding of the adhesive material, fundamentally eliminating bonding misalignment caused by skewness of the adhesive material's centerline.

[0056] By pre-analyzing the actual geometric feature parameters based on the three-dimensional digital model and pre-generating the target conveying speed and lateral displacement curve, feedforward adaptive planning based on the actual shape and size of the material is achieved, ensuring the precise bonding of the belt layer on the bonding drum 6 from the source.

[0057] In some embodiments, the method further includes traceability and data closed-loop management based on the three-dimensional digital model. Since the molding of a single tire can involve bonding multiple layers of belt layer rubber material layer by layer, the processor 7 can associate and store the grade label of the currently bonded belt layer rubber material, the extracted geometric feature parameters, the bonding control parameters called during step S2, and the actual verification results after bonding (e.g., joint quality and skewness detected by the online vision system, uniformity and dynamic balance data detected by the finished tire, etc.) with the unique identifier of the current tire and the corresponding layer information to form a multi-dimensional production file corresponding to a single tire.

[0058] By leveraging this production archive, when subsequent tire molding quality anomalies are discovered, the historical archives of all belt layer bonding levels of the tire can be retrieved with a single click based on the tire's identification. By comparing the initial three-dimensional morphological deviations of each layer's rubber compound with the bonding control parameters, the corresponding abnormal layer can be quickly identified and traced back, achieving a shift from traditional blind inspection to precise targeted tracing. Simultaneously, the accumulated historical archive data can also be used to analyze the correlation between different layer characteristic parameters and the final bonding quality, providing data feedback for iterative optimization of bonding control parameters. Through this mechanism, this invention overcomes the limitations of isolated information for each process and bonding level in traditional tire molding, achieving full-process data traceability from initial scanning detection to later multi-layer bonding molding, and promoting the intelligent transformation of tire production from traditional open-loop control to closed-loop data-driven processes.

[0059] S3 pre-adjusts the speed of the belt layer rubber material to the target conveying speed; and pre-positions the belt layer rubber material laterally according to the initial value of the lateral displacement curve.

[0060] Specifically, the current conveying speed of the conveying mechanism is smoothly adjusted to the pre-generated target conveying speed; based on the initial lateral deviation value of the lateral displacement curve, the lateral drive mechanism 3 is driven to operate.

[0061] By implementing pre-speed adjustment and pre-positioning before bonding, the lag error of equipment start-up and shutdown and mechanism response is effectively eliminated, avoiding wrinkling or misalignment of the belt layer adhesive material in the initial stage of bonding due to speed mismatch or position deviation, thus ensuring a smooth start for subsequent bonding of the entire line.

[0062] When the first end of the belt layer adhesive material is detected to have reached the starting position of the bonding station, the belt layer adhesive material is controlled to maintain the target conveying speed. At the same time, the lateral position of the belt layer adhesive material is controlled in real time according to the lateral displacement curve so as to bond the belt layer adhesive material to the bonding drum 6.

[0063] Specifically, when the distance sensor detects that the beginning of the belt layer adhesive material has reached the preset starting position, a formal bonding command is triggered. At this time, the system locks the operating speed of the conveying mechanism to strictly maintain the target conveying speed; at the same time, the system reads the lateral deviation value corresponding to the current conveyed length of the adhesive material on the lateral displacement curve in real time, and dynamically drives the lateral drive mechanism 3 accordingly, so that the lateral position of the adhesive material always remains synchronized with the trajectory planned by the curve.

[0064] By using feedforward real-time adjustment, the cumulative skew error caused by the deformation of the adhesive material itself in traditional bonding is completely eliminated, ensuring high precision and high straightness bonding of the belt layer on the bonding drum 6.

[0065] In some embodiments, step S4 further includes a bonding end stage: Real-time acquisition of three-dimensional point cloud data of the head region and the tail region to be bonded on the bonding drum 6 where the belt layer adhesive has been bonded; Extract the first and last boundary contours from the end 3D point cloud data, calculate the end error between the two boundary contours, and generate fine-tuning instructions based on the end error. The lateral displacement curve and / or the target conveying speed are adjusted according to the fine-tuning instructions to cause controllable local elastic deformation of the belt layer material, so as to seamlessly fit the tail end face and the head end face of the belt layer material.

[0066] Specifically, in the bonding end stage of step S4 (for example, when the belt layer adhesive is about to be bonded and the tail area to be bonded is close to the head area already bonded on the bonding drum 6, and the distance between the two is less than a preset threshold), the three-dimensional vision sensor 5 collects the end three-dimensional point cloud data of the head area already bonded and the tail area to be bonded.

[0067] From the end-point 3D point cloud data, the initial boundary contour of the bonded adhesive and the final boundary contour of the adhesive to be bonded are extracted. The actual deviations between the two in terms of lateral position, angle, and overlap gap are calculated as the end-point error.

[0068] Fine-tuning instructions are generated based on the end-point error, including lateral displacement compensation and conveyor speed adjustment. During the bonding process in the tail region, the current lateral displacement curve and the target conveyor speed maintained in the preceding bonding stage are superimposed and corrected in real time according to the fine-tuning instructions.

[0069] By superimposing and correcting, the belt layer rubber material is driven to produce local elastic stretching or compression deformation within a controllable tension range, so as to dynamically correct the overlap trajectory and achieve seamless fitting between the tail end face and the head end face.

[0070] Compared to existing technologies, the belt layer bonding method provided in the first aspect of this application acquires complete three-dimensional spatial data of the adhesive material before it is delivered to the bonding station and constructs a high-fidelity three-dimensional digital model. Based on the geometric feature parameters (such as length dimensions, centerline trajectory, etc.) extracted from this model, and calculating the deviation from the preset standard geometric features, a target conveying speed and lateral displacement curve that match it are pre-generated globally and in advance, establishing a precise, unified, and executable physical benchmark for the entire bonding process.

[0071] Before bonding, the system pre-adjusts the speed and pre-positions the adhesive material laterally to ensure that when the first end of the adhesive material arrives at the starting position of the bonding drum 6, the conveying and guiding actuator is already running stably in the target working state. This avoids fluctuations in the initial segment position caused by the actuator being in the acceleration or adjustment phase, and fundamentally ensures the accurate alignment of the first end bonding.

[0072] During the bonding process, the adhesive material continuously moves at a constant target conveying speed. This speed is calculated based on the deviation between the extracted length of the adhesive material and the standard length: if the material is too short, the conveying speed is appropriately reduced to extend the bonding time; if it is too long, the speed is moderately increased, thus ensuring that the adhesive material achieves precise end-to-end alignment on the bonding drum 6, achieving functional matching with the standard length. Because the conveying speed is constant throughout the process, the adhesive material experiences a consistent motion along its entire length, thus bearing uniform and controllable tensile or compressive strain, effectively avoiding stress concentration caused by sudden speed changes or localized corrections.

[0073] Simultaneously, the system implements full-process synchronous dynamic centering control of the adhesive material based on a pre-generated lateral displacement curve. This curve is precisely calculated based on the point-by-point offset between the adhesive material's centerline along its entire length and the preset standard centerline trajectory, ensuring spatial continuity and foresight in the control commands. Therefore, regardless of whether the adhesive material has initial bending, serpentine shape, or irregular edges, its centerline can maintain high-precision alignment with the standard centerline trajectory throughout the entire bonding process from start to finish.

[0074] In summary, this invention constructs a complete "perception-planning-feedback execution" closed-loop control system through a three-pronged approach: pre-speed adjustment and pre-positioning based on panoramic modeling before bonding, constant speed strain compensation during bonding, and high-precision alignment execution during bonding. This ensures the longitudinal length accuracy, lateral alignment accuracy, and high-precision docking quality of the belt layer bonding, providing solid and reliable technical support for tire forming processes to move towards high consistency, high yield, and fully automated and intelligent manufacturing.

[0075] refer to Figures 1 to 6 As shown, the second aspect of this application provides a belt layer bonding system, including a base 1, a support frame 2, a lateral drive mechanism 3, a transmission mechanism 4, a three-dimensional vision sensor 5, a distance sensor (not shown in the figure), a bonding drum 6, and a processor 7.

[0076] The support frame 2 is slidably connected to the base 1 in the lateral direction; the lateral drive mechanism 3 is connected to the base 1 and the support frame 2 respectively, and is used to drive the support frame 2 to slide laterally; the transmission mechanism 4 is disposed on the support frame 2 and is used to transport the belt layer adhesive; the three-dimensional vision sensor 5 is connected to the support frame 2 and is used to collect the three-dimensional spatial data of the belt layer adhesive before it is transported to the bonding station; A distance sensor is used to detect in real time the distance between the beginning of the belt layer adhesive and the starting position of the bonding station; the bonding drum 6 is arranged opposite to the transmission mechanism 4, forming a bonding station between them; the bonding drum 6 is used to receive the belt layer adhesive conveyed by the transmission mechanism 4 and to bond the belt layer adhesive to its surface; the processor 7 is connected to the transverse drive mechanism 3, the transmission mechanism 4, the three-dimensional vision sensor 5 and the distance sensor respectively, and the processor 7 is configured to execute the belt layer bonding method described in the first aspect.

[0077] Specifically, the support frame 2 may include a support member 21 and a supporting member 22. Both the base 1 and the support member 21 may adopt a frame structure, and they are arranged vertically. The system may include a first guide rail 10, which is disposed on the top of the base 1. The bottom of the support member 21 can be slidably connected to the base 1 laterally via the first guide rail 10 to constrain the movement path of the support frame 2. The outer shell of the transverse drive mechanism 3 may be fixedly connected to the base 1, and its drive end may be fixedly connected to the support member 21. The transverse drive mechanism 3 may be a linear drive mechanism such as a servo motor, a hydraulic cylinder, or a rack and pinion mechanism.

[0078] The support member 22 can be a plate or frame structure. There can be two support members 22, located on both sides of the bearing member 21 along the lateral direction, and both are fixedly connected to the bearing member 21.

[0079] The lateral drive mechanism 3 can be any one of a servo motor, electric cylinder, hydraulic cylinder, or rack and pinion mechanism. In some embodiments, the system further includes a position detection unit 16, which may include a detection switch (such as a proximity switch, photoelectric switch) and / or a displacement sensor (such as a magnetic scale, optical scale, potentiometer, etc.). The position detection unit 16 is signal-connected to the processor 7 and is used to feed back zero-point signals and real-time position signals to the processor 7. The processor 7 is signal-connected to the lateral drive mechanism 3 and is used to send control commands to the lateral drive mechanism 3 according to the real-time position signal to achieve closed-loop control of the lateral movement of the support frame 2.

[0080] The transmission mechanism 4 is mounted on the support frame 2 and positioned between two support members 22. The transmission mechanism 4 may include a drive shaft, a driven shaft, two drive synchronous pulleys 43, two driven synchronous pulleys 44, two synchronous belts, a servo motor 41, and a ring conveyor belt 42.

[0081] The drive shaft and driven shaft are arranged at intervals along the conveying direction, and both extend laterally. They can be rotatably connected to the support members 22 on both sides via bearings. Two drive synchronous pulleys are fixedly sleeved at both ends of the drive shaft, and two driven synchronous pulleys 43 are correspondingly fixedly sleeved at both ends of the driven shaft. One synchronous belt is tensioned and wrapped around the drive synchronous pulley and driven synchronous pulley 43 on one side of the lateral direction, and another synchronous belt is tensioned and wrapped around the drive synchronous pulley and driven synchronous pulley 43 on the other side of the lateral direction. The output end of the servo motor 41 is connected to the drive shaft via a coupling. An annular conveyor belt 42 is wound around the outer layer of the two synchronous belts and is supported by the two synchronous belts. The inner side of the synchronous belt has a toothed structure that meshes with the corresponding drive synchronous pulley and driven synchronous pulley 43. The annular conveyor belt 42 is wound around the outer layer of the two synchronous belts and is supported by the two synchronous belts. The annular conveyor belt 42 has an upper surface and a lower surface. The upper surface is used to carry and convey the belt bundle layer rubber material, and the lower surface is the return section.

[0082] During operation, the servo motor 41 drives the drive shaft to rotate, which in turn drives the two drive pulleys at both ends to rotate. This, in turn, drives the two driven pulleys 43 and the driven shaft to rotate synchronously via the two synchronous belts. Finally, the synchronous friction of the two synchronous belts drives the annular conveyor belt 42 to move smoothly, thereby conveying the belt bundle layer rubber material.

[0083] The transmission mechanism 4 is equipped with scanning stations, pre-adjustment stations, and bonding stations at intervals along its conveying direction. A preset distance is maintained between adjacent stations to ensure that the belt layer adhesive has sufficient working space and response time when performing three-dimensional data acquisition, pose pre-adjustment, and formal bonding at each station, thus avoiding motion interference between processes.

[0084] In some implementations, the system also includes a pressure roller mechanism 12, a side guard mechanism 13, a magnetic block mechanism 14, and a bonding mechanism 15. The pressure roller mechanism 12, side guard mechanism 13, and magnetic block mechanism 14 can all be mounted on the support member 22. The pressure roller mechanism 12 is located above the transmission mechanism 4 and is used to press down to prevent deviation when the rubber material passes through the rear section (tail). The side guard mechanism 13 is located on both sides of the transmission mechanism 4 to prevent the conveyor belt 42 from running off-track. The magnetic block mechanism 14 is located below the transmission mechanism 4 to adsorb the belt layer rubber material containing steel wire. The bonding mechanism 15 is located at the bonding station (e.g., mounted on the support frame 2) to press the belt layer rubber material against the bonding drum 6. The specific structures of the pressure roller mechanism 12, side guard mechanism 13, magnetic block mechanism 14, and bonding mechanism 15 are well understood by those skilled in the art and will not be described in detail here.

[0085] The 3D vision sensor 5 can be a line-scan 3D camera based on laser triangulation, a 3D camera based on structured light coding, or a binocular stereo vision sensor. The 3D vision sensor 5 can be fixedly mounted on the support 22. Alternatively, in some embodiments, it may also include: The gantry frame 8 is spanned across the transmission mechanism 4 and is slidably connected to the support frame 2 along the conveying direction. The three-dimensional vision sensor 5 is disposed on the crossbeam of the gantry frame 8. The longitudinal drive mechanism 9 is connected to the gantry 8 and the support frame 2 respectively, and is used to drive the gantry 8 to slide along the conveying direction.

[0086] In some embodiments, the longitudinal drive mechanism 9 includes: Motor 91 is connected to the column of the gantry 8; the column is slidably connected to the support frame 2 along the conveying direction; The gear is connected to the output terminal of the motor 91; A rack 92 extends along the conveying direction and is disposed on the support frame 2, and the rack 92 meshes with the gear.

[0087] Specifically, the system may also include two second guide rails 11, which are disposed on the top of the support member 21 and located on both sides of the support member 21 in the transverse direction. The two columns of the gantry 8 can each be slidably connected to the support member 21 via one of the second guide rails 11 to constrain the movement path of the gantry 8.

[0088] The three-dimensional vision sensor 5 can be fixedly installed on the crossbeam of the gantry 8, and the three-dimensional vision sensor 5 can be located in the middle area of ​​the conveyor belt 42 along the transverse direction to collect three-dimensional spatial data of the belt layer rubber material.

[0089] The rack 92 can be located between the second guide rail 11 and the support member 22 on the same side of the bearing member 21 in the transverse direction. The motor 91 can be a servo motor. During rotation, the motor 91 controls the rotation of the gear, causing the gear to move along the length direction of the rack 92 (i.e., the conveying direction), thereby driving the gantry 8 and the three-dimensional vision sensor 5 on it to move along the conveying direction.

[0090] In some embodiments, to achieve real-time acquisition of the end-point 3D point cloud data of the head region and the tail region to be bonded on the bonding drum 6 of the belt layer adhesive material during the bonding end stage, two 3D vision sensors 5 can be used. One is installed on the crossbeam of the gantry 8, and the other is fixedly installed inside the support member 22 at the bonding station. The inner side of the support member 22 is defined as the opposite side of the two support members 22. This is used to continuously monitor the bonding transition area of ​​the adhesive material on the bonding drum 6 during the bonding process to obtain the relative pose information of the bonded head region and the tail region to be bonded.

[0091] The distance sensor is located at the bonding station and can be installed inside the support member 22 or on the bonding drum 6. The detection end of the distance sensor faces the conveyor belt 42. The distance sensor can be a laser rangefinder, ultrasonic distance sensor, etc., to detect the distance between the beginning of the belt layer adhesive and the starting position of the bonding station in real time as the belt layer adhesive is conveyed.

[0092] The bonding drum 6 can be located at the output end of the transmission mechanism 4 as a bonding station, thereby reserving sufficient conveying distance for the preceding scanning station and pre-adjustment station, ensuring that the belt layer adhesive has enough space to complete three-dimensional data acquisition and pose adjustment.

[0093] The processor 7 can be connected to the various components via wired communication (such as Ethernet, CAN bus, serial communication line, etc.) or wireless communication (such as Bluetooth, Wi-Fi, etc.). The processor 7 can be an industrial-grade programmable logic controller, industrial control computer, or edge computing gateway.

[0094] Processor 7 is configured as follows: Before the belt layer adhesive is conveyed to the bonding station, the three-dimensional spatial data of the belt layer adhesive collected by the three-dimensional vision sensor 5 is received, and a three-dimensional digital model is constructed. Geometric feature parameters are extracted based on the three-dimensional digital model, and the target conveying speed and lateral displacement curve of the belt layer rubber material are pre-generated based on the geometric feature parameters and the preset standard geometric feature parameters. The transmission mechanism 4 is controlled to pre-speed the belt layer rubber material to the target conveying speed, and the lateral drive mechanism 3 is controlled to perform lateral pre-positioning of the belt layer rubber material according to the initial value of the lateral displacement curve. When the distance sensor detects that the first end of the belt layer adhesive material has reached the starting position of the bonding station, the transmission mechanism 4 is controlled to maintain the target conveying speed of the belt layer adhesive material. At the same time, the lateral drive mechanism 3 is controlled to adjust the lateral position of the belt layer adhesive material in real time according to the lateral displacement curve, so as to bond the belt layer adhesive material to the bonding drum 6.

[0095] In some embodiments, it also includes: The display device is connected to the processor 7 and is used to display the three-dimensional digital model, the lateral displacement curve, and the bonding status information of the belt layer adhesive. An adsorption and removal mechanism is located beside the transmission mechanism 4 and is signal-connected to the processor 7. When the processor 7 determines that the belt layer adhesive is waste, it adsorbs and removes the waste from the transmission mechanism 4.

[0096] refer to Figure 2 A third aspect of this application provides a tire belt layer production line, comprising: The cutting system is used to cut the belt layer rubber material into a preset length; The belt layer bonding system described in the second aspect is located downstream of the cutting system, and the transmission mechanism 4 of the belt layer bonding system is used to receive the cut belt layer adhesive.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for bonding belt layers, characterized in that, Includes the following steps: S1 acquires the three-dimensional spatial data of the belt layer adhesive before it is conveyed to the bonding station and constructs a three-dimensional digital model. S2 extracts geometric feature parameters based on the three-dimensional digital model, and pre-generates the target conveying speed and lateral displacement curve of the belt layer rubber material based on the geometric feature parameters and the preset standard geometric feature parameters; S3 pre-adjusts the speed of the belt layer rubber material to the target conveying speed; and pre-positions the belt layer rubber material laterally according to the initial value of the lateral displacement curve. S4 When it is detected that the first end of the belt layer adhesive material has reached the starting position of the bonding station, the belt layer adhesive material is controlled to maintain the target conveying speed, and the lateral position of the belt layer adhesive material is controlled in real time according to the lateral displacement curve so as to bond the belt layer adhesive material to the bonding drum.

2. The belt layer bonding method according to claim 1, characterized in that, The method for obtaining the three-dimensional spatial data of the belt layer adhesive in step S1 includes: The belt layer adhesive is actively scanned at a speed greater than the conveying speed of the belt layer adhesive, so as to provide a time margin for the pre-positioning and pre-speed adjustment before the first end of the belt layer adhesive reaches the bonding station.

3. The belt layer bonding method according to claim 1, characterized in that, The method for pre-generating the target conveying speed in step S2 includes: Based on the three-dimensional digital model, the length dimension of the belt layer rubber material is extracted; The deviation between the length dimension and the preset standard length dimension is calculated to generate the target conveying speed.

4. The belt layer bonding method according to claim 3, characterized in that, The method for pre-generating the lateral displacement curve in step S2 includes: Based on the three-dimensional digital model, the centerline trajectory of the belt layer rubber material is extracted; Calculate the discrete lateral deviation value of the centerline trajectory relative to the preset standard centerline trajectory; Calculate the ratio of the stated length dimension to the standard length dimension; Adjust the length position corresponding to the discrete lateral deviation value based on the length ratio; The adjusted data pair is subjected to curve fitting to obtain the lateral displacement curve.

5. The belt layer bonding method according to claim 1, characterized in that, After step S1 and before step S2, the method further includes: The quality control feature parameters of the three-dimensional digital model are extracted and compared with the corresponding standard quality control feature parameters in the pre-stored standard material model. Based on the comparison results, a grade label for the belt layer rubber material is generated. The grade label includes a defect label and one or more qualified product labels. When the grade label is the waste label, an interception instruction is generated to prohibit the execution of step S2 and subsequent steps.

6. The belt layer bonding method according to claim 1, characterized in that, Step S4 also includes the bonding end stage: Real-time acquisition of three-dimensional point cloud data of the head region and the tail region to be bonded on the bonding drum of the belt layer adhesive material; Extract the first and last boundary contours from the end 3D point cloud data, calculate the end error between the two boundary contours, and generate fine-tuning instructions based on the end error. The lateral displacement curve and / or the target conveying speed are adjusted according to the fine-tuning instructions to cause controllable local elastic deformation of the belt layer material, so as to seamlessly fit the tail end face and the head end face of the belt layer material.

7. A belt-layer bonding system, characterized in that, include: Base; The support frame is slidably connected to the base in a lateral direction; A lateral drive mechanism is connected to both the base and the support frame, and is used to drive the support frame to slide laterally. A transmission mechanism, disposed on the support frame, is used to convey the belt layer rubber material; A three-dimensional vision sensor, connected to the support frame, is used to collect three-dimensional spatial data of the belt layer adhesive before the belt layer adhesive is conveyed to the bonding station; A distance sensor is used to detect in real time the distance between the beginning of the belt layer adhesive and the starting position of the bonding station; A bonding drum is disposed opposite to the transmission mechanism, forming a bonding station between them. The bonding drum is used to receive the belt layer adhesive material conveyed by the transmission mechanism and to bond the belt layer adhesive material to its surface. The processor is connected to the lateral drive mechanism, the transmission mechanism, the three-dimensional vision sensor and the distance sensor respectively, and the processor is configured to perform the belt layer bonding method according to any one of claims 1 to 6.

8. The belt layer bonding system according to claim 7, characterized in that, Also includes: A gantry frame is spanned across the transmission mechanism and slidably connected to the support frame along the conveying direction; the three-dimensional vision sensor is disposed on the crossbeam of the gantry frame. A longitudinal drive mechanism is connected to the gantry and the support frame respectively, and is used to drive the gantry to slide along the conveying direction.

9. The belt layer bonding system according to claim 8, characterized in that, The longitudinal drive mechanism includes: The motor is connected to the column of the gantry frame; the column is slidably connected to the support frame along the conveying direction; The gear is connected to the output end of the motor; A rack extends along the conveying direction and is disposed on the support frame, the rack meshing with the gear.

10. A tire belt layer production line, characterized in that, include: The cutting system is used to cut the belt layer rubber material into a preset length; The belt layer bonding system according to any one of claims 7 to 9 is disposed downstream of the cutting system, wherein the transmission mechanism of the belt layer bonding system is used to receive the cut belt layer adhesive.

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