WO2023198097A1 - Rolling device of engineering tire-building machine, control method therefor, and two-drum engineering tire-building machine - Google Patents

Abstract

The present application relates to a rolling device of an engineering tire-building machine, a control method for the rolling device, and a two-drum engineering tire-building machine. The rolling device comprises a rear press roll longitudinal moving device (21), a rear press roll transverse opening and closing device (22), a crown sidewall press roll (24), a cord press roll (25) and a three-dimensional press roll rotating device (23). The rear press roll transverse opening and closing device (22) is arranged on a moving platform of the rear press roll longitudinal moving device (21), the cord press roll (25) is arranged on an opening and closing device of the cord press roll (25), and the crown sidewall press roll (24) is arranged on an opening and closing device of the crown sidewall press roll (24) by means of the three-dimensional press roll rotating device (23). In the rolling device of the two-drum engineering tire-building machine, the three-dimensional press roll rotating device (23) is added to a tread sidewall press roll, so that continuous rolling from the tread to the sidewall is realized.

Description

Rolling device and control method of engineering tire building machine and two-drum engineering tire building machine

Related applications

This application claims the priority of the Chinese patent application filed on April 15, 2022, with the application number 202210392170.3 and titled "Rolling device, control method and two-drum engineering tire building machine for engineering tire building machine", and is hereby stated Its entire text is incorporated by reference.

Technical field

The present application relates to a rolling device, in particular to a rolling device, a control method and an application of an engineering tire building machine, and belongs to the field of industrial tire manufacturing.

Background technique

During the tire building process, the rolling at each step can effectively discharge the air bubbles between the tire rubber layers, improve the bonding effect between the layers, and thus help the internal structure of the formed tire to prevent air bubbles from causing damage during use. tire blowouts, so the tire factory requires each layer of rubber to be rolled after being bonded during the production process. Compared with load-carrying and passenger tires, engineering tires have larger sizes, wider cross-sections, and thicker rubber, so the lamination and rolling process takes longer.

According to the classification of tire building process methods, the tire building process is divided into one-time method and two-time method. Among them, the two-time method has higher technical and production complexity. It is more suitable for "professional process type" customers to choose, and the one-time process is relatively more economical in price and occupies a smaller area. Therefore, the current market shows the coexistence of one-time process and two-time process.

The two-drum engineering tire building machine is a one-step molding machine that integrates the carcass drum and the building drum into one body, plus the belt drum. Due to its compact structure, the building machine has two parts on the main machine side of the carcass drum and the building drum. A rear pressure roller device is arranged for forming and rolling. After practical operation and on-site investigation by engineering and technical personnel, it was found that the above traditional technology cannot accurately control the rotation of the crown side pressure roller, nor can it fully automatically follow the laser light mark. Rolling, thereby reducing manual rolling time and significantly reducing tire yield.

Contents of the invention

According to various embodiments of the present application, a rolling device for an engineering tire building machine is provided, including a rear pressure roller longitudinal moving device, a rear pressure roller transverse opening and closing device, a crown sidewall pressure roller, and a cord fabric pressure roller. The rear pressure roller transverse opening and closing device includes a cord pressure roller opening and closing device and a crown side pressure roller opening and closing device. The rear pressure roller transverse opening and closing device is fixedly installed on the moving platform of the rear pressure roller longitudinal moving device; The cord pressing roller is arranged on the cord pressing roller opening and closing device, and is characterized by: it also includes a three-dimensional pressing roller rotating device, and the three-dimensional pressing roller rotating device is arranged on the crown side pressure roller opening and closing device. The crown tire The side pressure roller is arranged on the three-dimensional pressure roller rotation device; the roller of the crown side pressure roller rolls to the crown edge, the laser detector detects the signal feedback control system, and the rotary table of the three-dimensional pressure roller rotation device The servo motor drives the rotary table of the three-dimensional pressure roller rotation device to rotate, driving the crown side pressure roller to rotate, so that the roller can fit the side of the tire and continue rolling.

In one embodiment, the rear pressure roller longitudinal moving device is provided with a mobile platform, the mobile platform is driven by a third servo motor and can move longitudinally, and the rear pressure roller transverse opening and closing device includes a cord pressure roller opening and closing device. , crown side pressure roller opening and closing device, the rear pressure roller transverse opening and closing device is fixedly installed on the moving platform of the rear pressure roller longitudinal moving device through the rear pressure roller transverse opening and closing device frame, and the cord pressure roller opens and closes The closing device and the crown side pressure roller opening and closing device are fixedly installed on the rear pressure roller lateral opening and closing device frame. The advancement and retreat of the mobile platform drives the rear pressure roller lateral opening and closing device to advance and retreat, forming a crown tire. Side pressure rollers and cord pressure rollers provide feed and retreat power.

In one embodiment, the crown side pressure roller opening and closing device and the cord pressure roller opening and closing device have the same structure. The cord pressure roller opening and closing device includes a first synchronous pulley and a first left screw motor base. The first motor tightening block, the first servo motor, the proximity switch bent frame, the first linear guide rail, the first left-hand screw, the first pressure roller beam, the first left screw seat, the first right screw seat, the first A right-hand screw, a first left-hand screw nut, a first right-hand screw nut, a screw gland, a deep groove ball bearing, a first coupling sleeve, and the first left-hand screw motor base is fixedly installed on the first The left end of a pressure roller beam, the first right screw motor base is fixedly installed on the right end of the first pressure roller beam, and one end of the first left-hand screw is fixedly installed on the first left screw motor base through a deep groove ball bearing. On the top, the end is also fixedly installed with a first synchronous pulley. The other end of the first left-hand screw is fixed on the first left screw seat through a deep groove ball bearing. One end of the first right-hand screw passes through a deep groove. The ball bearing is fixed on the first right screw seat, and the other end is fixed on the first right screw motor seat through a deep groove ball bearing. The first left-hand screw and the first right-hand screw are connected through the first connecting sleeve. A first linear guide rail is provided on the front side of the first pressure roller beam. The first linear guide rail is a rectangular guide rail. The first left-hand screw nut and the first right-hand screw nut are close to the first One side of the pressure roller beam is provided with a rectangular groove slider, and the first left-hand The screw nut and the rectangular groove slider of the first right-hand screw nut are slidingly matched with the first linear guide rail. Under the guidance of the first linear guide rail, the first left-hand screw nut and the first The right-hand screw nut can move symmetrically back and forth along the first linear guide rail; 4 mounting plates are fixedly fixed on the rear side of the first pressure roller beam, and the curtain pressure roller opening and closing device passes through the first pressure roller beam. The four mounting plates on the rear side of the roller beam are fixedly installed on the frame of the rear pressure roller transverse opening and closing device.

In one embodiment, the curtain pressing roller opening and closing device is driven by a first servo motor. The first servo motor drives the first left-hand screw to rotate through the first synchronous belt and the first synchronous pulley. The first left-hand screw passes through the first synchronous belt and the first synchronous pulley. The coupling sleeve drives the first right-hand screw to rotate synchronously. The rotation of the first left-hand screw and the first right-hand screw is converted into the horizontal movement of the first left-hand screw nut and the first left-hand screw nut. The first left-hand screw The rod nut and the first left-hand screw nut move along the first linear guide rail; the cord press roller has longitudinal feed and transverse opening and closing functions, where the extension limit of the longitudinal feed function must be able to reach the forming drum diameter R1, The retracted position should avoid the molded carcass diameter R2 to prevent interference.

In one embodiment, a proximity switch bent frame is installed on the first pressure roller beam, and a proximity switch is installed on the proximity switch bent frame. There are 4 groups of the proximity switch bent frame and the proximity switch, which are respectively arranged on the first The left and right end limit positions of a left-hand screw nut and the left and right end limit positions of the first right-hand screw nut; when the curtain roller moves to the opening and closing limit position, the proximity switch detects the proximity signal and feeds back the signal To the control system, the first servo motor that controls the opening and closing device of the cord pressure roller is reversed to control the opening and closing movement of the opening and closing device of the cord pressure roller.

In one embodiment, the cord pressing roller includes a flat pressing roller, a cord pressing roller driving cylinder, a linear optical axis, a flat pressing roller mounting bracket, a flat pressing roller rotating support plate, a cord pressing roller telescopic frame, and a cord pressing roller telescopic platform. ; There are 2 sets of cord press rollers, and the cord press roller telescopic frames of the 2 sets of cord press rollers are respectively fixed and installed on the first left screw nut and the first right screw nut of the cord press roller opening and closing device through flanges. On the rod nut, they are arranged symmetrically. The two sets of cord pressing roller telescopic frames follow the first left screw nut and the first right screw nut to move symmetrically back and forth along the first linear guide rail; there are three flat pressing rollers. It includes 1 fixed pressure roller and 2 swing pressure rollers. The center of the fixed pressure roller is provided with a first central rotating shaft. A flat pressure roller installation bracket is fixed above the telescopic table of the cord pressure roller. The flat pressure roller is installed There are two brackets. A first flat pressing roller mounting bracket is provided on one side of the cord pressing roller telescopic platform. A first bearing mounting hole is provided on the first flat pressing roller mounting bracket. The first central rotating shaft Fixedly installed on the first bearing mounting hole through a rolling bearing, the fixed pressing roller can freely rotate around its own axis; on the other side of the cord pressing roller telescopic platform, a third flat pressing roller mounting bracket is provided on the opposite side. Two flat pressing roller mounting brackets, the second flat pressing roller mounting bracket is provided with a second bearing mounting hole, the second flat pressing roller mounting bracket is also provided with a flat pressing roller rotating support plate, the flat pressing roller The center of the rotating support plate is provided with a second central rotating shaft, and the two ends of the rotating support plate of the flat pressure roller are symmetrically provided with third bearing mounting holes and fourth bearing mounting holes for installing two swinging pressure rollers. The center of the swing pressure roller is respectively provided with a third central rotating shaft and a fourth central rotating shaft. The second central rotating shaft is fixedly installed in the second bearing mounting hole through a rolling bearing. The rotating support plate of the flat pressing roller can rotate around the second central rotating shaft. Free to rotate, the third central rotating shaft and the fourth central rotating shaft are fixedly installed in the third bearing mounting hole and the fourth bearing mounting hole through rolling bearings respectively. The two swing pressure rollers can rotate freely and can be moved along the horizontal direction at the same time. The pressure roller rotates and swings due to the rotation of the support plate. The purpose of the swing pressure roller is to self-center the roller along the arc during the rolling process; 3 linear optical axes are fixed below the telescopic table of the cord pressing roller, so The three linear optical axes respectively correspond to the positions of the three flat pressing rollers. The telescopic frame of the cord pressing roller is provided with three linear bushings. The three linear bushings respectively correspond to the three linear optical axes. Therefore, The three linear bushings and the corresponding three linear optical shafts constitute three groups of linear bearing pairs. The linear optical shafts can be freely expanded and contracted along the axis direction, driving the cord pressing roller telescopic table to be freely expanded and contracted. The three groups of linear bearings are The optical axis and the linear bushing can increase the stability of the extension and retraction of the pressure roller; the cord pressure roller is also equipped with a cord pressure roller drive cylinder, and the cord pressure roller drive cylinder cylinder is fixedly installed on the cord pressure roller telescopic frame , the cord pressure roller driving cylinder piston rod is fixedly connected to the cord pressure roller telescopic stage through a rod end joint bearing. When the cord pressure roller driving cylinder piston rod extends, the cord pressure roller telescopic stage rises, and the cord pressure roller driving cylinder piston rod retracts. When the curtain press roller telescopic table descends.

In one embodiment, the crown side pressure roller opening and closing device and the cord pressure roller opening and closing device have the same structure. The crown side pressure roller opening and closing device includes a second synchronous pulley, a second left screw Motor base, second motor tensioning block, second servo motor, proximity switch bent frame, second linear guide rail, second left-hand screw, second pressure roller beam, second left screw base, second right screw base , the second right-hand screw, the second left-hand screw nut, the second right-hand screw nut, the screw gland, the deep groove ball bearing, the second coupling sleeve, the second left-hand screw motor base is fixedly installed On the left end of the second pressure roller beam, the second right screw motor base is fixedly installed on the right end of the second pressure roller beam, and one end of the second left-hand screw is fixedly installed on the second left screw through a deep groove ball bearing. On the motor base, a second synchronous pulley is fixedly installed on the end, and the other end is fixed on the second left screw seat through a deep groove ball bearing. One end of the second right-hand screw screw is fixed on the third left screw seat through a deep groove ball bearing. On the second right screw seat, the other end is fixed on the second right screw motor seat through a deep groove ball bearing. The second left-hand screw and the second right-hand screw are connected through the second connecting sleeve; on the second pressure roller A proximity switch bent frame is installed on the cross beam. A proximity switch is installed on the proximity switch bent frame. The proximity switch bent frame and the proximity switch bent frame are installed on the cross beam. There are 4 sets of switches, which are respectively arranged at the left and right end limit positions of the second left-hand screw nut and the left and right end limit positions of the second right-hand screw nut; on the front side of the second pressure roller beam, a second Linear guide rail, the second linear guide rail is a rectangular guide rail, and the sides of the second left-hand screw nut and the second right-hand screw nut close to the second pressure roller beam are respectively provided with rectangular groove sliders, so The rectangular groove slide blocks of the second left-hand screw nut and the second right-hand screw nut are slidingly matched with the second linear guide rail. Under the guidance of the second linear guide rail, the second left-hand screw nut and The second right-hand screw nut can move symmetrically back and forth along the second linear guide rail; four mounting plates are fixedly fixed on the rear side of the second pressure roller beam, and the crown side pressure roller opening and closing device passes through the The four mounting plates on the rear side of the second pressure roller beam are fixedly installed on the frame of the rear pressure roller transverse opening and closing device;

In one embodiment, the crown side pressure roller includes a base, a roller, a roller driving cylinder, and a roller mounting bracket. There are 2 sets of the crown side pressure roller, and 2 sets of the crown side pressure roller The base of the pressure roller is fixedly installed on the turntable of the two sets of three-dimensional pressure roller rotary devices through flanges, and rotates with the rotation of the turntable of the three-dimensional pressure roller rotary device; a cylinder rotating shaft is provided on the base, so One end of the cylinder body of the roller drive cylinder is provided with a cylinder earring. The cylinder earring is movably connected with the rotation axis of the cylinder body. The cylinder body of the roller drive cylinder can rotate around the rotation axis of the cylinder body; the roller drive cylinder piston A piston rod earring is provided at the end of the rod, and a first rectangular groove is provided in the middle of the piston rod earring in a direction perpendicular to the axis of the earring. The first rectangular groove divides the piston rod earring into two symmetrical side earrings; The lower end of the roller mounting bracket is provided with a first mounting hole, and the base is provided with a first rotating shaft of the roller mounting bracket. The first mounting hole and the first rotating shaft are movably connected through a rolling bearing to form a first rotating pair. The roller mounting bracket can rotate around the first rotating shaft; the upper part of the roller mounting bracket is provided with a second rectangular groove in a direction perpendicular to the axis of the first mounting hole, and the second rectangular groove connects the roller mounting bracket The upper part is divided into two symmetrical side brackets. Outside the two side brackets and above the second rectangular groove, a second rotating shaft and a third rotating shaft are symmetrically arranged. The two side earrings of the piston rod earring are connected with the second The rotating shaft and the third rotating shaft are movably connected through rolling bearings respectively, forming a second rotating pair and a third rotating pair. The piston rod earring can rotate around the second rotating shaft and the third rotating shaft; the upper parts of the two side brackets are symmetrically provided with The second mounting hole and the third mounting hole. A fourth mounting hole is provided in the center of the roller. A rolling bearing is provided in the fourth mounting hole. A fourth rotating shaft is provided in the inner ring of the rolling bearing. Both ends of the fourth rotating shaft pass through the second mounting hole. The mounting hole and the third mounting hole are locked on the two side brackets through nuts. The roller is located in the second rectangular groove, and the roller can freely rotate around the fourth rotating axis.

In one embodiment, the crown side pressure roller opening and closing device is driven by a second servo motor, and the second servo motor drives the second left-hand screw to rotate through the second synchronous belt and the second synchronous pulley. The screw drives the second right-hand screw to rotate synchronously through the second coupling sleeve, and the rotation of the second left-hand screw and the second right-hand screw is converted into the level of the second left-hand screw nut and the second right-hand screw nut. Move, the second left-hand screw nut and the second right-hand screw nut move along the second linear guide rail.

In one embodiment, the crown side pressure roller is fixedly installed on the turntable of the three-dimensional pressure roller rotation device through the base, and the three-dimensional pressure roller rotation device is fixedly installed on the crown side pressure roller opening and closing device, Therefore, the crown side pressure roller has longitudinal feeding and transverse opening and closing functions. The extension limit of the longitudinal feeding function must be able to reach the forming drum diameter R1, and the retracted position must reach the formed tire shell. diameter R2, so that the crown and sidewall rolling can be carried out; the roller of the crown sidewall pressing roller is driven by the roller driving cylinder, and the piston rod of the roller driving cylinder extends to drive the roller mounting bracket around the When the rotating shaft rotates, the roller contacts the tire crown, the tire roller cylinder piston rod retracts, driving the roller mounting bracket to rotate reversely around the first rotating axis, the roller separates from the tire crown, and the roller The drive cylinder block follows the position and state of the crown and side pressure rollers throughout the entire process. When the crown side pressure roller moves to the open limit position, the proximity switch detects the proximity signal and feeds the signal back to the control system to control the servo motor to reverse and control the opening and closing movement of the crown side pressure roller; The roller of the side pressure roller of the crown tire is pressed to the edge of the tire crown, and the laser detector detects the signal feedback control system. The rotary table drive motor of the three-dimensional pressure roller rotary device receives the instruction and drives the rotary table of the three-dimensional pressure roller rotary device to rotate, driving the The crown sidewall pressure roller rotates so that the crown sidewall pressure roller fits the sidewall and continues rolling. The roller drives the cylinder body to follow the whole process.

This application also discloses a two-drum engineering tire building machine.

This application also discloses a control method of a cord pad rubber combined rolling device integrated on the forming pressure roller:

When the carcass inner liner and ply are attached on the building drum, the third servo motor of the rear pressure roller longitudinal moving device starts, and the moving platform of the rear pressure roller longitudinal moving device moves forward, driving the rear pressure roller transverse opening and closing device. Longitudinal feeding, close to the carcass tube;

After the cord pressure roller opening and closing device is longitudinally fed in place, the cord pressure roller drive cylinder piston rod extends, and the six flat pressure rollers of the two sets of cord pressure rollers are all in contact with the carcass tube rubber material;

The forming drum is rotated, and the first servo motor of the curtain roller opening and closing device is started, and the first left-hand screw is driven to rotate through the first synchronous belt and the first synchronous pulley. Driven by the first coupling sleeve, the first right-hand screw is rotated. The screws rotate synchronously. At this time, the first left-hand screw nut and the first right-hand screw nut respectively drive the two sets of cord pressing rollers to move from the middle to both sides; the proximity switches installed on the bend frames at both ends detect the approaching signal. , And transmitted to the controller DSP, the controller DSP controls the first servo motor of the curtain pressing roller opening and closing device to reverse, and the curtain pressing roller starts to move toward the middle;

When the proximity switch installed on the middle proximity switch bending frame detects the approaching signal and transmits it to the controller DSP, the first servo motor reverses, and the curtain pressing roller begins to move to both sides. After completing the set number of cycles, the curtain The first servo motor of the pressure roller opening and closing device stops and rolling is completed;

The cord press roller driving cylinder retracts, and the flat press rollers are all separated from the carcass tube rubber material. The third servo motor of the rear press roller longitudinal moving device starts to reverse, and the rear press roller transverse opening and closing device retracts longitudinally as a whole;

The forming drum is inflated and contracted, the belt transfer ring attaches the belt side to the carcass, and the carcass is formed;

The third servo motor of the rear pressure roller longitudinal moving device is started again, and the mobile platform of the rear pressure roller longitudinal moving device is fed longitudinally, approaching the tire case; after the crown side pressure roller opening and closing device is longitudinally fed in place, the roller drives the cylinder piston The rod extends and the roller contacts the tire casing;

The forming drum begins to rotate and rolling begins;

The second servo motor of the crown side pressure roller opening and closing device drives the two sets of crown side pressure rollers to open and close. The crown side pressure rollers roll to the crown edge, and the laser detection head detects the signal feedback. When reaching the control system, the servo motor of the rotary table of the three-dimensional pressure roller rotary device receives the instruction and drives the rotary table of the three-dimensional pressure roller rotary device to rotate, driving the crown and side pressure rollers to rotate so that the rollers fit the sidewalls and continue to roll;

After the rolling is completed, the roller drive cylinder piston rod retracts, the roller is separated from the tire casing, and the third servo motor of the rear pressure roller longitudinal moving device is reversed, driving the entire rear pressure roller transverse opening and closing device to retract longitudinally.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the application will become apparent from the description, drawings and claims.

Description of the drawings

In order to more clearly explain the technical solutions in the embodiments of the present application or the traditional technology, the drawings needed to be used in the description of the embodiments or the traditional technology will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of explaining the embodiments or the technical solutions of the traditional technology. For the embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on the disclosed drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the closing state of the curtain pressing roller opening and closing device in one or more embodiments of the present application;

Figure 2 is a schematic diagram of the open state of the curtain pressing roller opening and closing device in one or more embodiments of the present application;

Figure 3 is a schematic diagram of a two-drum engineering tire building machine in one or more embodiments of the present application;

Figure 4 is a structural block diagram of the servo control system of the three-dimensional pressure roller rotation device in one or more embodiments of the present application;

Figure 5 is a schematic diagram of the transfer function of the brushless DC motor in the servo control system of the three-dimensional pressure roller rotation device in one or more embodiments of the present application;

Figure 6 is a transfer function of the servo control system of the three-dimensional pressure roller rotation device in one or more embodiments of the present application.

Figure 7 is a servo motor control flow chart of the servo control system of the three-dimensional pressure roller rotation device in one or more embodiments of the present application;

Figure 8 is a schematic diagram of the servo motor drive circuit of the servo control system of the three-dimensional pressure roller rotation device in one or more embodiments of the present application;

Figure 9 is a schematic flowchart of the control method of the cord pad rubber combined rolling device integrated on the forming pressure roller in one or more embodiments of the present application.

Explanation of reference symbols:
1. The first synchronous pulley; 2. The first left screw motor seat; 3. The first motor tensioning block; 4. The first servo motor; 5. Flat pressure roller; 6. Proximity switch bending frame; 7. A linear guide rail; 8. Cord pressure roller driving cylinder; 9. Linear optical axis; 10. First left-hand screw; 11. First pressure roller beam; 12. First left screw seat; 13. First right screw Bar seat; 14. First right-hand screw; 15. Pressure roller rotating support plate; 16. Cord pressure roller telescopic frame; 17. First right-hand screw nut; 18. Screw gland; 19. Deep groove ball Bearing; 20. First coupling sleeve; 21. Rear pressure roller longitudinal moving device; 22. Rear pressure roller transverse opening and closing device; 23. Three-dimensional pressure roller rotation device; 24. Crown side pressure roller; 25. Cord press roller; 26. Cord pressure roller opening and closing device; 27. Crown side pressure roller opening and closing device.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

This application is based on actual measurement of the limit position of the forming pressure roller sleeve of the two-drum engineering tire building machine when it is fed to the front end and the separation of the tire blanks on the forming drum. The cord rolling device is arranged on the base of the rear pressure roller transverse opening and closing device 22 at different spatial positions before and after forming, and the power system of the rear pressure roller longitudinal moving device 21 is used to provide feed and retreat for the cord rolling device. power, a three-dimensional pressure roller rotation device 23 is added to solve the problems existing in the traditional technology.

In one embodiment, the present application discloses a rolling device of an engineering tire building machine, including a rear pressure roller longitudinal moving device 21, a rear pressure roller transverse opening and closing device 22, a crown sidewall pressure roller 24, and a cord pressure roller 25. , the rear pressure roller transverse opening and closing device 22 includes a cord pressure roller opening and closing device 26 and a crown side pressure roller opening and closing device 27. The rear pressure roller transverse opening and closing device passes through the rear pressure roller transverse opening and closing device frame. Fixedly installed on the moving platform of the rear pressure roller longitudinal moving device 21, the cord pressure roller 25 is arranged on the cord pressure roller opening and closing device 26, and the crown side pressure roller 24 is arranged on the crown side pressure roller opening. Closing device 27.

The rolling device of the engineering tire building machine also includes a three-dimensional pressure roller rotation device 23. The three-dimensional pressure roller rotation device 23 is provided on the crown side pressure roller opening and closing device 27. The crown side pressure roller 24 is provided on the crown side pressure roller opening and closing device 27. On the three-dimensional pressure roller rotating device 23. The rear pressure roller longitudinal moving device 21 is provided with a mobile platform. The mobile platform is driven by a third servo motor and can move forward and backward. The rear pressure roller transverse opening and closing device 22 is fixedly installed on the rear pressure roller longitudinal moving device 21. On the mobile platform, the forward and backward movement of the mobile platform drives the rear pressure roller transverse opening and closing device 22 to move forward and backward, providing feed and retreat power for the crown side pressure roller 24 and the cord pressure roller 25.

The rear pressure roller transverse opening and closing device includes a crown side pressure roller opening and closing device and a cord pressure roller opening and closing device. The crown side pressure roller opening and closing device and the cord pressure roller opening and closing device have the same structure. The curtain pressing roller opening and closing device includes the first synchronous pulley 1, the first left screw motor base 2, the first motor tensioning block 3, the first servo motor 4, the proximity switch bending frame 6, the first linear guide rail 7, The first left-hand screw 10, the first pressure roller beam 11, the first left screw seat 12, the first right screw seat 13, the first right-hand screw 14, the first left-hand screw nut, the first right-hand screw Rod nut 17, screw gland 18, deep groove ball bearing 19, first coupling sleeve 20, the first left screw motor base is fixedly installed on the left end of the first pressure roller beam, the first right screw The motor base is fixedly installed on the right end of the first pressure roller beam. One end of the first left-hand screw 10 is fixedly installed on the first left screw motor base through a deep groove ball bearing, and the first synchronous pulley is also fixedly installed on the end. 1. The other end of the first left-hand screw is fixed on the first left screw seat 12 through a deep groove ball bearing, and one end of the first right-hand screw 14 is fixed on the first right screw seat through a deep groove ball bearing. 13, the other end is fixed on the first right screw motor base through a deep groove ball bearing, and the first left-hand screw 10 and the first right-hand screw 14 are connected through the first connecting sleeve 20. On the first pressure roller beam 11, a proximity switch bent frame 6 is installed. A proximity switch is installed on the proximity switch bent frame. There are 4 groups of the proximity switch bent frame and proximity switches, which are respectively arranged on the first left-hand screw. The left and right end limit positions of the nut and the left and right end limit positions of the first right-hand screw nut; the front side of the first pressure roller beam 11 is provided with a first linear guide rail 7, the first linear guide rail It is a rectangular guide rail, and the side of the first left-hand screw nut and the first right-hand screw nut close to the first pressure roller beam 11 is respectively provided with a rectangular groove slider, and the first left-hand screw nut and The rectangular groove slider of the first right-hand screw nut slides with the first linear guide rail. Under the guidance of the first linear guide rail, the first left-hand screw nut and the first right-hand screw nut The nut can move symmetrically back and forth along the first linear guide rail; four mounting plates are fixedly arranged on the rear side of the first pressure roller beam, and the curtain pressure roller opening and closing device passes through the rear side of the first pressure roller beam. The four mounting plates on the side are fixedly installed on the frame of the rear pressure roller transverse opening and closing device.

The cord pressing roller includes a flat pressing roller 5, a cord pressing roller driving cylinder, a linear optical axis, a flat pressing roller installation bracket, a flat pressing roller rotating support plate, a cord pressing roller telescopic frame 16, and a cord pressing roller telescopic platform; There are 2 groups of pressure rollers. The cord pressure roller telescopic frames of the 2 groups of cord pressure rollers are respectively fixed and installed on the first left screw nut and the first right screw nut of the cord pressure roller opening and closing device through flanges. Arranged symmetrically, the two sets of cord press roller telescopic frames follow the first left screw nut and the first right screw nut to move symmetrically back and forth along the first linear guide rail; there are three flat press rollers, including one fixed A pressure roller and two swinging pressure rollers. A first central rotating shaft is provided in the center of the fixed pressure roller. A flat pressure roller mounting bracket is fixed above the telescopic platform of the cord pressure roller. There are two flat pressure roller mounting brackets. , a first flat pressing roller mounting bracket is provided on one side of the cord pressing roller telescopic platform, a first bearing mounting hole is provided on the first flat pressing roller mounting bracket, and the first central rotating shaft is fixedly installed through a rolling bearing On the first bearing mounting hole, the fixed pressure roller can freely rotate around its own axis; on the other side of the cord pressure roller telescopic platform, a second flat pressure roller is provided on the opposite side of the first flat pressure roller mounting bracket Mounting bracket, the second flat pressing roller mounting bracket is provided with a second bearing mounting hole, the second flat pressing roller mounting bracket is also provided with a flat pressing roller rotating support plate, the flat pressing roller rotating support plate is A second central rotating shaft is provided in the center, and a third bearing installation hole and a fourth bearing installation hole are symmetrically provided at both ends of the flat pressure roller rotating support plate for installing two swing pressure rollers. The center is respectively provided with a third central rotating shaft and a fourth central rotating shaft. The second central rotating shaft is fixedly installed in the second bearing mounting hole through a rolling bearing. The flat pressing roller rotating support plate can freely rotate around the second central rotating shaft, so The third central rotating shaft and the fourth central rotating shaft are fixedly installed in the third bearing mounting hole and the fourth bearing mounting hole respectively through rolling bearings. The two swing pressure rollers can rotate freely and can be rotated with the flat pressure roller. The plate swings due to the rotation of the plate. The purpose of the swing pressure roller is to roll along the arc in a self-centering direction during the rolling process.

In one embodiment, three linear optical axes are fixedly provided below the cord pressing roller telescopic platform, and the three linear optical axes respectively correspond to the positions of the three flat pressing rollers. The cord pressing roller telescopic frame is provided with 3 linear bushings, the 3 linear bushings respectively correspond to the 3 linear optical axes, the 3 linear bushings and the corresponding 3 linear optical axes constitute 3 sets of linear bearing pairs, the linear optical axis The shaft can freely expand and contract along the axis direction, driving the cord pressing roller telescopic table to freely expand and contract. The three sets of linear optical axes and linear bushings can increase the stability of the pressing roller's extension and retraction; the cord pressing roller is also provided with The cord pressure roller drives the cylinder. The cord pressure roller drive cylinder block is fixedly installed on the cord pressure roller telescopic frame. The cord pressure roller drive cylinder piston rod is fixedly connected to the cord pressure roller telescopic platform through the rod end spherical bearing. When the piston rod of the roller driving cylinder extends, the telescopic platform of the cord pressing roller rises; when the piston rod of the driving cylinder of the cord pressing roller retracts, the telescopic platform of the cord pressing roller descends.

In one embodiment, the crown side pressure roller opening and closing device and the cord pressure roller opening and closing device have the same structure, and the crown side pressure roller opening and closing device includes a second synchronous pulley, a second left screw Motor base, second motor tensioning block, second servo motor, proximity switch bent frame, second linear guide rail, second left-hand screw, second pressure roller beam, second left screw base, second right screw base , the second right-hand screw, the second left-hand screw nut, the second right-hand screw nut, the screw gland, the deep groove ball bearing, the second coupling sleeve, the second left-hand screw motor base is fixedly installed On the left end of the second pressure roller beam, the second right screw motor base is fixedly installed on the right end of the second pressure roller beam, and one end of the second left-hand screw is fixedly installed on the second left screw through a deep groove ball bearing. On the motor base, a second synchronous pulley is fixedly installed on the end, and the other end is fixed on the second left screw seat through a deep groove ball bearing. One end of the second right-hand screw screw is fixed on the third left screw seat through a deep groove ball bearing. On the second right screw seat, the other end is fixed on the second right screw motor seat through a deep groove ball bearing. The second left-hand screw and the second right-hand screw are connected through the second connecting sleeve; on the second pressure roller A proximity switch bent frame is installed on the cross beam, and a proximity switch is installed on the proximity switch bent frame. There are 4 groups of the proximity switch bent frame and the proximity switch, which are respectively set at the left and right end extreme positions of the second left-handed screw nut. and the left and right end extreme positions of the second right-hand screw nut; a second linear guide rail is provided on the front side of the second pressure roller beam, the second linear guide rail is a rectangular guide rail, and the second left-hand screw nut The side of the nut and the second right-hand screw nut close to the second pressure roller beam are respectively provided with rectangular groove slide blocks. The rectangular groove slide blocks of the second left-hand screw nut and the second right-hand screw nut are The block slides and cooperates with the second linear guide rail. Under the guidance of the second linear guide rail, the second left-hand screw nut and the second right-hand screw nut can move symmetrically back and forth along the second linear guide rail; Four mounting plates are fixedly arranged on the rear side of the second pressure roller beam, and the crown side pressure roller opening and closing device is fixedly installed on the rear pressure roller through the four mounting plates on the rear side of the second pressure roller beam. On the frame of the horizontal opening and closing device.

In one embodiment, the three-dimensional pressure roller rotary device 23 includes a fixed seat and a rotary table. There are two groups of the three-dimensional pressure roller rotary device. The fixed seats of the two groups of three-dimensional pressure roller rotary devices are respectively fixed and installed through flanges. The second left screw nut and the second right screw nut of the crown side pressure roller opening and closing device are arranged symmetrically, and the two sets of three-dimensional pressure roller rotation devices follow the second left screw nut and the second right screw nut. The two right screw nuts move symmetrically back and forth along the second linear guide rail; the crown side pressure roller opening and closing device is fixedly installed on the frame of the rear pressure roller transverse opening and closing device, and the rear pressure roller transverse opening and closing device The frame body is fixedly installed on the moving platform of the rear pressure roller longitudinal moving device 21. The advancement and retreat of the moving platform drives the crown and side pressure roller opening and closing device to advance and retreat, which in turn drives the three-dimensional pressure roller rotation device to advance longitudinally. and retreat; a bearing mounting hole is provided at the center of the fixed seat of the three-dimensional pressure roller rotary device, and a rolling bearing is provided in the bearing mounting hole. The bearing mounting hole is an interference fit with the outer ring of the rolling bearing, and the rotary table A rotary shaft is provided below, and the rotary shaft is an interference fit with the inner ring of the rolling bearing. The rotary table can freely rotate around the rotary shaft. A three-dimensional pressure roller rotary table servo motor is also provided at the end of the rotary shaft. The three-dimensional The servo motor of the pressure roller rotary table is connected to the rotary shaft through a coupling.

In one embodiment, the crown side pressure roller includes a base, a roller, a roller driving cylinder, and a roller mounting bracket. There are 2 sets of the crown side pressure rollers, and the 2 sets of crown side pressure rollers The base of the pressure roller is fixedly installed on the turntable of the two sets of three-dimensional pressure roller rotary devices through flanges, and rotates with the rotation of the turntable of the three-dimensional pressure roller rotary device; a cylinder rotating shaft is provided on the base, so One end of the cylinder body of the roller drive cylinder is provided with a cylinder earring. The cylinder earring is movably connected with the rotation axis of the cylinder body. The cylinder body of the roller drive cylinder can rotate around the rotation axis of the cylinder body; the roller drive cylinder piston A piston rod earring is provided at the end of the rod, and a first rectangular groove is provided in the middle of the piston rod earring in a direction perpendicular to the axis of the earring. The first rectangular groove divides the piston rod earring into two symmetrical side earrings; The lower end of the roller mounting bracket is provided with a first mounting hole, and the base is provided with a first rotating shaft of the roller mounting bracket. The first mounting hole and the first rotating shaft are movably connected through a rolling bearing to form a first rotating pair. The roller mounting bracket can rotate around the first rotating shaft; the upper part of the roller mounting bracket is provided with a second rectangular groove in a direction perpendicular to the axis of the first mounting hole, and the second rectangular groove connects the roller mounting bracket The upper part is divided into two symmetrical side brackets. Outside the two side brackets and above the second rectangular groove, a second rotating shaft and a third rotating shaft are symmetrically arranged. The two side earrings of the piston rod earring are connected with the second The rotating shaft and the third rotating shaft are movably connected through rolling bearings respectively, forming a second rotating pair and a third rotating pair. The piston rod earring can rotate around the second rotating shaft and the third rotating shaft; the upper parts of the two side brackets are symmetrically provided with Second installation hole and a third mounting hole. A fourth mounting hole is provided in the center of the roller. A rolling bearing is provided in the fourth mounting hole. A fourth rotating shaft is provided in the inner ring of the rolling bearing. Both ends of the fourth rotating shaft pass through the second mounting hole and the third mounting hole. The third mounting hole is locked on the two side brackets through nuts. The roller is located in the second rectangular groove, and the roller can freely rotate around the fourth rotating axis.

In one embodiment, the rear pressure roller transverse opening and closing device includes a crown side pressure roller opening and closing device and a cord pressure roller opening and closing device. The cord pressure roller opening and closing device is driven by a first servo motor, and the first The servo motor drives the first left-hand screw to rotate through the first synchronous belt and the first synchronous pulley. The first left-hand screw drives the first right-hand screw to rotate synchronously through the coupling sleeve. The first left-hand screw and the first right-hand screw are rotated synchronously. The rotation of the screw is converted into the horizontal movement of the first left-hand screw nut and the first right-hand screw nut, and the first left-hand screw nut and the first right-hand screw nut move along the first linear guide rail; the cord press The roller has longitudinal feed and transverse opening and closing functions. The extension limit of the longitudinal feed function must be able to reach the forming drum diameter R1, while the retracted position must avoid the molded carcass diameter R2 to prevent interference. When the cord press rollers respectively move to their open limit positions, the proximity switch detects the proximity signal and feeds the signal back to the control system to control the servo motor to reverse and control the opening and closing movement of the cord press rollers. The cord pressure roller telescopic table of the cord pressure roller is driven by the cord pressure roller driving cylinder, and is matched with three sets of linear optical axes and linear bushings to increase the stability of the extension and retraction of the cord pressure roller.

The crown side pressure roller opening and closing device is driven by a second servo motor. The second servo motor drives the second left-hand screw to rotate through the second synchronous belt and the second synchronous pulley. The second left-hand screw passes through the second connection. The shaft sleeve drives the second right-hand screw to rotate synchronously. The rotation of the second left-hand screw and the second right-hand screw is converted into the horizontal movement of the second left-hand screw nut and the second right-hand screw nut. The second left-hand screw The lever nut and the second right-hand screw nut move along the second linear guide;

In one embodiment, the crown side pressure roller is fixedly installed on the turntable of the three-dimensional pressure roller rotation device through the base, and the three-dimensional pressure roller rotation device is fixedly installed on the crown side pressure roller opening and closing device, Therefore, the crown side pressure roller has longitudinal feeding and transverse opening and closing functions. The extension limit of the longitudinal feeding function must be able to reach the forming drum diameter R1, and the retracted position must reach the formed tire shell. diameter R2, so that the crown and sidewall rolling can be carried out; the roller of the crown sidewall pressing roller is driven by the roller driving cylinder, and the piston rod of the roller driving cylinder extends to drive the roller mounting bracket around the When the rotating shaft rotates, the roller contacts the tire crown, the tire roller cylinder piston rod retracts, driving the roller mounting bracket to rotate reversely around the first rotating axis, the roller separates from the tire crown, and the roller The drive cylinder block follows the position and state of the crown and side pressure rollers throughout the entire process. When the crown side pressure roller moves to the open limit position, the proximity switch detects the proximity signal and feeds the signal back to the control system to control the servo motor to reverse and control the opening and closing movement of the crown side pressure roller; The roller of the side pressure roller of the crown tire is pressed to the edge of the tire crown, and the laser detector detects the signal feedback control system. The rotary table drive motor of the three-dimensional pressure roller rotary device receives the instruction and drives the rotary table of the three-dimensional pressure roller rotary device to rotate, driving the The crown sidewall pressure roller rotates so that the crown sidewall pressure roller fits the sidewall and continues rolling. The roller drives the cylinder body to follow the whole process.

In this application, a three-dimensional pressure roller rotation device and its control system are designed. The system controls the movement of the servo motor according to the instructions, thereby ensuring the position and speed of the three degrees of freedom in space, and meeting various dynamic and static indicators. The control system includes a brushless DC motor, incremental photoelectric encoder, servo controller, and inverter module; among them, the servo controller uses TI's TMS320F240DSP as the core to control the motor to operate according to given instructions, through RS232 Serial communication is used to realize mutual communication between the host computer and the controller. The inverter circuit of the servo system is a three-phase bridge PWM inverter circuit composed of 3 P-channel and 3 N-channel MOSFET power switch tubes. The inverter output signal in this control system is combined in a certain way by the rotor position signal fed back by the Hall component installed on the stator, and is determined by the modulated signal of PWM, direction and other signals. Incremental photoelectric encoders are used to measure the real-time position of each axis and feed it back to the servo controller. Since the incremental grating encoder has strong anti-interference ability and high accuracy, by differential processing of the position, the turntable speed and position can be measured to meet the speed and position requirements of the servo system.

The air gap magnetic field, back electromotive force and phase current of the brushless DC motor selected in this application are all non-sinusoidal. The phase variables of the motor itself are usually used to establish a mathematical model. This application uses a two-phase conducting Y-type three-phase six-state brushless Taking a DC motor as an example, we establish a mathematical model and analyze its electromagnetic torque and other characteristics to design a control strategy for the motor. The three-phase windings are completely symmetrical, the air gap magnetic field is a square wave, the stator current and rotor magnetic field distribution are symmetrical; the effects of cogging, commutation process and armature reaction are ignored; the armature windings are evenly and continuously distributed on the inner surface of the stator; the magnetic circuit Unsaturated, excluding eddy current and hysteresis losses. For brushless DC motors, under the transformation of d and q coordinates, its simplified linear model is:

Among them: U _q is the voltage applied to the q-axis of the motor, U _d is the voltage applied to the d-axis of the motor, R is the stator phase winding resistance, L _q is the q-axis inductance, P is the number of pole pairs, i _d is d Axis current, i _q is the q-axis current, ω is the rotor angular speed, is the fundamental wave excitation magnetic field linkage of the permanent magnet and the flux linkage of the winding, and M is the electromagnetic torque.

For this system, when the motor is loaded, regardless of friction and damping, the electromagnetic torque of the motor is:

Among them: J is the moment of inertia, then:

in: is the torque coefficient, is the back electromotive force coefficient. Therefore, the motor body can be simplified to the equivalent transfer function W(s):

The schematic block diagram of the brushless DC motor system is shown in Figure 5. Among them, Ui is the given signal of the brushless DC motor, Ki is the gain of the power amplifier, Mf is the interference torque, and s is the Laplacian operator.

Since the iron core in the motor is highly saturated, there are:

Then: Formula (1-4) is simplified to:

in: is the electromechanical time constant, is the electrical time constant.

Without considering the effect of current feedback and applying the simplified linear model of the motor, the transfer function of the brushless DC motor is:

in:

When establishing the electromagnetic torque equation of the brushless DC motor, taking the two-phase conduction Y-shaped three-phase six-state brushless DC motor as an example, the electromagnetic torque equation of the brushless DC motor is:

In the formula: P _e —electromagnetic power;

Ω—motor mechanical angular frequency;

n _P —polar pair number;

ω—angular velocity;

T _AV —average electromagnetic torque;

T _n —nth harmonic electromagnetic torque;

e _a -- is the A phase current of the brushless DC motor;

e _b -- is the B-phase current of the brushless DC motor;

e _c --is the C-phase current of the brushless DC motor.

The electromagnetic torque is proportional to the phase current. In order to generate a constant electromagnetic torque, the input stator currents i _a , _ib , and _ic need to be square waves, and the counter electromotive force induced in the stator armature winding is required to be a trapezoidal wave. If In each half cycle, the duration of the square wave current is 120° electrical angle, so theoretically the flat top width of the trapezoidal wave back electromotive force should also be 120° electrical angle, and the two are strictly synchronized.

When rotating at a certain angular rate and at a constant speed, the total interference torque can be set as:
T _f =Asin(ω _f t) (1-9)

In the formula, A is the amplitude of the interference torque, and ω _f is the angular frequency of the interference torque.

Assume that the speed of the crown side pressure roller consists of two parts: the angular speed of the crown side pressure roller caused by the input control signal is Ω ₀ , and the angular speed of the crown side pressure roller caused by the interference torque is Ω, then The actual speed of the crown side pressure roller is Ω+Ω ₀ , where Ω and T _f have the same frequency. Since the cogging wave moment and the commutation wave moment are functions of the angular position of the turntable, the angular frequency ω _f of the interference moment will increase as the angular rate of the crown side pressure roller Ω increases, and as it decreases And decrease, the speed of the crown side pressure roller consists of two parts: the angular speed of the crown side pressure roller caused by the input control signal is Ω ₀ , and the angular speed of the crown side pressure roller caused by the interference torque is Ω, then the actual speed of the crown side pressure roller is Ω+Ω ₀ , where Ω and T _f have the same frequency. Since the cogging torque and the commutation wave torque are functions of the angular position of the crown side pressure roller, the angular frequency ω _f of the interference torque will increase with the increase of the crown side pressure roller angular rate Ω. decreases as it decreases. The transfer function between T _f and Ω can be obtained from Figure 6:

Then the amplitude of Ω is: |Ω(jω)|=|G _f (jω)T _f (jω)|=A|G _f (jω)|

Right now

From equation (1-12), the following conclusion can be drawn: when the crown side pressure roller speed Ω ₀ →∞, the angular frequency of the interference moment ω _f →∞, so the amplitude of the fluctuation rate |Ω|→0; when Ω ₀ is very small, That is to say, the higher the speed of the crown side pressure roller, the smaller the speed fluctuation caused by the interference torque. When the speed of the crown side pressure roller is high enough, the speed fluctuation caused by the interference torque can even be ignored; for the same amplitude The interference torque of the crown side pressure roller will cause relatively large speed fluctuations when running at low speed. Therefore, the electromagnetic wave torque mainly affects the low-speed performance of the crown side pressure roller, while affecting the performance of the crown side pressure roller. The impact on high-speed performance is relatively small. Increasing the forward channel open-loop static gains K ₁ and K ₂ of the position loop and rate loop can effectively reduce the rate fluctuation of the crown side pressure roller.

After the above theoretical certification, this application selected a brushless DC motor as the driving element. At the same time, in the three-dimensional pressure roller rotation device control system, this application designed a rate feedback closed loop, a position feedback closed loop and a current feedback closed loop. The transmission of its servo control system The function is described in Figure 6. In this figure, from the inside to the outside, there are current feedback closed loop, speed feedback closed loop, and position feedback closed loop. Pg is the control voltage signal corresponding to the desired servo signal of the crown side pressure roller given by the servo system, and Pf is the crown side pressure. The position feedback voltage signal of the actual deflection angle of the roller, Vc is the calculated speed of the crown sidewall pressure roller, _If is the feedback current of the main circuit, Vref and Iref are adjusted by the digital controller, position loop and speed loop respectively. The reference speed and reference current value are output, and finally the current loop is adjusted to generate a PWM signal for speed regulation, and the servo control of the brushless DC motor is realized through the logic combination circuit, the drive circuit and the main circuit. In order to simplify the control means and reduce the control cost, the position loop controller and the rate loop controller of the three-dimensional pressure roller rotation device control system in this application adopt proportional controllers.

Its control strategy is further elaborated as follows:

A speed PI regulator and a current PI regulator are set up in the control system to adjust the speed and current of the brushless DC motor respectively. There is a cascade connection between the two. The speed reference value S _Dref is obtained after the given position signal U and the feedback position signal position are adjusted by the position PID. The speed of the motor running can be calculated based on the two capture times. This speed is used as the feedback quantity of the speed reference value. After adjusting the speed PI, the reference current I _ref can be obtained. The current feedback quantity I can be obtained through the current detection circuit. After current PI adjustment, the final adjustment amount is used to control the duty cycle of PWM, that is, the output of the speed regulator is used as the input of the current regulator, and then the output of the current regulator is used to control the PWM device.

Current feedback closed-loop control: Current feedback closed-loop uses current feedback control to linearly control the motor armature current, which can achieve linear control of the motor output torque, make its dynamic range respond quickly, and improve safety. In order to speed up the system response speed and reduce the burden on the DSP, an analog implementation method is used to connect the resistor in series to the armature loop, which at the same time serves as an over-current protection function for the power conversion circuit; through current feedback control, the armature current of the brushless DC motor is linearly controlled. Control can achieve linear control of the motor output torque, and make its dynamic range respond quickly and improve safety; the current regulator of the current loop uses a PI regulator; the limiter and current regulator are integrated together, and the limiting value is determined by PWM The input range of the power amplifier is determined; the PWM driver uses a special integrated circuit, such as IR2103S and other integrated chips. The motor drive circuit is shown in Figure 8. The input and output truth table of the driver chip shields the combination of outputting high levels at the same time to prevent the two MOS tubes on the same bridge arm of the inverter circuit from being turned on at the same time; the inverter circuit uses the N-channel MOS tube IRF640N, which can Withstands up to 200V voltage and 18A current. The drive circuit outputs 6 PWM pulses from the TIM interface of the control chip through the drive chip IR2103S, and then outputs them to the MOS tubes on the upper and lower arms of the inverter circuit, and controls their on and off according to the position of the motor rotor, so that the motor can A rotating magnetic field is generated in the stator winding to drive the motor rotor to rotate; the voltage applied to the stator winding is adjusted by adjusting the PWM pulse duty cycle, thereby controlling the speed of the brushless motor. The filter protection network uses an LC network to improve the EMC level, the current regulator uses a PI regulator, and the sampling resistor uses a 0.01 ohm/25 watt precision sampling resistor.

Speed feedback closed-loop control: The speed feedback closed-loop is an important inner loop of the position loop. The speed feedback closed-loop can improve the linearity of the control object and improve the speed control accuracy; when the rotor rotates once, the Hall sensor outputs 3 channels of 180° Overlapping signals, the motor has a commutation every 60° rotation. As long as the time interval between two commutations is detected, the speed of the motor can be calculated.

Position feedback closed-loop control: During the operation of the brushless DC motor, the rotor position needs to be detected, and commutation is performed based on the current rotor position to keep the rotor rotating; a closed-loop control loop and position closed-loop are realized through the Hall sensor installed on the motor shaft. The control objects are the current loop and the transmission mechanism; the voltage signal measured by the Hall sensor is subjected to signal demodulation and AD conversion to obtain the position feedback signal; the Hall sensor The 3-way Hall position signal output from the sensor to the position detection circuit first passes through the RC filter to filter out the interference signal, then undergoes 74HC14 inversion shaping, and finally the transistor level is converted to 3.3V and connected to the main control chip detection pin. In order to reduce the impact of integral correction on the dynamic performance of the system during the operation of the motor, this system uses the integral separation PID algorithm for the position loop:

in, K _D is the differential adjustment coefficient and K _I is the integral adjustment coefficient.

As shown in Figure 9, based on the rolling device of the above-mentioned engineering tire forming machine, this application also discloses a control method of the cord pad rubber combined rolling device integrated on the forming pressure roller:

Step S101: After the carcass inner lining layer and the ply layer are bonded on the building drum, the third servo motor of the rear pressure roller longitudinal moving device is started, and the moving platform of the rear pressure roller longitudinal moving device moves forward, driving the rear pressure roller transversely. The opening and closing device feeds longitudinally and is close to the carcass tube;

Step S102: After the cord pressure roller opening and closing device is longitudinally fed in place, the cord pressure roller drive cylinder piston rod extends, and all six flat pressure rollers of the two sets of cord pressure rollers are in contact with the carcass tube rubber material;

Step S103: Rotate the forming drum, start the first servo motor of the curtain pressure roller opening and closing device, and drive the first left-hand screw to rotate through the first synchronous belt and the first synchronous pulley. Driven by the first coupling sleeve, A right-hand screw rotates synchronously. At this time, the first left-hand screw nut and the first right-hand screw nut respectively drive two sets of cord pressure rollers to move from the middle to both sides; the proximity switches installed on the bending frames at both ends detect The approaching signal is transmitted to the controller DSP. The controller DSP controls the first servo motor of the curtain pressing roller opening and closing device to reverse, and the curtain pressing roller begins to move toward the middle;

Step S104: When the proximity switch installed on the middle proximity switch bending frame detects the approaching signal and transmits it to the controller DSP, the first servo motor reverses, and the curtain pressing roller begins to move to both sides, completing the set number of cycles. Finally, the first servo motor of the curtain pressing roller opening and closing device stops, and the rolling is completed;

Step S105: The cord press roller driving cylinder retracts, the flat press rollers are all separated from the carcass tube rubber material, the third servo motor of the rear press roller longitudinal moving device starts to reverse, and the rear press roller transverse opening and closing device retracts longitudinally as a whole;

Step S106: The forming drum is inflated and contracted, the belt transfer ring attaches the belt side to the carcass, and the carcass is formed;

Step S107: The third servo motor of the rear pressure roller longitudinal moving device starts again, and the mobile platform of the rear pressure roller longitudinal moving device feeds longitudinally and approaches the tire casing;

Step S108: After the crown side pressure roller opening and closing device is longitudinally fed in place, the roller drive cylinder piston rod extends, and the roller contacts the tire casing;

Step S109: The forming drum starts to rotate and rolling starts;

Step S110: The second servo motor of the crown side pressure roller opening and closing device drives the two sets of crown side pressure rollers to open and close. The crown side pressure rollers roll to the crown edge, and the laser detector detects When the signal is fed back to the control system, the rotary table servo motor of the three-dimensional pressure roller rotary device receives the instruction and drives the rotary table of the three-dimensional pressure roller rotary device to rotate, driving the crown and side pressure roller to rotate, so that the roller fits the side of the tire and continues rolling. ;

Step S111: After the rolling is completed, the roller drive cylinder piston rod retracts, the roller is separated from the tire casing, and the third servo motor of the rear pressure roller longitudinal moving device is reversed, driving the entire rear pressure roller transverse opening and closing device to retract longitudinally. .

This application also discloses a method of applying the rolling device of the above-mentioned engineering tire building machine to a two-drum engineering tire building machine.

In the rolling device of the two-drum engineering tire building machine, a three-dimensional pressure roller rotation device 23 is added to the tread side pressure roller. At the same time, combined with the working status of the three-dimensional pressure roller rotation device 23, the resistance of the controlled motor under actual working conditions is calculated. Factors such as fluctuations caused by interference torque are used to establish a mathematical model. By establishing a mathematical model of the motor, a brushless DC motor is selected as the controlled object, and a three-closed-loop control strategy is established with DSP as the control core to achieve control from the tread to the sidewall. Continuous rolling also realizes precise control of the rotation of the crown and side pressure roller 24.

A cord pressing roller 25 is designed in a limited space, which can realize automatic rolling, replace manual rolling, and improve the exhaust effect.

The designed pressure roller can roll the entire curtain fabric and the dead area near the apex. It can follow the laser light mark for fully automatic rolling, completely avoiding the operator's manual rolling time and greatly increasing the tire yield.

This application designs a cord pressing roller 25 on a two-drum engineering tire building machine in a limited space, which can realize automatic rolling, replace manual rolling, and improve the exhaust effect. In the rolling device of the two-drum engineering tire building machine, a three-dimensional pressure roller rotation device 23 is added to the tread side pressure roller to realize continuous rolling from the tread to the sidewall. The designed pressure roller can roll the entire curtain fabric and the dead area near the apex. It can follow the laser light mark for fully automatic rolling, completely avoiding the operator's manual rolling time and greatly increasing the tire yield.

The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims (3)

A rolling device for an engineering tire building machine, which is characterized by including: A rear pressure roller longitudinal moving device. The rear pressure roller longitudinal moving device is provided with a mobile platform, and the mobile platform is driven by a third servo motor and can move forward and backward; The rear pressure roller transverse opening and closing device is fixedly installed on the moving platform of the rear pressure roller longitudinal moving device through the rear pressure roller transverse opening and closing device frame. The rear pressure roller transverse opening and closing device include: A cord pressure roller opening and closing device, the cord pressure roller is arranged on the cord pressure roller opening and closing device; the cord pressure roller opening and closing device includes a first synchronous pulley, a first left lead screw motor seat, and a first right lead screw Motor base, first motor tensioning block, first servo motor, proximity switch bent frame, first linear guide rail, first left-hand screw, first pressure roller beam, first left screw seat, first right screw seat, first right-hand screw, first left-hand screw nut, first right-hand screw nut, screw gland, deep groove ball bearing, first coupling sleeve, in which the first left-hand screw motor base is fixed Installed on the left end of the first pressure roller beam, the first right screw motor seat is fixedly installed on the right end of the first pressure roller beam, and one end of the first left-handed screw is fixed on the first left screw motor seat through a deep groove ball bearing The first synchronous pulley is also fixedly installed on the end, and the other end is fixed on the first left screw seat through a deep groove ball bearing. One end of the first right-hand screw is fixed on the first right screw seat through a deep groove ball bearing. On the screw base, the other end is fixed on the first right screw motor base through a deep groove ball bearing. The first left-hand screw and the first right-hand screw are connected through the first connecting sleeve. The first left screw A first servo motor is also installed on the motor base, and the output shaft of the first servo motor is connected to the first left-hand screw through the first synchronous belt and the first synchronous pulley; Crown side pressure roller opening and closing device, the cord pressure roller opening and closing device and the crown side pressure roller opening and closing device have the same structure; the crown side pressure roller opening and closing device includes a second synchronous pulley, a third The second left screw motor base, the second right screw motor base, the second motor tensioning block, the second servo motor, the proximity switch bending frame, the second linear guide rail, the second left-hand screw, the second pressure roller beam, the second Second left screw seat, second right screw seat, second right-hand screw, second left-hand screw nut, second right-hand screw nut, screw gland, deep groove ball bearing, second coupling sleeve , the second left screw motor base is fixedly installed on the left end of the second pressure roller beam, the second right screw motor base is fixedly installed on the right end of the second pressure roller beam, and one end of the second left-handed screw passes through a deep groove ball The bearing is fixed on the second left screw motor seat, and a second synchronous pulley is fixedly installed on the end. The other end is fixed on the second left screw seat through a deep groove ball bearing. One end of the second right-hand screw It is fixed on the second right screw seat through a deep groove ball bearing, and the other end is fixed on the second right screw motor seat through a deep groove ball bearing. The second left-hand screw and the second right-hand screw pass through the second connecting shaft. sleeve connection, a second servo motor is also installed on the second left screw motor base, and the output shaft of the second servo motor is connected to the second left-hand screw through a second synchronous belt and a second synchronous pulley; in A proximity switch bend is installed on the first pressure roller beam of the cord fabric pressure roller opening and closing device. A proximity switch is installed on the proximity switch bend. There are 4 groups of proximity switch bends and proximity switches, which are respectively set. At the left and right end limit positions of the first left-hand screw nut and the left and right end limit positions of the first right-hand screw nut; when the cord pressing roller follows the first left-hand screw nut and the first right-hand screw nut respectively When moving to the left and right extreme positions, the proximity switch detects the proximity signal and feeds back the signal to the control system. The control system controls the first servo motor to reverse to control the opening and closing movement of the cord pressing roller; the cord pressing roller includes a flat pressing Roller, cord pressure roller drive cylinder, linear optical axis, flat pressure roller installation bracket, flat pressure roller rotating support plate, cord pressure roller telescopic frame, cord pressure roller telescopic platform; there are 2 sets of the cord pressure rollers, and the 2 groups are as follows The cord pressure roller telescopic frame of the cord pressure roller is respectively fixedly installed on the first left-hand screw nut and the first right-hand screw nut of the cord pressure roller opening and closing device through flanges, arranged symmetrically, and can follow the first The left-hand screw nut and the first right-hand screw nut open and close along the first linear guide rail; the curtain pressing roller opening and closing device is started by the first servo motor, and the first servo motor passes through the first synchronous belt and the first The synchronous pulley drives the first left-hand screw to rotate, and the first left-hand screw drives the first right-hand screw to rotate synchronously through the first coupling sleeve. The rotation of the first left-hand screw and the first right-hand screw is converted into the first The horizontal movement of the left-hand screw nut and the first right-hand screw nut along the first linear guide rail drives the cord press roller telescopic frame to move horizontally along the first linear guide rail; Three-dimensional pressure roller rotation device, the three-dimensional pressure roller rotation device is arranged on the crown side pressure roller opening and closing device; the three-dimensional pressure roller rotation device includes a fixed seat and a rotary table, and the three-dimensional pressure roller rotation device has 2 groups , the two sets of fixed seats of the three-dimensional pressure roller rotation device are respectively fixed and installed on the second left-hand screw nut and the second right-hand screw nut of the crown side pressure roller opening and closing device through flanges, in a symmetrical manner. Arranged, the two sets of three-dimensional pressure roller rotation devices follow the second left-hand screw nut and the second right-hand screw nut to reciprocate and symmetrically open and close along the second linear guide rail; the crown side pressure roller opening and closing device passes The rear pressure roller transverse opening and closing device frame is fixedly installed on the moving platform of the rear pressure roller longitudinal moving device. The advancement and retreat of the moving platform drives the crown and side pressure roller opening and closing device to advance and retreat, thereby driving the three-dimensional The pressure roller rotation device advances and retreats longitudinally; a bearing mounting hole is provided at the center of the fixed seat of the three-dimensional pressure roller rotation device; a rotation shaft is provided below the rotary table; the bearing mounting hole and the rotation shaft are connected through rolling bearings , the rotary table can rotate freely around the rotary axis, so The end of the rotary shaft is also equipped with a three-dimensional pressure roller rotary table servo motor. The three-dimensional pressure roller rotary table servo motor is connected to the rotary shaft through a coupling; the crown side pressure roller is fixedly installed on the three-dimensional pressure roller through a base. On the rotating platform of the roller rotating device, the three-dimensional pressure roller rotating device is fixedly installed on the crown side pressure roller opening and closing device; Cord press rollers. Each set of the cord press rollers includes 3 flat press rollers, including one fixed press roller and two swing press rollers. The purpose of the swing press rollers is to self-center along the arc during the rolling process. ; The cord press roller has longitudinal feeding and transverse opening and closing functions. The extension limit of the longitudinal feeding function must be able to reach the forming drum diameter R1, and the retracted position must avoid the molded carcass diameter R2 to prevent interfere; and Crown side pressure roller, the crown side pressure roller is arranged on the three-dimensional pressure roller rotation device; the crown side pressure roller rolls to the crown edge, and the laser detection head detects the signal and feeds it back to the control system. The rotary table servo motor of the three-dimensional pressure roller rotary device drives the three-dimensional pressure roller rotary table to rotate and drive the crown side pressure roller to rotate, so that the crown side pressure roller fits the side of the tire and continues rolling; the advancement of the mobile platform and Retreating drives the rear pressure roller transverse opening and closing device to advance and retreat, providing feed and retreat power for the crown side pressure roller and the cord pressure roller; there are 2 sets of the crown side pressure rollers, and 2 sets of the crown side pressure rollers The bases of the sidewall pressure rollers are respectively fixedly installed on the two sets of three-dimensional pressure roller rotation devices through flanges. The fixed seats of the two sets of three-dimensional pressure roller rotation devices are fixedly installed on the crown sidewall pressure roller opening and closing through flanges. The second left-hand screw nut and the second right-hand screw nut of the device are arranged symmetrically and can open and close along the second linear guide rail with the second left-hand screw nut and the second right-hand screw nut; Crown side pressure rollers include: base; Roller drive cylinder, the cylinder of the roller drive cylinder is movably connected to the cylinder rotating shaft provided on the base through the cylinder earring, and the roller driving cylinder cylinder can rotate around the cylinder rotating shaft Roller mounting bracket. The first mounting hole at the lower end of the roller mounting bracket is movably connected to the first rotating shaft on the base through a rolling bearing to form a first rotating pair. The roller mounting bracket can rotate around the first rotating shaft. Rotate, the piston rod of the roller drive cylinder is movably connected to the second rotating shaft and the third rotating shaft on both sides of the middle part of the roller mounting bracket through the piston rod earrings, forming a second rotating pair and a third rotating pair. The piston rod The earring can rotate around the second rotating axis and the third rotating axis; The roller is installed on the upper part of the roller mounting bracket through the rolling bearing and the fourth rotating shaft. The roller is located in the second rectangular groove opened in the upper part of the roller mounting bracket. The roller can freely rotate around the fourth rotating axis. turn; turn Therefore, the crown side pressure roller has longitudinal feed, transverse opening and closing functions and rotation functions. The extension limit of the longitudinal feed function must be able to reach the diameter R1 of the forming drum, and the retracted position must reach the diameter after molding. The tire casing diameter R2 enables crown and sidewall rolling. A control method for a cord pad rubber combined rolling device integrated on a forming pressure roller, including the rolling device of an engineering tire forming machine according to claim 1, characterized by comprising the following steps: When the carcass inner liner and ply are attached on the building drum, the third servo motor of the rear pressure roller longitudinal moving device starts, and the moving platform of the rear pressure roller longitudinal moving device moves forward, driving the rear pressure roller transverse opening and closing device. Longitudinal feeding, close to the carcass tube; After the cord pressure roller opening and closing device is longitudinally fed in place, the cord pressure roller drive cylinder piston rod extends, and the six flat pressure rollers of the two sets of cord pressure rollers are all in contact with the carcass tube rubber material; The forming drum is rotated, and the first servo motor of the curtain roller opening and closing device is started, and the first left-hand screw is driven to rotate through the first synchronous belt and the first synchronous pulley. Driven by the first coupling sleeve, the first right-hand screw is rotated. The screws rotate synchronously. At this time, the first left-hand screw nut and the first right-hand screw nut respectively drive the two sets of cord pressing rollers to move from the middle to both sides; the proximity switches installed on the bend frames at both ends detect the approaching signal. , and transmitted to the controller DSP, the controller DSP controls the first servo motor of the curtain pressing roller opening and closing device to reverse, and the curtain pressing roller begins to move toward the middle; When the proximity switch installed on the middle proximity switch bending frame detects the approaching signal and transmits it to the controller DSP, the first servo motor reverses, and the curtain pressing roller begins to move to both sides. After completing the set number of cycles, the curtain The first servo motor of the pressure roller opening and closing device stops and rolling is completed; The cord press roller driving cylinder retracts, and the flat press rollers are all separated from the carcass tube rubber material. The third servo motor of the rear press roller longitudinal moving device starts to reverse, and the rear press roller transverse opening and closing device retracts longitudinally as a whole; The forming drum is inflated and contracted, the belt transfer ring attaches the belt side to the carcass, and the carcass is formed; The third servo motor of the rear pressure roller longitudinal movement device starts again, and the mobile platform of the rear pressure roller longitudinal movement device feeds longitudinally and approaches the tire casing; After the crown side pressure roller opening and closing device is longitudinally fed in place, the roller drive cylinder piston rod extends, and the roller contacts the tire casing; The forming drum begins to rotate and rolling begins; The second servo motor of the crown side pressure roller opening and closing device drives the two sets of crown side pressure rollers to open and close. The crown side pressure rollers roll to the crown edge, and the laser detection head detects the signal feedback. When reaching the control system, the servo motor of the rotary table of the three-dimensional pressure roller rotary device receives the instruction and drives the rotary table of the three-dimensional pressure roller rotary device to rotate, driving the crown and side pressure rollers to rotate so that the rollers fit the sidewalls and continue to roll; After the rolling is completed, the roller drive cylinder piston rod retracts, the roller is separated from the tire casing, and the third servo motor of the rear pressure roller longitudinal moving device is reversed, driving the entire rear pressure roller transverse opening and closing device to retract longitudinally. A control method for a cord pad rubber combined rolling device integrated on a forming pressure roller according to claim 2, characterized in that the control system of the three-dimensional pressure roller rotation device includes a brushless DC servo motor, an incremental Type photoelectric encoder, servo controller, and inverter module; among them, the servo controller uses TI's TMS320F240 DSP as the core to control the servo motor to run according to given instructions, and realizes the connection between the host computer and the servo controller through RS232 serial communication. mutual communication between each other; the inverter module is composed of 3 P-channel and 3 N-channel MOSFET power switch tubes to form a three-phase bridge PWM inverter circuit; the output signal of the inverter module is generated by the Horoscope installed on the stator. The rotor position signals fed back by the components are combined in a certain way; the incremental photoelectric encoder is used to measure the real-time position of each axis and feeds it back to the servo controller.