CN100575059C - The control method of the suction and docking system of the radial tire fiber cord automatic cutting machine - Google Patents

Abstract

A control method for the suction and docking system of a radial tire fiber cord automatic cutting machine, the system mainly consists of a guide device (1), a cloth storage device (2), a transmission and cutting device (3), a cord (4), The suction cup frame (5), the suction and docking dragging device (6), the control equipment (7) of the suction and docking device, the control method is to use the suction cup (53) to carry out laser detection on the edge of the curtain while sucking, and use The detection signal triggers the switching of the fully digital AC servo motor control mode (speed mode and position mode) of the suction cup to achieve precise lengthening and seam drawing, automatic side measurement, and accurate suction and docking. The approach is an integration and synthesis of advanced technologies. It is simple in composition, accurate and reliable in operation, and easy to use, maintain and repair.

Description

The control method of the suction and docking system of the radial tire fiber cord automatic cutting machine

technical field

The invention relates to a control method for an automatic suction and docking system of a tire cord, especially the control method adopts laser detection on the edge of the cord while sucking the suction cup, and triggers the switch of the control mode of the full-digital AC servo motor driving the suction cup to realize Accurate lengthening and sewing, automatic edge measurement, accurate suction and docking. This method is an integrated and comprehensive control method of some advanced technologies at present.

Background technique

At present, the positioning technology of the cutting machine imported from abroad is generally used to measure the edge of the cord while cutting (such as the cutting machine of Mitsubishi Corporation of Japan). The suction cup performs forward positioning perpendicular to the running direction of the main conveyor belt according to the edge data measured when the piece of cord is cut. However, there is serious instability in the quality of the domestic tire production process, especially the calendering process of the cord, and the above method will bring large deviations. In addition, the main conveyor belt of the domestic automatic cutting machine deviates greatly. If the edge is measured during cutting, when the curtain runs under the suction cup frame, the absolute coordinate value of the edge will have a large deviation, which cannot meet the requirements of the suction docking system. accuracy requirements. How to improve the shortcomings of the above-mentioned cutting machine and improve the accuracy of the suction and docking system is a top priority.

Contents of the invention

According to the background technology, the purpose of the present invention is to provide a system control method that can meet the accuracy requirement of the suction and docking system of the automatic cutting machine with an error of less than ±1mm. It adopts the laser detection of the edge of the curtain while sucking the suction cup to trigger the switching of the full digital AC servo motor control mode of the driving suction cup, and realizes the advanced technology integration and synthesis of precise length and seam drawing, automatic side measurement, accurate suction and docking control method.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

A control method for the suction and docking system of a radial tire fiber cord automatic cutting machine, the system mainly consists of a guide device (1), a cloth storage device (2), a transmission and cutting device (3), a cord (4), The suction cup frame (5), the suction and docking drag traction device (6), the control equipment (7) of the suction and docking device is composed of, wherein: the control method of the suction and docking system is when the main conveyor belt under the suction cup frame (5) When the curtain (4) is on, the photoelectric switch (51) acts, and the suction cup (53) and the laser sensor move from the butt line (b) to the curtain (4) at a speed; when the front edge (a) of the curtain is encountered, the laser The sensor sends a signal to make the suction cup (53) stop after the servo motor runs to an appropriate position in the position mode; the suction cup (53) absorbs the curtain (4) and returns to the docking line (b) in the position mode, and realizes the docking of the curtain (4); The cord (4) that has been crimped is sent to the cloth storage pit with a conveyor belt; the cloth tail is stopped, and the cloth tail laser switch (54) switches the servo motor from the speed mode to the position mode to complete the butt joint of the cloth tail.

Owing to adopting above-mentioned technical scheme, the present invention has following advantage and effect:

1. The automatic suction and docking system of the present invention adopts laser edge detection, and the suction cup adopts the technical scheme of measuring the edge of the curtain while sucking. The measured value is used for the positioning of the suction cup, and the signal of the laser edge detection controls the servo motor control mode of the driving suction cup. Switch to achieve accurate suction and docking.

2. The maximum repetition error generated by the movement of the lead screw that drives the suction cup in the present invention is 4μm/600mm, and the total error of the repeated detection of the edge of the curtain is 40μm. Therefore, this technical solution can be said to have reached the accuracy requirements of the accurate suction and precise docking system, that is, the error Less than ±1mm.

3. The present invention adopts the edge measurement start mode before the main conveyor belt stops, which ensures the cutting efficiency of the whole system at 14 knives per minute when the specification is 300mm.

4. The absorption and docking system composed of the technical solution of the present invention has simple structure, reliable operation, and easy maintenance and repair.

Description of drawings

Fig. 1A is a schematic diagram of the system composition of the present invention

Fig. 1B is a drawing of the present invention, a block diagram of the workflow of the docking system

Fig. 2 is a schematic diagram of the speed/position switching control of the present invention

Fig. 3 is the drawing of the present invention, the electrical control schematic diagram of docking system

In the figure: 1- opening device, 2-cloth storage device, 3-transmission and cutting device, 31-cutting knife, 4-curtain, 5-suction cup frame, 51-photoelectric switch, 52-laser switch, 53-suction cup, 54-cloth tail laser switch, 6-suction and docking dragging device, 7-control equipment of suction and docking device, 71-control transformer, 72-positioning module, 73-servo amplifier, 74-suction servo motor, 75- Docking servo motor, 76-rotary encoder, L-distance between suction and laser switch, C-total travel distance of suction cup, V-set speed, Top-laser switch action time, Tvc-speed control time, Tpc-position control time , Tw-crawling time, Ws-positioning start signal, W-busy signal, W _E -positioning end signal, Wvp-speed/position switching signal, W _∑ -speed/position switching interval

Detailed ways

Shown in Fig. 1A and Fig. 1B, the main components of the suction and docking system of the present invention and the key points of its control method, that is, a control method for the suction and docking system of a radial tire fiber cord automatic cutting machine, its system mainly consists of The guide device 1, the cloth storage device 2, the transmission and cutting device 3, the cord 4, the suction cup frame 5, the suction and docking dragging device 6, the control equipment 7 of the suction and docking device, wherein: the control of the suction and docking system The method is that when there is a curtain 4 on the main conveyor belt under the suction cup frame 5, the photoelectric switch 51 acts, and the suction cup 53 and the laser sensor move from the docking line b to the direction of the curtain 4 at a speed; when the front edge a of the curtain is encountered, the laser sensor Send a signal to make the suction cup 53 stop after the servo motor runs to the appropriate position in the position mode; the suction cup 53 sucks the cord 4 and returns to the docking line b in the position mode, and realizes the butt joint of the cord 4; the cord 4 after crimping is sent to the storage Cloth pit; Cloth tail stop, the cloth tail laser switch 54 switches the servo motor from speed mode to position mode to complete the butt joint of cloth tail.

It can be seen from the figure that the detailed working process of the suction and docking system is: the laser sensor installed on the suction cup 53 moves synchronously with the suction cup 53 . Once the cord 4 is on the main conveyor belt below the suction frame 5, the suction cup 53 drives the laser sensor to move from the butt line (0 line) b to the direction of the cord 4 at a speed. The signal from the front edge a of the curtain 4 drives the suction cup servo motor to immediately switch to position mode operation, the running distance L (the distance between the suction cup and the laser switch) stops, and the total travel distance of the suction cup is C (see Figure 1A). The suction cup 53 sucks the curtain 4, and then returns to the zero position in the position mode to realize the docking of the curtain 4. After the suction cup 53 has a series of actions such as dropping, sucking, lifting, returning to the connection b, releasing, crimping, etc., the butt conveyor belt driven by the servo motor will transport the crimped cord 4 to the front cloth storage pit. The stop of the cloth tail is switched by the cloth tail laser switch 54 (below the sucker) to switch the servo motor from the speed mode to the position mode, so as to realize accurate cloth tail positioning. The edge detection of the curtain 4 is carried out during the sucking process, and the speed of the suction cup 53 is continuous and non-stop during the switching of its two operating modes, which greatly improves the working efficiency of the suction cup 53.

For the above working process, please refer to the drawing and docking workflow block diagram.

It can be seen from the figure that the suction cup 53 is driven by a 1.5kw AC servo motor (HC-SFS152) in the suction and docking traction device 6 through the coupling to drive the 1m-long E-class rolling screw to rotate, and the screw nut drives the suction cup 53 to make a straight line Reciprocating motion, the docking conveyor belt is pulled by a 1.0kw AC servo motor (HC-SFS102). Among them, the 1m-long high-precision E-grade rolling screw screw rotates, and the screw nut drives the suction cup to do linear reciprocating motion, and the screw pitch is 32mm. A high-precision encoder is packaged on the shaft of the AC servo motor, which can send out 131072 pulses per revolution, and the encoder pulse signal is fed back to the servo amplifier as the position and speed feedback signal of the servo motor. The repetition error of the E-grade rolling screw screw is 2μm/300mm, and the working range of the suction cup is within 600mm. Therefore, the maximum repetition error generated by the movement of the screw is 4μm/600mm. It can be seen that the error value is much smaller than the accuracy requirement of the present invention.

It is also known that from the above working process, the edge positioning accuracy of the curtain 4 is determined by the following two points: the error generated by the movement of the suction cup and the error generated by the edge detection of the curtain. The detection of the edge of the curtain 4 is realized by the movement of the laser sensor driven by the suction cup 53 . Its accuracy is determined by the response time of the laser sensor, the repeatability, the length of the signal line, and the response time of the speed/position conversion signal of the positioning module. In addition to the repeatability of the laser sensor, the errors caused by other factors are fixed and can be compensated by software. The repetition error of the laser sensor cannot be compensated by software. The response time of the laser sensor used in this design is 200μs, the repetition accuracy is 50μs, and the sensing distance is 25-115mm. The moving line speed of the sucker of this system is 800mm/s, namely 0.8μm/μs, so the repeated detection error of the edge of the curtain is 50×0.8=40μm, it can be seen that the error value has little influence on the accuracy requirement of the present invention.

It is also known that the control device 7 of the suction and docking device of the present invention mainly includes:

Suction device drive motor: Mitsubishi 1.5KW AC servo motor HC-SFS152

Compatible servo amplifier: MR-J2S-200A

Docking traction motor: Mitsubishi 1.0KW AC servo motor HC-SFS102

Compatible servo amplifier: MR-J2S-100A

The traction motor of the suction device and the docking traction motor are controlled by the following equipment:

CPU module: A2SHCPU-S1

Positioning module: A1SD75P3-S3

The front and rear edge detection sensors of the cord: Bannar’s laser sensor PD45VN6C100 The presence or absence of the cord detection sensor: Turck’s high-sensitivity photoelectric sensor

Fig. 2 shows a schematic diagram of the corresponding relationship between the positioning start signal Ws, the positioning end signal W _E and the speed/position switching signal Wvp sent by the laser sensor and the system switching timing control.

It can also be seen from the figure that the switching between the two operating modes of speed and position is continuous without pause.

As shown in Figure 3, the typical combination of equipment for controlling the normal operation of the suction and docking system is mainly composed of a control transformer 71, a positioning module 72, a servo amplifier 73, a suction servo motor 74 and a docking servo motor 75, wherein the positioning module is mainly composed of 72 is connected to control the corresponding servo amplifier 73, and the corresponding servo amplifier 73 controls the suction servo motor 74 and the docking servo motor 75 to control the signal source laser sensor, wherein a rotary encoder is packaged on the servo motor shaft, and the pulse signal sent per revolution is used as Feedback signal for servo motor position and speed.

Claims (3)

1, the absorption of the full-automatic cutting machine of a kind of radial-ply tyre fibercord and the control method of docking system, its system is mainly by unwinding equipment (1), cloth storage device (2), transmit and cutting device (3), cord (4), suction cup carrier (5), draw with docking and drag draw-gear (6), draw with the control appliance (7) of docking facilities and form, it is characterized in that: absorption is optoelectronic switch (51) action when on the main moving belt of suction cup carrier (5) below cord (4) being arranged with the control method of docking system, and sucker (53) moves to cord (4) direction in the speed mode from butted line (b) beginning with laser sensor; Laser sensor sends signal sucker (53) is stopped after servomotor runs to the appropriate location with mode position when running into cord leading edge (a); Sucker (53) is drawn cord (4) and is returned butted line (b) with mode position, and realizes the butt joint of cord (4); The intact cord (4) of crimping is delivered to storage cloth hole with conveyer belt; Stopping of cloth tail switched servomotor by cloth tail laser switch (54) and transfers the butt joint that mode position is finished the cloth tail to from velocity mode.

2, the absorption of the full-automatic cutting machine of radial-ply tyre fibercord according to claim 1 and the control method of docking system, it is characterized in that: sucker (53) is by drawing and docking the AC servo motor that drags in the draw-gear (6) and drive the rotation of E level rolling screw leading screw by shaft coupling, screw drives sucker (53) and does straight reciprocating motion, the lead screw shaft distance is 32mm, encapsulation one rotary encoder (76) on the AC servo motor axle, whenever circle and send 131072 pulses, as the feedback signal of servomotor position and speed.

3, the absorption of the full-automatic cutting machine of radial-ply tyre fibercord according to claim 1 and the control method of docking system, it is characterized in that: draw control appliance with docking facilities, mainly comprise AC servo motor, corresponding servo amplifier, the CPU module, locating module, edge detection laser sensor before and after the cord (4), cord has or not the detection photoelectric sensor to form, wherein mainly connect control corresponding servo amplifier (73), draw servomotor (74) and butt joint servomotor (75) in order to control by locating module (72).

Images