CN-121375138-B - Automatic tire nail embedding device and method capable of intelligently adjusting nail inserting depth

CN121375138BCN 121375138 BCN121375138 BCN 121375138BCN-121375138-B

Abstract

The invention relates to the technical field of industrial data regulation and control, in particular to an automatic tire nailing device and method for intelligently regulating nailing depth, comprising the steps of acquiring angle data, pressure data, position data and depth data of each driving shaft on a multi-shaft nailing driving member; obtaining deviation indexes of the nailing device according to variation trend differences and time differences among angle data of different driving shafts, obtaining error transmission indexes of the nailing device according to deviation conditions among angle data, preset expected angles, position data and preset expected positions, obtaining non-cooperative indexes of the nailing device according to cooperative difference conditions among variation trends of pressure data and variation trends of depth data, determining error compensation coefficients according to the deviation indexes, the error transmission indexes and the non-cooperative indexes, and adjusting the angle data of the nailing head. The invention effectively inhibits the accumulation condition of dynamic errors caused by multi-axis cooperative control.

Inventors

Shen Congye
SHEN JING
SHEN JINKUI
Jiang Nianfeng

Assignees

株洲金信防滑钉有限公司

Dates

Publication Date: 20260508
Application Date: 20251113

Claims (7)

1. An automatic tire nailing method capable of intelligently adjusting nailing depth is characterized by comprising the following steps of: Acquiring angle data, pressure data, position data and depth data of the nail head of each driving shaft on the multi-shaft nail-embedding driving member under the current nailing period; Obtaining a deviation index of the nailing device according to the difference characteristics of the change trend among the angle data of different driving shafts and the time difference of the fluctuation response of the angle data, wherein the deviation index specifically comprises the following steps: Obtaining a data deviation factor according to the difference distribution of the change trend of angle data at the same moment between each driving shaft and other driving shafts, wherein the data deviation factor specifically comprises the steps of obtaining the slope value between the angle data at each moment and the angle data at adjacent moment for any one driving shaft; Obtaining inflection point data of all angle data of each driving shaft, obtaining time intervals between corresponding moments of the inflection point data between every two driving shafts according to time sequence, and obtaining the average value of all the time intervals as a time deviation factor; Determining the product between the data deviation factor and the time deviation factor as a deviation index of the nailing device; Obtaining an error transmission index of the nail inserting device according to the deviation condition between the angle data and a preset expected angle and the deviation condition between the position data and a preset expected position, wherein the error transmission index specifically comprises the following steps: Determining angle error data of each driving shaft at each moment based on the difference between the angle data of each driving shaft at each moment and a preset expected angle, determining position error data of the insert head at each moment based on the distance between the position data of the insert head at each moment and a preset expected position, obtaining a first characteristic factor according to the numerical value difference condition between the angle error data of each driving shaft and the position error data of the insert head, obtaining a second characteristic factor according to the difference condition of the change trend between the angle error data of each driving shaft and the position error data of the insert head, and determining an error transfer index of the insert device based on the product operation result of the first characteristic factor and the second characteristic factor corresponding to each driving shaft; according to the variation trend of the pressure data and the variation trend of the depth data, a non-cooperative index of the nailing device is obtained, and according to the deviation index, the error transfer index and the non-cooperative index, an error compensation coefficient is determined, and the angle data of the nailing head is adjusted.
2. The automatic tire nailing method capable of intelligently adjusting the nailing depth according to claim 1, wherein the first characteristic factor is obtained according to the numerical difference between the angle error data of each driving shaft and the position error data of the nailing head, and specifically comprises the following steps: and carrying out negative correlation processing on the mean square error between all angle error data of each driving shaft and all position error data of the embedded nail head to obtain a first characteristic factor corresponding to each driving shaft.
3. The automatic tire nailing method capable of intelligently adjusting the nailing depth according to claim 1, wherein the second characteristic factor is obtained according to the difference condition of the change trend between the angle error data of each driving shaft and the position error data of the nailing head, and specifically comprises the following steps: acquiring a slope value between angle error data of each driving shaft at each moment and angle error data of adjacent moment, and acquiring a slope value between position error data of each stud at each moment and position error data of adjacent moment; and obtaining a second characteristic factor corresponding to each driving shaft based on the difference of the corresponding slope values of each driving shaft and the embedded head at the same time.
4. The automatic tire nailing method capable of intelligently adjusting the nailing depth according to claim 1, wherein the non-cooperative index of the nailing device is obtained according to the cooperative difference condition between the change trend of the pressure data and the change trend of the depth data, and specifically comprises the following steps: Acquiring first fluctuation coefficients of all pressure data and second fluctuation coefficients of all depth data, and determining the absolute value of a difference value between the first fluctuation coefficients and the second fluctuation coefficients as a first difference factor; Acquiring a first slope value of pressure data at each moment and a second slope value of depth data at each moment, and calculating the average value of absolute values of differences between the first slope value and the second slope value at the same moment to obtain a second difference factor; the product between the first and second differential factors is taken as a non-synergistic index of the stapling apparatus.
5. The automatic tire nailing method capable of intelligently adjusting the nailing depth according to claim 1, wherein the determining of the error compensation coefficient according to the deviation index, the error transmission index and the non-cooperative index is performed to adjust the angle data of the nailing head, and specifically comprises the following steps: And carrying out normalization processing on the product among the deviation index, the error transfer index and the non-cooperative index to obtain an error compensation coefficient, and adjusting a preset expected angle of the embedded nail head by utilizing the error compensation coefficient.
6. The automatic tire nailing method capable of intelligently adjusting the nailing depth according to claim 5, wherein the preset expected angle of the nailing head is adjusted by utilizing an error compensation coefficient, and the method specifically comprises the following steps: And acquiring an angle difference value between the angle data of the last moment of the stud and the expected angle, determining the product of the angle difference value and the error compensation coefficient as an angle correction amount, and taking the accumulated sum of the angle correction amount and the expected angle as the adjusted angle data.
7. An automatic tire nailing device capable of intelligently adjusting nailing depth, comprising a processor and a memory, wherein the processor is used for processing instructions stored in the memory to realize a data processing process of an automatic tire nailing method capable of intelligently adjusting nailing depth according to any one of claims 1-6.

Description

Automatic tire nail embedding device and method capable of intelligently adjusting nail inserting depth Technical Field The invention relates to the technical field of industrial data regulation and control, in particular to an automatic tire nailing device and method capable of intelligently regulating nailing depth. Background With the rapid development of the automobile industry and intelligent manufacturing technology, the safety performance and the intelligent production level of tires become important evaluation indexes for the whole automobile manufacturing, and the tire nailing technology is used as a key technology for improving the ground grabbing performance of tires on ice, snow, muddy road surfaces with low adhesive force and the like, and gradually develops from the traditional manual or semi-automatic nailing mode to the full-automatic and intelligent direction. Particularly, in the production process of the winter anti-skid nail tire, the accurate control of the nail penetration depth directly relates to the friction performance, the wear resistance and the noise performance of the tire in use, and is one of key parameters in the tire nail embedding process. In the existing automatic tire nailing production line, a mechanical structure (such as a mechanical arm) with multi-axis linkage is generally adopted as an execution main body, and automatic positioning and nailing operation of a nail body are realized through transverse, longitudinal and vertical movements. Meanwhile, in order to adapt to different tread curvatures and tread angles, the mechanical head of the nailing device is usually provided with a certain degree of angle adjustment freedom so as to ensure that the nailing body can be nailed along the normal direction of the tread. However, in the process of multi-axis cooperative control and angle adjustment, a complex dynamic coupling relationship exists between mechanical structures, tiny pose deviation and angle error can be gradually amplified through a mechanical transmission chain, so that unstable change of the nailing depth is caused, specifically, when a mechanical arm performs nailing path planning, the tail end position and the pose of the mechanical arm are formed by superposition of multi-axis motions, any single-axis servo response delay, mechanical clearance or angle compensation error can be represented as tiny deviation of the tail end nailing direction after spatial superposition, when angle adjustment or pressure compensation is performed on a nailing head, if angle servo and displacement are not completely synchronous, tiny change of a nailing body incidence angle can occur, local nailing depth deviation or nailing body inclination is caused, in the existing method, the source of the mechanical structure coupling error (namely, the angle error of multi-axis cooperative control) can be ignored in the process of correcting through a depth sensor or pressure feedback, and the essential deviation caused by the multi-axis cooperative error is difficult to be eliminated only in the depth compensation of a result layer. Disclosure of Invention In order to solve the technical problem that the prior method only carries out depth compensation aiming at error conditions and is difficult to eliminate real error conditions caused by angle errors caused by multi-axis cooperative control, the invention aims to provide an automatic tire nailing device and method for intelligently adjusting nailing depth, and the adopted technical scheme is as follows: in a first aspect, the present invention provides an automatic tire nailing method capable of intelligently adjusting nailing depth, comprising: Acquiring angle data, pressure data, position data and depth data of the nail head of each driving shaft on the multi-shaft nail-embedding driving member under the current nailing period; Obtaining deviation indexes of the nail inserting device according to the difference characteristics of the change trend among the angle data of different driving shafts and the time difference of the fluctuation response of the angle data; Obtaining an error transmission index of the nailing device according to the deviation condition between the angle data and a preset expected angle and the deviation condition between the position data and a preset expected position; according to the variation trend of the pressure data and the variation trend of the depth data, a non-cooperative index of the nailing device is obtained, and according to the deviation index, the error transfer index and the non-cooperative index, an error compensation coefficient is determined, and the angle data of the nailing head is adjusted. Preferably, the obtaining the deviation index of the nailing device according to the difference characteristic of the variation trend between the angle data of different driving shafts and the time difference of the fluctuation response of the angle data specifically includes: obtaining a data d