Gripper, gripper station and method for gripping annular tire components

Abstract

The present invention relates to a gripper, a gripper station and a method for gripping annular tire components, wherein the gripper comprises a plurality of gripper members which are distributed circumferentially around a gripper axis and can move within a main range having a radial inner end point and a radial outer end point at least with a vector component in a radial direction perpendicular to the gripper axis, wherein the gripper further comprises a limiter for limiting the radial movement of the plurality of gripper members to a sub-range within the main range, wherein the sub-range has an adjustable sub-range position relative to the main range, wherein the gripper comprises a synchronization member for synchronizing the radial movement of the plurality of gripper members, wherein the synchronization member defines the main range, wherein the limiter is arranged for limiting the synchronization member to define the sub-range.

Description

Technical Field

[0001] The present invention relates to a gripper, a gripper station and a method for gripping an annular tire component, such as an annular tire bead, an annular wire ring, an annular apex core or an annular tire bead-apex assembly. Background Art

[0002] KR 2014 0050790 A discloses an adjustable bead wire gripper having: a plurality of support members distributed circumferentially around the gripper axis; and a rotating plate having a curved slot to synchronously expand the support members in a radial direction perpendicular to the gripper axis within a gripping range sufficient to engage bead wires with a small diameter and bead wires with a large diameter. Before gripping the bead wire, the plurality of support members are returned to the radially inner end points of the gripping range. The support members are then radially expanded until the support members engage the bead wire with the correct diameter. Therefore, bead wires of different sizes can be easily engaged without the need to replace parts.

[0003] A disadvantage of known bead wire grippers is that, for a batch of bead wires having the same, relatively large diameter, the support must be repeatedly moved within a substantial portion of the gripping range to ultimately engage each bead wire. The repeated movement unnecessarily consumes valuable cycle time. Furthermore, the drive required to move the support throughout the gripping range may not be optimally suited to reliably and / or accurately position the support at the correct diameter.

[0004] DE 10 2013 102583 A1 discloses a bead transfer ring with multiple segments, each segment having its own drive cylinder for radially moving the respective segment within a respective range and its own adjustment mechanism for adjusting the position of the drive cylinder relative to the ring body. The adjustment mechanism is actuated by using an additional cylinder. Summary of the invention

[0005] A disadvantage of the bead transfer ring disclosed in DE 10 2013 102583 A1 is that the separate adjustment mechanisms for the individual segments increase the overall complexity, weight, cost and maintenance requirements of the bead transfer ring. Furthermore, it may be difficult to synchronize the movement of the various pneumatically operated cylinders, which may result in one or more adjustment mechanisms not being fixed in position relative to the rest of the adjustment mechanisms and / or one or more segments not being able to be moved synchronously relative to the other segments by their respective drive cylinders.

[0006] It is an object of the present invention to provide a gripper, a gripper station and a method for gripping annular tire components, wherein tire components of different diameters can be gripped more reliably and / or more accurately.

[0007] According to a first aspect, the present invention provides a gripper for gripping annular tire components, wherein the gripper includes a plurality of gripper members which are circumferentially distributed around a gripper axis and which can move within a main range at least with a vector component in a radial direction perpendicular to the gripper axis, wherein the main range has a radial inner end point and a radial outer end point, wherein the gripper also includes a limiter for limiting the radial movement of the plurality of gripper members to a sub-range within the main range, wherein the sub-range has an adjustable sub-range position relative to the main range, wherein the gripper includes a synchronization member for synchronizing the radial movement of the plurality of gripper members, wherein the synchronization member defines the main range, wherein the limiter is arranged to limit the synchronization member to define the sub-range.

[0008] By limiting the synchronization member, the limiter can indirectly and synchronously limit the movement of all gripper members to a sub-range. Although KR 2014 0050790 A discloses the use of a rotating plate with a curved narrow slot as a synchronization member, when such a synchronization member is applied to the tire bead transfer ring of DE 10 2013 102583 A1, it can only be reasonably considered as a replacement for the individual adjustment mechanisms for synchronously repositioning the individual drive cylinders. The segmented operating movement is still driven by the individual drive cylinders. The combination of KR 2014 0050790 A and DE 10 2013 102583 A1 does not disclose or suggest the use of a limiter to limit the movement of the synchronization member so as to indirectly and synchronously limit the movement of all gripper members to a sub-range. The technical advantage of this distinguishing feature is that the gripper according to the present invention is quite simple, which can lead to weight or cost savings and / or less maintenance. Moreover, the gripper members can be controlled more synchronously, thereby improving the reliability and accuracy when gripping tire components.

[0009] Preferably, the limiter comprises a drive member for driving the synchronization member, wherein the drive member has a drive stroke defining a sub-range. In other words, the drive member can only move the synchronization member within the drive stroke, ie, within a limited drive range corresponding to the sub-range.

[0010] More preferably, the drive member is switchable between a coupled state for driving the synchronizing member in the sub-range and a decoupled state in which the drive member is free to move relative to the synchronizing member to adjust the sub-range position. In other words, in the decoupled state, one of the drive member and the synchronizing member is allowed to move relative to the other of the drive member and the synchronizing member to adjust the sub-range position relative to the main range in order to grip an annular tire component of another diameter. Once the sub-range position is adjusted, the drive member can be switched back to the coupled state to fix the sub-range position relative to the main range.

[0011] In a particular embodiment, the drive member is infinitely adjustable relative to the synchronising member. Thus, the gripper can be adjusted for any diameter.

[0012] Alternatively, the drive member is adjustable relative to the synchronising member in steps. The steps may correspond to a common diameter of the annular tyre components, ie a common inch size.

[0013] In one embodiment of such a stepped adjustment, the synchronizing member comprises an indexing element which defines a plurality of indexing positions corresponding to different steps in the sub-range of positions, wherein the drive member comprises a coupling element which can be connected to the indexing element in any of the plurality of indexing positions. Thereby, the indexing element can be (re)positioned in any of the indexing positions to select a sub-range position corresponding to a particular step in the diameter of the annular tire component to be engaged.

[0014] The coupling element may be manually operable, or it may be remotely operable. Manual operation may be relatively low-tech, i.e. by inserting a pin into an indexing hole. However, it requires operator intervention in a potentially hazardous environment. By remotely controlling the coupling element, i.e. pneumatically, hydraulically, electrically and / or electronically, no operator intervention is required. In other words, the regulation of the sub-ranges may be at least partially automated.

[0015] In a further embodiment, one of the drive member and the synchronizing member comprises a first operating element engageable by an adjustment member external to the gripper in order to move the one of the drive member and the synchronizing member relative to the other of the drive member and the synchronizing member. By having the adjustment member external to the gripper (i.e., not part of the gripper), the gripper itself does not require an adjustment member to adjust the sub-range position. In particular, the gripper does not require an adjustment member that locks the other of the drive member and the synchronizing member relative to one of the drive member and the synchronizing member.

[0016] In a further embodiment, the drive member comprises a cylinder, preferably a pneumatic cylinder, defining a sub-range. The pneumatic cylinder has a limited drive stroke suitable for driving the synchronising member within a limited range corresponding to the sub-range.

[0017] In one embodiment, the synchronization member comprises a spiral plate having a plurality of spiral slots distributed circumferentially around the gripper axis, wherein each of the plurality of gripper members comprises a cam follower received in a respective spiral slot of the plurality of spiral slots, wherein the spiral plate is rotatable around the gripper axis to drive the plurality of gripper members radially by interaction between respective cam followers and their respective spiral slots, wherein a limiter is arranged for limiting the rotation of the spiral plate around the gripper axis. The spiral plate can conveniently synchronize the movement of the gripper members.

[0018] The helical slot is shaped so that for any angular position of the helical plate within the main range, the ratio between the angular displacement of the helical plate and the radial displacement of the plurality of gripper members is the same. Thus, the sub-ranges can have the same size regardless of where they are located within the main range.

[0019] Preferably, the synchronizing member comprises an indexing element which defines a plurality of indexing positions corresponding to different steps in the sub-range of positions, the plurality of indexing positions being distributed circumferentially. The indexing element can be used to select a sub-range position so as to select a step in the main range, i.e. based on the most common tire component diameter or inch size.

[0020] Additionally or alternatively, the synchronizing member comprises a first operating element that can be engaged by an adjusting member external to the gripper in order to rotate the synchronizing member relative to the drive member. This has the same technical advantages as previously mentioned with respect to the first operating member and the external adjusting member, only now in the context of a spiral plate.

[0021] Preferably, the first operating element protrudes from the spiral plate in a direction parallel to the gripper axis. Thus, by positioning the adjustment member in the path of the first operating element traveling beside the spiral plate, the first operating element can be easily engaged and / or locked by the adjustment member.

[0022] In another embodiment, the sub-range is less than fifty percent of the main range, and preferably less than thirty percent of the main range. When the sub-range is significantly smaller than the main range, a lot of cycle time can be saved and / or the movement can be much more accurate.

[0023] In another embodiment, each gripper member is provided with a retaining member that can be moved between a retaining position for retaining the tire component at the corresponding gripper member and a release position for releasing the tire component from the corresponding gripper member. In the retaining position, the retaining member can prevent the tire component from being accidentally released from the corresponding gripper member.

[0024] In another embodiment, each gripper member is provided with an ejection member for ejecting the tire component from the respective gripper member in an ejection direction parallel or substantially parallel to the gripper axis. When the tire component should be released from the gripper, the ejection member may facilitate or ensure that the tire component is actually ejected from the respective gripper member.

[0025] In an embodiment combining the two previous embodiments, the holding member is configured to prevent the tire component from being discharged from the corresponding gripper member in the discharge direction when the holding member is in the holding position, and to allow the tire component to be discharged from the corresponding gripper member in the discharge direction when the holding member is in the release position. Thus, the holding member and the discharge member can cooperate so that the tire component cannot be discharged when the holding member is in operation.

[0026] According to a second aspect, the invention provides a gripper station comprising a gripper according to any of the preceding embodiments, wherein the gripper station further comprises an adjustment member external to the gripper for setting a sub-range position.

[0027] The gripper station comprises the aforementioned gripper, thereby having the same technical advantages, in particular with regard to the external adjustment member.

[0028] Preferably, the adjustment member is in the adjustment position, wherein the gripper station further comprises a manipulator for moving the gripper between an operating position, in which the gripper is spaced from the adjustment member, and an adjustment position, in which the gripper interacts with the adjustment member in order to set the sub-range position. In the operating position, the gripper can be used to engage and / or grip the annular tire component. In the adjustment position, the adjustment member can change the behavior of the gripper by fixing the position of one element of the gripper relative to other elements of the gripper, i.e., setting or adjusting the sub-range position.

[0029] More preferably, the adjustment member is arranged to remain stationary in the adjustment position during setting of the sub-range position, wherein the manipulator is arranged for moving one of the drive member and the synchronising member relative to the adjustment member to adjust the sub-range position. Thus, the adjustment member may be a passive component.

[0030] Additionally or alternatively, one of the drive member and the synchronization member comprises a first manipulation element, which is engaged by the adjustment member when the gripper is moved to the adjustment position, wherein the manipulator is arranged for moving the other of the drive member and the synchronization member relative to said one of the drive member and the synchronization member when the first manipulation element is engaged by the adjustment member. Although the manipulator is usually used to position the gripper relative to the annular tire component, its drive and / or movement freedom can now also be used to adjust the sub-range position.

[0031] In a further embodiment, the synchronizing member comprises a spiral plate having a plurality of spiral slots distributed circumferentially about the gripper axis, wherein each of the plurality of gripper members comprises a cam follower received in a respective spiral slot of the plurality of spiral slots, wherein the spiral plate is rotatable about the gripper axis to drive the plurality of gripper members radially by interaction between the respective cam followers and their respective spiral slots, wherein the limiter is arranged for limiting the rotation of the spiral plate about the gripper axis, wherein the synchronizing member comprises a first operating element which is engaged by the adjustment member when the gripper is moved to the adjustment position. This has the same technical advantages as previously mentioned with respect to the first operating member and the external adjustment member, only now in the context of the gripper station as a whole.

[0032] According to a third aspect, the present invention provides a method for gripping an annular tire component using a gripper according to any one embodiment of the first aspect of the present invention, wherein the method comprises the following steps:

[0033] - adjusting the sub-range position relative to the main range defined by the synchronising member; and

[0034] - limiting the synchronization member with a limiter to define a sub-range and to limit the movement of the plurality of gripper members to the sub-range.

[0035] The method relates to a practical embodiment of the gripper according to the first aspect of the invention, thereby having the same technical advantages, and will not be repeated hereinafter.

[0036] Preferably, the limiter comprises a drive member for driving the synchronization member, wherein the drive member has a drive stroke defining a sub-range, wherein the drive member is switchable between a coupled state for driving the synchronization member within the sub-range and a decoupled state, wherein the coupled state is for driving the synchronization member within the sub-range, and wherein the decoupled state is free to move relative to the synchronization member to adjust the sub-range position, wherein the method further comprises the following steps:

[0037] - switching the drive member to a disconnected state;

[0038] - Adjust sub-range position; and

[0039] - Switch the drive member to the coupled state.

[0040] In a particular embodiment, the drive member is steplessly adjustable relative to the synchronization member. Alternatively, the drive member is stepwise adjustable relative to the synchronization member.

[0041] In another embodiment, the method further comprises the following steps:

[0042] - providing an adjustment member at an adjustment position outside the gripper for setting the sub-range position;

[0043] - moving the gripper between an operating position, in which the gripper is spaced apart from the adjustment member, and an adjustment position, in which the gripper interacts with the adjustment member;

[0044] - When the gripper is in the adjustment position, the sub-range position is set using the adjustment member.

[0045] Preferably, the adjustment member remains stationary in the adjustment position during setting of the sub-range position, wherein one of the drive member and the synchronising member is moved relative to the adjustment member to adjust the sub-range position.

[0046] Whenever possible, the various aspects and features described and shown in the specification may be applied separately. These individual aspects, in particular the aspects and features described in the accompanying dependent claims, may be made subject to divisional patent applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The invention will be explained on the basis of exemplary embodiments shown in the schematic drawings, in which:

[0048] Figure 1 shows a front view of a gripper having a plurality of gripper members according to a first exemplary embodiment of the present invention;

[0049] Figure 2 A and Figure 2 B shows the steps of moving the plurality of gripper members within the sub-range according to Figure 1 A rear view of the gripper;

[0050] Figure 3A , Figure 3B and Figure 3C The steps during the step of adjusting the position of the sub-range relative to the main range include: Figure 1 A rear view of the gripper station of the gripper and the adjustment member;

[0051] Figure 4 Shown according to Figure 3A A cross-sectional view of the gripper taken along line IV-IV in FIG. 1 ; and

[0052] Figure 5A and Figure 5B Details of the gripper member during an optional step of the method for ejecting a tire component from the gripper are shown. DETAILED DESCRIPTION

[0053] Figure 1 , Figure 2 A and Figure 2B shows a gripper 1 for gripping annular tire components 91 , 92 . FIG. 3A to FIG. 3C The gripper 1 is shown as part of a gripper station 100 which also includes a manipulator 4 for positioning the gripper 1 and adjustment means 8 external to the gripper 1 for adjusting the configuration of the gripper 1 in a manner to be discussed in more detail below.

[0054] Figure 1 The manipulator 4 is shown in a simplified manner. The manipulator 4 comprises an arm 40 and a head 41 at the distal end of the arm 40. The arm 40 and / or the head 41 may be around or along various axes. The manipulator 4 may be a multi-axis robot, for example. The base of the manipulator 4 is not shown.

[0055] like Figure 1 As shown, the gripper 1 is configured to engage or grip annular tire components 91, 92 of different sizes, in particular annular tire components of different diameters D1, D2. The annular tire components 91, 92 may be beads, wire rings, apex rubbers or bead apex rubbers for tire manufacturing. The annular tire components 91, 92 may be semi-finished products, or they may have been integrated or incorporated into a green tire or an unvulcanized tire. Therefore, by engaging the annular tire components 91, 92, the gripper 1 engages the individual tire components 91, 92, or engages the green tire or unvulcanized tire as a whole.

[0056] like Figure 1 As best seen in Figure 1 , the gripper 1 comprises a plurality of gripper members 2 distributed in a circumferential direction C about a gripper axis A. The gripper members 2 are movable in a radial direction R perpendicular to the gripper axis A, or at least have a vector component in said radial direction R. In particular, the gripper 1 is provided with a plurality of linear guides 10 for linearly guiding the gripper members 2 as they move in the radial direction R. Preferably, the linear guides 10 are mounted to the manipulator 4 in a fixed relationship so that they remain stationary relative to their heads 41. Each gripper member 2 is provided with a gripper body 20 which is suitably shaped to contact the annular tyre components 91, 92 in a radially outward direction.

[0057] like Figure 2 A and Figure 2 As shown in FIG. 1B , the gripper members 2 can be moved in a radial direction R across, along or within a main range M. The main range M is defined by or extends within a radially inner end point E1 and a radially outer end point E2. The gripper 1 comprises a synchronization member 3 for synchronizing the movement of the gripper members 2 in the radial direction R. In other words, the synchronization member 3 ensures that all gripper members 2 move radially inwardly and radially outwardly at the same time and / or to the same extent.

[0058] In this example, the synchronization member 3 comprises a spiral plate 30 having a plurality of spiral slots 31 distributed circumferentially around the gripper axis A. Each gripper member 2 comprises a cam follower 21 received in a respective spiral slot 31. The spiral plate 30 is rotatable around the gripper axis A to drive the gripper member 2 in the radial direction R by the interaction between the respective cam follower 21 and its respective spiral slot 31.

[0059] The spiral plate 30 is rotatably mounted on the head 41. In particular, the manipulator 4 includes an adjustment drive 42 for rotating the spiral plate 30 relative to the head 41. Note that the linear guide 10 carrying the gripper member 2 is configured to remain in a fixed orientation relative to the head 41 when the spiral plate 30 rotates. Therefore, the rotation of the spiral plate 30 causes the cam follower 21 associated with the gripper member 2 to move through the spiral slot 31, thereby forcing the corresponding gripper member 2 to move radially inwards or outwards depending on the rotation direction of the spiral plate 30.

[0060] The helical slot 31 is helical at a relatively small angle or pitch relative to the gripper axis A, so that for each rotation angle of the spiral plate 30, the gripper member 2 moves only slightly in the radial direction R. In this example, the displacement of the gripper member 2 across the entire main range M requires a rotation of more than one hundred and twenty degrees, in particular more than one hundred and eighty degrees. The length of the helical slot 31 defines the main range M of the gripper member 2.

[0061] like Figure 2 A and Figure 2 As shown in FIG. 2B , the gripper 1 further comprises a limiter 5 which can be selectively coupled and decoupled with the gripper member 2 so as to limit the movement of the gripper member 2 in the radial direction R to a sub-range S within the main range M. In particular, the limiter 5 is constructed or arranged to limit the synchronizing member 3, more particularly to limit the rotation of the spiral plate 30 around the gripper axis A to a limited angular displacement H, such as Figure 2 As shown in B.

[0062] Preferably, the helical slot 31 is shaped so that the ratio between the angular displacement of the helical plate 30 and the radial displacement of the plurality of gripper members 2 is the same for any angular position of the helical plate 30 within the main range M. Thus, the sub-range S can have the same size regardless of where within the main range M it is positioned.

[0063] In this example, the limiter 5 is configured to mechanically or physically limit the movement of the gripper member 2. Preferably, the limiter 5 includes a driving member 50 for driving the synchronization member 3 or is a driving member 50 for driving the synchronization member 3. More specifically, the driving member 50 may have a driving stroke X, such as Figure 2B, which defines a sub-range S. In this example, the drive member 50 comprises a cylinder 51, preferably a pneumatic cylinder, driving a plunger to move across a drive stroke X. The plunger is connected to the synchronizing member 3, more specifically to the spiral plate 30, via a coupling element 55, to convert the linear movement of the plunger into a rotation of the spiral plate 30 about the gripper axis A.

[0064] It will be apparent to those skilled in the art that many variations of the drive member 50 may be made and are also within the scope of the present invention, such as any other type of linear drive, a rotary drive directly coupled to the spiral plate 30 and / or gears, chains, belts, etc. that mechanically impart torque to the spiral plate 30.

[0065] The coupling element 55 can be switched between a coupled state, in which the drive member 50 can drive the synchronization member 3 within the sub-range S, and a decoupled state, in which the drive member 50 is free to move relative to the synchronization member 3 to adjust the position P of the sub-range S. The sub-range position P should be interpreted as the position of the sub-range S as a whole relative to the main range M. In this example, the sub-range position P is schematically represented by the radial position of one end point thereof.

[0066] like Figure 4 Schematically shown, the coupling element 55 can be controlled, for example pneumatically or remotely or automatically using a servo motor, to switch between the coupled state and the uncoupled state. Alternatively, the coupling element 55 can be configured to be manually operated, ie by pulling back or pressing on a knob.

[0067] In this exemplary embodiment, Figure 2 A and Figure 2 As best seen in FIG. 2B , the synchronization member 3 comprises an indexing element 35 defining a plurality of indexing positions P1, P2, ..., Pn corresponding to different steps in the sub-range of positions P, distributed along the circumferential direction C. The indexing positions P1, P2, ..., Pn may correspond, for example, to a common diameter D1, D2 of the annular tire components 91, 92, as shown in FIG. Figure 1 Common inch sizes are shown as examples.

[0068] In this example, the indexing element 35 is formed by a disk having a plurality of apertures, openings or recesses representing a plurality of indexing positions P1, P2, ..., Pn. The indexing element 35 is coupled to or integral with the spiral plate 30 so as to rotate together about the gripper axis A. The coupling element 55 may be provided with a guide block 56 which engages an edge of the indexing element 35 to keep the coupling element 55 aligned with the indexing positions P1, P2, ..., Pn when the drive member 50 is disconnected from the synchronization member 3 and is free to rotate relative to the synchronization member about the gripper axis A. The coupling element 55 is configured to be coupled to or connected to the synchronization member 3 in any one of the indexing positions P1, P2, ..., Pn. In other words, the drive member 50 may be adjusted in stages relative to the synchronization member 3. More specifically, as Figure 4 As schematically shown, the coupling element 55 may include a pin insertable into one of the indexing positions P1 , P2 , . . . , Pn.

[0069] Alternatively, the coupling element may be of the clamping type (not shown) to clampingly engage the synchronising member 3 in any angular position. In such an embodiment, the drive member will be steplessly adjustable relative to the synchronising member 3.

[0070] By moving the drive member 50 relative to the synchronization member 3, or vice versa, the sub-range S has an adjustable sub-range position P relative to the main range M. In other words, the sub-range position P can be located at or near the radially inner end point E1, at or near the radially outer end point E2, or at various intermediate positions along the main range M. For example, Figure 2 A shows that the sub-range S is arranged at a sub-range position P corresponding to the indexing position Pn, so that the sub-range S is located at or near the radially outer end point E2. Figure 3C It is shown that the subrange S is adjusted to a subrange position P corresponding to an intermediate indexing position, so that the subrange S is spaced apart from the radially outer end point E2.

[0071] like FIG. 3A to FIG. 3C As shown, the sub-range position P can be adjusted by using the above-mentioned adjustment member 8. In this example, the adjustment member 8 is external to the gripper 1, i.e., not part of the gripper 1. Alternatively, an adjustment member (not shown) can be provided on the gripper 1 and / or the manipulator 4, for example in the form of a position setting drive, to adjust the sub-range position P without the need for an external adjustment device.

[0072] like Figure 3A , Figure 3B and Figure 3CAs shown, the synchronization member 3 is provided with a first operating element 71 and a second operating element 72 that can be engaged by the adjustment member 8. In this example, the first operating element 71 is located in a first engagement position on the spiral plate 30 and protrudes from the spiral plate 30 in a direction parallel to or substantially parallel to the gripper axis A. The second operating element 72 is located in a second engagement position on the spiral plate 30 radially inside the first engagement position and protrudes from the spiral plate 30 in a direction parallel to or substantially parallel to the gripper axis A.

[0073] The manipulator 4 is constructed, programmed and / or controlled to move the gripper 1 between an operating position, in which the gripper 1 is spaced from the adjustment member 8, and an adjustment position, in which the gripper 1 interacts with the adjustment member 8 to set the sub-range position P.

[0074] More specifically, the adjustment member 8 comprises an adjustment body 80, which defines a locking finger 81, a capturing finger 82 and a locking recess 83 between the locking finger 81 and the capturing finger 82. The capturing finger 82 is longer than the locking finger 81 and / or extends beyond the locking finger. It can be seen that when the spiral plate 30 is rotated about the gripper axis A and when the gripper 1 is in the adjustment position, the capturing finger 82 can be arranged in the path traveled by the first operating element 71 and / or the second operating element 72, such as Figure 3B and Figure 3C As shown. Figure 3B In the case of the second actuating element 72, the spiral plate 30 can still be rotated in one rotational direction when the catch finger 82 is only in the path of the second actuating element 72.

[0075] However, when the gripper 1 is further moved into engagement with the adjustment member 8, the locking finger 81 becomes located in the path of the first operating element 71 when rotating the spiral plate 30 about the gripper axis A, as shown in FIG. Figure 3C Then, the first operating element 71 is locked in the locking recess 83 between the locking finger 81 and the catching finger 82, and the rotation of the spiral plate 30 can be blocked in both rotation directions. The second operating element 72 is usually kept out of the reach of the locking finger 81.

[0076] Optionally, the adjustment member 8 is configured to detect interaction between the gripper 1 and the adjustment member 8. For example, once engaged, the adjustment member 8 may be allowed to move with the synchronising member 3 by a small detection distance to allow detection of said movement, such as Figure 3B Schematically shown in FIG. 1 , wherein the positions of the adjusting member 8 before and after detection are shown by dotted lines and solid lines, respectively.

[0077] Once engaged, the angular position of the synchronization member 3 can be fixed relative to the adjustment member 8, and the drive member 50 can rotate relative to the fixed synchronization member 3, provided that the drive member 50 is in the uncoupled state. The manipulator 4 or its arm 40 can be rotated to effectively change the angular position of the drive member 50 relative to the synchronization member 3. More specifically, in the case where the coupling element 55 is uncoupled from the indexing element 35, the drive member 50 can be freely moved above and / or relative to the indexing element 35 until the coupling element 55 is aligned with the selected indexing position P1, P2, ..., Pn, at which time the coupling element 55 can be engaged with the selected indexing position P1, P2, ..., Pn. The coupling element 55 and / or the indexing element 35 can be provided with suitable chamfers, centering and / or guide surfaces to absorb small misalignments between them.

[0078] Note that the linear guide 10 and the gripper member 2 supported thereon are also moved to the same extent together with the manipulator 4 and / or the drive member 50, thereby causing the cam follower 21 associated with the gripper member 2 to move through the corresponding spiral slot 31, thereby causing the gripper member 2 to change in radial position according to the selected sub-range position P.

[0079] It will be apparent to a person skilled in the art that instead of fixing the angular position of the synchronising member 3 and moving the drive member 50 relative to said synchronising member 3 , alternatively the drive member 50 may be fixed and conversely the synchronising member 3 may be moving.

[0080] like Figure 5A and Figure 5B As shown, each gripper member 2 may be optionally provided with a holding member 61 for holding the tire component 91, 92 on the gripper body 20 and / or an ejection member 65 for ejecting the tire component 91, 92 from the gripper body 20. In particular, the holding member 61 and the ejection member 65 may be configured to cooperate so that when the holding member 61 is in operation, the tire component 91, 92 cannot be ejected.

[0081] like Figure 5A As best seen in FIG. 1 , the retaining member 61 includes a retaining finger 62 that, in the retaining position, is beside the tire components 91, 92 to prevent or block the tire components 91, 92 from being discharged from the gripper body 20 along the discharge direction C. In this example, the discharge direction C is parallel or substantially parallel to the gripper axis A, as shown in FIG. Figure 1 and Figure 4 As shown. The gripper member 2 is provided with a release slot 63 extending in the radial direction R, and the retaining member 61 is slidably engaged with the release slot 63, for example by using a guide pin 64. Therefore, the retaining member 61 can be moved in the release direction B from the position shown in FIG. Figure 5A The holding position shown is pulled radially inward to Figure 5B Release position shown.

[0082] In this example, the discharge member 65 is formed as a discharge finger, which is articulatedly supported relative to the gripper member 2, for example via an articulation point 66 at or on the holding member 61. The gripper member 2 is also provided with a discharge actuator 67, for example a cylinder, for generating a relative movement of the discharge member 65 relative to the gripper member 2, the relative movement having at least one component in the discharge direction C. The discharge member 65 can be arranged in a manner such as Figure 5A The alternate positions shown are similar to those shown in Figure 5B When moving from the standby position toward the discharge position, the discharge member 65 is configured to contact and push the tire components 91, 92 from the gripper body 20 in the discharge direction C, preferably until the tire components 91, 92 are no longer supported by the gripper body 20 in the radial direction R.

[0083] Note that Figure 5A In the embodiment, the tire components 91, 92 are locked between the holding fingers 62 on one side and the discharge member 65 on the other side. It can be seen that the holding fingers 62 and the discharge member 65 can cooperate to a certain extent to grasp or clamp the tire components 91, 92 in a direction parallel to the gripper axis A.

[0084] Now refer to Figure 1 , Figure 2 A. Figure 2 B. FIG. 3A to FIG. 3C and Figure 4 Briefly describe the method for grasping by using the aforementioned grasper 1 Figure 1 Method for producing annular tire components 91, 92.

[0085] Figure 2 A and Figure 2 B shows the gripper 1 in an operating position, wherein the gripper member 2 is controlled by the drive member 50 to move between outer positions of the sub-range S at selected sub-range positions P, i.e. for gripping at specific diameters D1, D2 Figure 1 A corresponding one of the annular tire components 91, 92.

[0086] Figure 3A The gripper 1 is shown as having been moved into an adjustment position in which the catch finger 82 is in the path of the second operating element 72. The drive member 50 has been switched to a decoupled state, ie the coupling element 55 is disengaged from the indexing element 35.

[0087] Figure 3BThe situation is shown in which the adjustment drive 42 of the manipulator 4 has rotated the synchronization member 3 about the gripper axis A until the second operating element 72 contacts the capture finger 82 of the adjustment member 8 and optionally triggers the detection that the second operating element 72 has been captured. The rotation of the spiral plate 30 also causes the gripper 2 to move radially inwards towards the radially inner end point E1 of the main range M. After reaching the radially inner end point E1, the manipulator 4 moves the first operating element 71 of the gripper 1 into engagement with the locking recess 83 of the adjustment member 8, as shown in FIG. Figure 3C As shown, the synchronizing member 3 is thereby locked to prevent it from rotating in both rotational directions.

[0088] Figure 3C The situation is shown after the manipulator 4 and / or its head 41 has been rotated about the gripper axis A to move the drive member 50 relative to the synchronizing member 3 in order to adjust the sub-range position P in the manner described above. In this example, the drive member 50 is rotated by approximately sixty degrees to a selected indexing position corresponding to the center region of the main range M. The coupling element 55 can now be coupled or reconnected to the indexing element 35, thereby setting the drive member 50 for driving the synchronizing member 3 in the newly selected sub-range position P, i.e. for different diameters D1, D2 of the annular tire components 91, 92. The manipulator 4 can now move the gripper 1 back to the position in which the synchronizing member 3 is located. Figure 2 A, thereby terminating the engagement between the gripper 1 and the adjustment member 8.

[0089] It should be understood that the above description is included to illustrate the operation of the preferred embodiment and is not intended to limit the scope of the invention. From the above discussion, many variations still encompassed by the scope of the invention will be apparent to those skilled in the art.

[0090] List of reference numerals:

[0091] 1 gripper;

[0092] 10 Linear guides;

[0093] 2 gripper member;

[0094] 20 gripper body;

[0095] 21 Cam follower;

[0096] 3. Synchronous components;

[0097] 30 spiral plates;

[0098] 31 spiral slots;

[0099] 35 indexing elements;

[0100] 4. Manipulator;

[0101] 40 arms;

[0102] 41 head;

[0103] 42 regulating drive;

[0104] 5 Limiter;

[0105] 50 driving member;

[0106] 51 cylinders;

[0107] 55 Connecting elements;

[0108] 56 guide block;

[0109] 61 retaining member;

[0110] 62 hold finger;

[0111] 63 release slot;

[0112] 64 guide pins;

[0113] 65 discharge member;

[0114] 66 hinge points;

[0115] 67 discharge actuator;

[0116] 71 first operating element;

[0117] 72 second operating element;

[0118] 8. Adjustment components;

[0119] 80 regulating subject;

[0120] 81 Locking fingers;

[0121] 82 capture finger;

[0122] 83 lock recess;

[0123] 91 Annular tire parts;

[0124] 92 Annular tire parts;

[0125] 100 gripper stations;

[0126] A gripper axis;

[0127] B release direction;

[0128] C discharge direction;

[0129] D1 first diameter;

[0130] D2 second diameter;

[0131] E1 radial inner end point;

[0132] E2 radial outer end point;

[0133] H angular displacement;

[0134] M Main range;

[0135] P subrange position;

[0136] P1, P2, ..., Pn indexing positions;

[0137] R radial;

[0138] S subrange;

[0139] X drive travel.

Claims

1. A gripper for gripping an annular tire component, wherein: The gripper comprises a plurality of gripper members which are circumferentially distributed around a gripper axis and which are movable within a main range at least with a vector component in a radial direction perpendicular to the gripper axis, the main range having a radially inner end point and a radially outer end point, wherein the gripper further comprises a limiter for limiting the movement of the plurality of gripper members in the radial direction to a sub-range within the main range, wherein the sub-range has an adjustable sub-range position relative to the main range, wherein the gripper comprises a synchronization member for synchronizing the movement of the plurality of gripper members in the radial direction, wherein the synchronization member defines the main range, wherein the limiter is arranged to limit the synchronization member to define the sub-range.

2. The gripper according to claim 1, wherein: The limiter comprises a drive member for driving the synchronizing member, wherein the drive member has a drive stroke defining the sub-range.

3. The gripper according to claim 2, wherein: The drive member is switchable between a coupled state for driving the synchronising member within the sub-range and a decoupled state in which the drive member is free to move relative to the synchronising member to adjust the sub-range position.

4. The gripper according to claim 3, wherein: The drive member is steplessly adjustable relative to the synchronising member.

5. The gripper according to claim 3, wherein: The drive member is adjustable in steps relative to the synchronising member.

6. The gripper according to claim 5, wherein: The synchronizing member comprises an indexing element defining a plurality of indexing positions corresponding to different steps in the sub-range positions, wherein the drive member comprises a coupling element connectable to the indexing element at any indexing position of the plurality of indexing positions.

7. The gripper of claim 6, wherein: The coupling element is manually operable.

8. The gripper of claim 6, wherein: The coupling element is remotely controllable.

9. The gripper of claim 3, wherein: One of the drive member and the synchronization member includes a first operating element engageable by an adjustment member external to the gripper to move the one of the drive member and the synchronization member relative to the other of the drive member and the synchronization member.

10. The gripper of claim 2, wherein: The drive member comprises a cylinder defining the sub-range.

11. The gripper of claim 1, wherein: The synchronization member includes a spiral plate having a plurality of spiral slots distributed circumferentially around the gripper axis, wherein each of the plurality of gripper members includes a cam follower received in a corresponding spiral slot among the plurality of spiral slots, wherein the spiral plate is rotatable around the gripper axis to drive the plurality of gripper members in the radial direction through interaction between the corresponding cam followers and their corresponding spiral slots, wherein the limiter is arranged to limit the rotation of the spiral plate around the gripper axis.

12. The gripper of claim 11, wherein: The helical slot is shaped such that for any angular position of the helical plate within the primary range, the ratio between the angular displacement of the helical plate and the radial displacement of the plurality of gripper members is the same.

13. The gripper of claim 11, wherein: The synchronization member includes an indexing element which defines a plurality of indexing positions corresponding to different stages in the sub-range positions, the plurality of indexing positions being distributed along the circumferential direction.

14. The gripper of claim 11, wherein: The limiter comprises a drive member for driving the synchronizing member, wherein the drive member has a drive stroke defining the sub-range, wherein the synchronizing member comprises a first operating element engageable by an adjustment member external to the gripper in order to rotate the synchronizing member relative to the drive member.

15. The gripper of claim 14, wherein: The first manipulating element protrudes from the spiral plate in a direction parallel to the gripper axis.

16. The gripper of claim 1, wherein: The sub-range is less than fifty percent of the main range.

17. The gripper of claim 1, wherein: Each gripper member is provided with a holding member which is movable between a holding position for holding the tyre component at the respective gripper member and a release position for releasing the tyre component from the respective gripper member.

18. The gripper of claim 1, wherein: Each gripper member is provided with an ejection member for ejecting the tyre component from the respective gripper member in an ejection direction parallel to the gripper axis.

19. The gripper of claim 17, wherein: Each gripper member is provided with an ejection member for ejecting the tire component from the corresponding gripper member in an ejection direction parallel to the gripper axis, wherein the retaining member is configured to prevent the tire component from being ejected from the corresponding gripper member along the ejection direction when the retaining member is in the retaining position, and to allow the tire component to be ejected from the corresponding gripper member along the ejection direction when the retaining member is in the release position.

20. A gripper station comprising the gripper according to claim 1, wherein: The gripper station also includes an adjustment member external to the gripper for setting the sub-range position.

21. The gripper station of claim 20, wherein: The adjustment member is located in an adjustment position, wherein the gripper station further comprises a manipulator for moving the gripper between an operating position and an adjustment position, wherein the gripper is spaced apart from the adjustment member and wherein the gripper interacts with the adjustment member to set the sub-range position.

22. The gripper station of claim 21, wherein: The limiter comprises a drive member for driving the synchronizing member, wherein the drive member has a drive stroke defining the sub-range, wherein the adjustment member is arranged to remain stationary in the adjustment position during setting of the sub-range position, wherein the manipulator is arranged for moving one of the drive member and the synchronizing member relative to the adjustment member to adjust the sub-range position.

23. The gripper station of claim 21, wherein: The limiter comprises a drive member for driving the synchronization member, wherein the drive member has a drive stroke defining the sub-range, wherein one of the drive member and the synchronization member comprises a first operating element, which is engaged by the adjustment member when the gripper is moved to the adjustment position, wherein the operator is arranged for moving the other of the drive member and the synchronization member relative to the one of the drive member and the synchronization member when the first operating element is engaged by the adjustment member.

24. The gripper station of claim 21, wherein: The synchronization member includes a spiral plate having a plurality of spiral slots distributed circumferentially around the gripper axis, wherein each of the plurality of gripper members includes a cam follower received in a corresponding spiral slot among the plurality of spiral slots, wherein the spiral plate is rotatable around the gripper axis to drive the plurality of gripper members in the radial direction through interaction between the corresponding cam followers and their corresponding spiral slots, wherein the limiter is arranged to limit the rotation of the spiral plate around the gripper axis, and wherein the synchronization member includes a first operating element, which is engaged by the adjustment member when the gripper is moved to the adjustment position.

25. A method for gripping an annular tire component using the gripper of claim 1, wherein: The method comprises the following steps: - adjusting the sub-range position relative to the main range defined by the synchronising member; and - limiting the synchronization member with a limiter to define the sub-range and to limit the movement of the plurality of gripper members to the sub-range.

26. The method according to claim 25, wherein: The limiter comprises a drive member for driving the synchronization member, wherein the drive member has a drive stroke defining the sub-range, wherein the drive member is switchable between a coupled state and a decoupled state, wherein the coupled state is used to drive the synchronization member within the sub-range, and wherein the drive member is free to move relative to the synchronization member to adjust the sub-range position, wherein the method further comprises the following steps: - switching the drive member to the decoupled state; - adjusting the sub-range position; and - Switching the drive member into the coupled state.

27. The method according to claim 26, wherein: The drive member is steplessly adjusted relative to the synchronizing member.

28. The method according to claim 26, wherein: The drive member is adjusted in steps relative to the synchronizing member.

29. The method according to claim 25, wherein: The method further comprises the following steps: - providing an adjustment member at an adjustment position outside the gripper for setting the sub-range position; - moving the gripper between an operating position, in which the gripper is spaced apart from the adjustment member, and the adjustment position, in which the gripper interacts with the adjustment member; - Setting the sub-range position with the adjustment member when the gripper is in the adjustment position.

30. The method of claim 29, wherein: The limiter comprises a drive member for driving the synchronization member, wherein the drive member has a drive stroke defining the sub-range, wherein the adjustment member remains stationary in the adjustment position during setting of the sub-range position, wherein one of the drive member and the synchronization member is moved relative to the adjustment member to adjust the sub-range position.

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