Method, gripper and processing station for processing bead-apex

Abstract

The invention relates to a method for treating a bead-apex strip, whereby the method comprises: providing a gripper comprising at least two lifting elements distributed in a circumferential direction around a gripper axis extending in a first direction, whereby the method comprises the following steps: a) positioning the lifting elements in a set position, a set position in which the lifting elements are arranged below the bead-apex in the first direction and in which at least one of the lifting elements is arranged at a distance from the inner edge portion of the bead-apex in the radial direction; b) lifting the bead-apex strip from the spacer onto a corresponding lifting element; and subsequently; c) moving each lifting element in an outward direction away from the gripper axis to center the bead-apex with respect to the gripper axis.

Description

Technical Field

[0001] The invention relates to a method for processing tire bead-apex rubber strips, a clamp and a processing station. Background Art

[0002] In FIGS. 2A to 4A and 2B to 4B, a known clamp 1002 for lifting a bead-apex strip 9 from a spacer 1008 is shown during the steps of a known method for lifting a bead-apex strip 9. The clamp 1002 comprises a clamp head 1020 with a radially extending arm 1021. The clamp 1002 also comprises a lifting element 1022 that is radially movable relative to the arm 1021. The lifting elements 1022 each comprise a support member 1023 that is to be inserted between the bead-apex strip 9 and the spacer 1008 when the lifting element 1022 is moved in a radially outward direction, and a support member 1024 for abutting against the radial inner edge 99 of the bead 9. The support member 1023 has a wedge shape that tapers radially outward.

[0003] As shown in Figures 2A and 2B, a corresponding method for lifting the bead-apex strip 9 from the spacer 1008 includes the following steps: positioning the lifting element 1022 radially inside the inner edge portion 99 of the bead-apex strip 9. The lifting element 1022 is continuously displaced in the radially outward direction along the spacer 1008. As shown in Figures 3A and 3B, the wedge-shaped support member 1023 partially lifts the bead-apex strip 9 from the spacer 1008 when moving outward in the radial direction. Summary of the invention

[0004] As shown in FIGS. 4A and 4B , the lifting element 1022 is then also moved in a radially outward direction to center the bead-apex 9 relative to the clamp 1020 .

[0005] A disadvantage of the known clamp is that a portion of the bead-apex strip 9 may remain adhered or stuck to the spacer 1008 when centering the bead-apex strip 9 before or while lifting the bead-apex strip 9 from the spacer 1008. This is particularly true when handling bead-apex strips 9 with relatively large apex strips 92, such as are used, for example, in building truck tires. Therefore, as shown, for example, in FIGS. 4A and 4B , the displacement of the bead-apex strip 9 due to centering the bead-apex strip 9 may cause the bead-apex strip 92 to be deformed, torn 900, or otherwise damaged.

[0006] Furthermore, the release of the apex from the spacer may be unpredictable. Unpredictable apex release may result in the bead-apex being displaced or shifted relative to the gripper after centering the bead-apex.

[0007] The object of the present invention is to provide a method, a holder and a processing station for processing a bead-apex, wherein damage to the bead-apex 92 can be prevented and / or wherein the bead-apex can be processed more precisely and / or more reliably.

[0008] According to a first aspect, the present invention relates to a method for handling a bead-apex rubber strip, in particular a method for clamping a bead-apex rubber strip from a spacer, wherein the method comprises: providing a clamp comprising at least two lifting elements, the lifting elements being distributed in a circumferential direction around a clamp axis extending in a first direction, wherein the lifting elements are movable in an outward direction away from the clamp axis and in an inward direction opposite to the outward direction towards the clamp axis, wherein the lifting elements each comprise a supporting member protruding from the clamp axis for supporting the bead-apex rubber strip in the first direction, wherein the lifting elements each further comprise an abutment member extending transversely to the supporting member for abutting against an inner edge portion of the bead-apex rubber strip, wherein the method comprises the following steps:

[0009] a) positioning the lifting element into a set position in which the support member is arranged below the bead-apex in a first direction and wherein at least one of the abutment members is arranged at a distance from an inner edge portion of the bead-apex in an inward direction;

[0010] b) subsequently moving the lifting element relative to the spacer in a first direction from a set position to a lifted position to lift the bead-apex from the spacer on the respective support member; and

[0011] c) subsequently moving each lifting element in an outward direction away from the gripper axis from the lifting position to a gripping position in which the abutment member abuts the bead-apex for centering the bead-apex with respect to the gripper axis.

[0012] In other words, the centering of the bead-apex strip relative to the gripper is performed after the bead-apex strip is lifted from the spacer. Therefore, friction damage to the apex strip due to the movement of the apex strip along the mounting surface of the spacer can be minimized or eventually avoided. Therefore, the bead-apex strip can be handled more reliably.

[0013] In an embodiment thereof, the method comprises the following steps before step a):

[0014] a1) moving the lifting elements in an outward direction until the abutment member of at least one of the lifting elements abuts against the inner edge of the bead-apex. In other words, when at least one of the lifting elements abuts against the inner edge of the bead-apex, the movement of the lifting elements in the outward direction stops or stops. Thus, undesired or accidental movement of the bead-apex relative to the spacer can be prevented.

[0015] In another embodiment thereof, the method further comprises the following steps after step a1):

[0016] a2) Moving the lifting element in the inward direction over a predetermined stroke length. Thus, when the bead-apex is lifted, the rim may be allowed to move slightly relative to the lifting element. Thus, undesirable or unexpected stresses in the apex may be reduced.

[0017] In a preferred embodiment, the predetermined stroke length is between one millimeter and twenty millimeters, preferably between one millimeter and ten millimeters, and more preferably between one millimeter and five millimeters.

[0018] In a further embodiment, each support member extends away from the corresponding abutment member over a support distance, and wherein the predetermined stroke length is less than the support distance, preferably wherein the predetermined stroke length is less than eighty percent of the support distance, more preferably wherein the predetermined stroke length is less than fifty percent of the support distance. Thus, when the bead-apex strip is lifted, a sufficiently large portion of the support member is still able to support the bead-apex strip.

[0019] In a further preferred embodiment, before step a), the method comprises the step of aligning the holder axis with the spacer axis of the spacer. Preferably, the holder comprises one or more tapered elements configured to center the holder when said elements are inserted in the central hole of the spacer.

[0020] In a further embodiment, the bead-apex strip comprises a joint, wherein, prior to step a), the method further comprises the step of scanning at least a portion of the bead-apex strip in a circumferential direction around the axis of the holder to detect the position of the joint in the circumferential direction. Additionally or alternatively, the bead-apex strip comprises an identifier, preferably an RFID chip, wherein, prior to step a), the method further comprises the step of scanning at least a portion of the bead-apex strip in a circumferential direction around the axis of the holder to detect the position of the identifier in the circumferential direction. When the bead-apex strip is transferred to a continuous tire building device, such as a bead setter or a tire building drum, the position or positioning of the joint or the identifier relative to the holder can be monitored. Thus, the bead-apex strip can be transferred to the continuous tire building device in a predetermined orientation relative to the continuous tire building device.

[0021] In a further embodiment, the method comprises: rotating the gripper relative to the spacer about the gripper axis, or rotating the spacer relative to the gripper about the gripper axis, to a predetermined mutual orientation based on the detected position of the engagement portion or identifier. The gripper may, for example, be rotated to the predetermined orientation before the bead-apex strip is lifted from the spacer. Thus, the bead-apex strip may have a predetermined orientation relative to the gripper.

[0022] In a further embodiment, the spacer comprises a spacer body extending circumferentially around the spacer axis, wherein the spacer comprises a plurality of grooves extending in a radial direction transversely or perpendicularly to the spacer axis, wherein the grooves are configured to receive support members, wherein step a) comprises positioning each of the support members in a corresponding one of the grooves. Preferably, in the set position, the support surface of each of the support members is arranged to be below the mounting surface, flush with the mounting surface, or parallel and flush with the mounting surface of the spacer. Thus, the lifting element can be moved upwardly to the inner edge of the bead-apex in an outward direction without interfering with the bead-apex.

[0023] In a further embodiment, the clamp comprises three or more height sensors for detecting a mutual distance between the clamp and a reference surface of the spacer, wherein the three or more height sensors are distributed around the clamp axis, wherein the method comprises the following steps: determining the inclination of the spacer relative to the clamp based on the detected mutual distance between the respective height sensors and the reference surface. Preferably, the height sensors are equidistantly distributed around the clamp axis. The height sensors may, for example, be configured to detect an inner edge or a mounting surface of the spacer. Additionally or alternatively, the spacer may comprise different reference surfaces. Preferably, the method further comprises the following steps: adjusting the inclination of the clamp to match the inclination of the spacer. Thus, the clamp may be positioned more precisely and / or more accurately relative to the spacer. Thus, the bead-apex strip may be lifted from the spacer more precisely and / or more reliably.

[0024] In another embodiment, step b) further comprises: pushing the spacer away from the bead-apex strip in the first direction. Preferably, the method comprises: pushing the spacer away from the clamp while holding the bead-apex strip on the clamp. Therefore, the spacer and the bead-apex strip can be effectively and / or reliably separated in the first direction.

[0025] According to a second aspect, the present invention relates to a clamp for performing a method according to the first aspect of the present invention, wherein the clamp comprises a clamp head extending along a clamp axis, wherein the clamp further comprises a plurality of lifting elements distributed in a circumferential direction around the clamp axis, wherein the lifting elements are movable in an outward direction away from the clamp axis and in an inward direction opposite to the outward direction towards the clamp axis, wherein each of the lifting elements is provided with a supporting member for supporting the tire bead-apex rubber strip in a first direction parallel to the clamp axis, and is provided with an abutment member extending transversely to the supporting member for abutting against an inner edge portion of the tire bead-apex rubber strip,

[0026] Wherein, the support member protrudes from the adjacent abutment member by a support distance of at least four centimeters.

[0027] Typically, the lifting elements are driven synchronously in an outward direction and / or an inward direction. A support distance of four centimeters may enable the clamp to support the bead-apex strip in the first direction during the steps of the method of the first aspect. More specifically, the support distance may enable the clamp to support the bead-apex strip in the first direction when the bead-apex strip is arranged off-center relative to the spacer during the steps of the method of the first aspect. Thus, the clamp has the same advantages as described above.

[0028] In a preferred embodiment, the support distance is between four centimeters and ten centimeters, preferably between five centimeters and eight centimeters.

[0029] In a further embodiment, each support member comprises a support surface for supporting the bead-apex strip thereon, wherein the support surface extends parallel to the outward direction or the inward direction. Thus, the support member can be moved in the outward direction without lifting the bead-apex strip in the first direction. Preferably, the spacer comprises a groove for receiving the support member so that the support surface extends below the mounting surface of the spacer in the first direction, or flush or substantially flush with the mounting surface. Thus, when the support member moves in the outward direction, the frictional contact between the support surface and the bead-apex strip can be minimized.

[0030] In a further embodiment, the clamp further comprises three or more height sensors for detecting the distance between the clamp and the spacer, wherein the three or more height sensors are distributed in a circumferential direction around the clamp axis. The height sensors can be connected to the control unit for determining the inclination of the spacer relative to the clamp.

[0031] In a further embodiment, the gripper comprises, for each lifting element, a lifting drive for driving the lifting element in an outward direction and inward direction. Preferably, the lift drive is synchronous, ie the lifting elements are synchronously movable in an outward direction.

[0032] In a further embodiment, the holder further comprises an RFID reader for detecting and / or reading an RFID chip in the bead-apex strip. The RFID chip may, for example, be embedded in the apex strip material. The RFID chip may, for example, contain stored data related to the configuration of the bead-apex strip.

[0033] According to a third aspect, the invention relates to a bead-apex processing station for processing bead-apex strips, wherein the station comprises a gripper according to the second aspect of the invention and a manipulator for moving the gripper to one or more spacer positions.

[0034] The bead-apex processing station comprises a gripper according to the second aspect of the invention.The bead-apex processing station thus has the same advantages as described above.

[0035] In an embodiment thereof, the holder is rotatable relative to the manipulator about a holder axis. Thus, the holder is rotatable relative to the spacer about the holder axis to scan the bead-apex strip on said spacer. Thus, the holder is rotatable about the holder axis to a predetermined orientation relative to the spacer and / or the bead-apex strip. When transferring the bead-apex strip on the holder, said mutual orientation can be maintained. Thus, the bead-apex strip can be transferred more accurately and / or more reliably. Furthermore, an intermediate device for orienting the bead-apex strip can be omitted.

[0036] The various aspects and features described and shown in this specification can be applied separately wherever possible. These individual aspects, in particular the aspects and features described in the attached claims, can become the subject of divisional patent applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be explained based on exemplary embodiments shown in the attached schematic drawings, in which:

[0038] Figure 1A - 1E shows a bead-apex strip processing station according to an embodiment of the present invention;

[0039] 2A , 3A and 4A show a known clamp during the step of clamping the bead-apex strip from the spacer;

[0040] 2B , 3B and 4B respectively show cross-sectional views taken along lines IIB-IIB, IIIB-IIIB and IVB-IVB in FIGS. 2A , 3A and 4A ;

[0041] Figure 5A - 9A shows a bead-apex clamp according to an embodiment of the present invention during an exemplary step of clamping a bead-apex from a spacer; and

[0042] Figure 5B -9B shows the Figure 5A -9A, cross-sectional views taken along lines VB-VB, VIB-VIB, VIIB-VIIB, VIIIB-VIIIB and IXB-IXB. DETAILED DESCRIPTION

[0043] Fig. 1 shows a bead-apex strip processing station 1 for processing bead-apex strips 9 for tire molding according to one embodiment of the present invention. In particular, the bead-apex strip processing station 1 is configured to receive a stack of carriers or spacers 8 with bead-apex strips 9 stored thereon, and to remove the bead-apex strips 9 from the spacers 8.

[0044] like Figure 1A -1E shows that the bead-apex processing station 1 defines an exchange zone Z1 for receiving a stack of spacers 8 with bead-apex strips 9 stored thereon. In this particular embodiment, the exchange zone Z1 defines a first spacer position S1 and a second spacer position S2. The first spacer position S1 and the second spacer position S2 are each arranged to receive a corresponding stack of spacers 8. The stack of spacers 8 can be arranged, for example, on a carrier or support 89.

[0045] The bead-apex processing station 1 defines a processing zone Z2 for processing the bead-apex 9 and the spacers 8. The second processing zone Z2 defines a third spacer position S3 and a fourth spacer position S4. The third spacer position S3 and the fourth spacer position S4 are arranged for intermediate and / or temporary storage of the spacers 8.

[0046] Optionally, the bead-apex treatment station 1 further defines a processing zone Z3 for receiving the bead-apex from the treatment zone Z2. The processing zone Z3 may for example comprise a tire building drum and / or one or more bead setters for receiving the bead-apex 9.

[0047] The bead-apex processing station 1 comprises a gripper 2 for processing spacers 8 and bead-apex strips 9, and a manipulator 7 for moving the gripper 2 between the spacer positions S1-S4. The manipulator 7 comprises a base 70 and an arm 71 for moving the gripper 2 relative to the base 70. Alternatively, the manipulator 7 may, for example, comprise a gantry crane (not shown) for moving the gripper 2 relative to the base 70. In the embodiment as shown, the base 70 of the manipulator 7 is arranged in the processing zone Z2.

[0048] The manipulator 7 is configured to transfer the spacers 8 between the spacer positions S1 - S4. The manipulator 7 is also configured to transfer the bead-apex 9 from the spacer positions S1 - S4 to the machining zone Z3.

[0049] like Figure 1A As also shown in FIG. 1E, the bead-apex processing station 1 includes a barrier or fence 6 for at least partially enclosing the exchange zone Z1, the processing zone Z2 and the processing zone Z3. The fence 6 is arranged to restrict outside access to the exchange zone Z1, the processing zone Z2 and the processing zone Z3 to improve the safety of the workers.

[0050] The fence 6 includes a fence 60 arranged to surround at least a portion of the exchange zone Z1 and the treatment zone Z2. The fence 6 also includes a first door 61 and a second door 62 between the exchange zone Z1 and the treatment zone Z2 to selectively enable access to the exchange zone Z1. Preferably, the first door 61 and the second door 62 are functionally connected. In particular, the first door 61 is configured to open only when the second door 62 is closed. Therefore, the second door 62 is configured to open only when the first door 61 is closed.

[0051] exist Figure 1A In the schematic diagram of FIG. 1E , the first door 61 and the second door 62 are drawn as vertical doors. Alternatively, the first door 61 may, for example, comprise a cover on the top of the exchange zone Z1 to selectively allow the manipulator 7 to enter the exchange zone Z1 from above.

[0052] Optionally, the bead-apex processing station 1 further defines an inspection zone Z4 for inspecting the bead-apex 9 by an operator. The enclosure 6 includes a third door 63 to allow outsiders to enter the inspection zone Z4. The enclosure 6 also includes a fourth door 64 between the inspection zone Z4 and the processing zone Z2 to selectively allow access between the processing zone Z2 and the inspection zone Z4. The third door 63 and the fourth door 64 are functionally connected in a similar manner to the first door 61 and the second door 62.

[0053] like Figure 5A -9A and Figure 5BAs best shown in FIG. 9B , the bead-apex strips 9 each include a bead core, a bead ring or bead 91 and a filler, an apex filler or an apex strip 92 arranged around the bead 91. Preferably, the apex strip 92 tapers in a radial direction R relative to and / or away from the bead 91. The bead-apex strip 9 is also provided with a circular or substantially circular inner rim portion 99 having an inner diameter or rim diameter. The inner rim portion 99 defines a bead opening or bead hole 90. In other words, the inner rim portion 99 extends circumferentially around the bead hole 90.

[0054] The apex strips 92 are joined together at a joint line or joint 93. In the embodiment as shown, the joint (joint) 93 extends in or substantially in the radial direction R. Alternatively, the joint 93 may extend at an oblique angle relative to the radial direction R, for example.

[0055] The bead-apex strip 9 also includes a mark, an identifier or a chip for identification. In the embodiment shown, the identifier is an RFID chip 95. The RFID chip 95 has been integrated or embedded in the apex strip 92. Preferably, the RFID chip 95 is embedded in the apex strip 92 at a position opposite to the joint 93 in the radial direction R. In other words, the RFID chip 95 is placed to be displaced more than one hundred and eighty degrees or approximately one hundred and eighty degrees in the circumferential direction C relative to the joint 93.

[0056] The spacers 8 each comprise a spacer body 80. The spacer body 80 extends in the circumferential direction around the spacer axis B. The body forms a mounting surface 81 for supporting the bead-apex strip 9 thereon. In the embodiment as shown, the mounting surface 81 is frustoconical or substantially frustoconical. Alternatively, the mounting surface 81 may be, for example, a flat surface, i.e. the mounting surface 81 may extend within a supporting plane.

[0057] The spacer 8 includes an inner rim portion 82 extending circumferentially around the spacer axis B. The inner rim portion 82 defines a central hole extending in a direction parallel to the spacer axis B through the spacer body 8 .

[0058] exist Figure 5A -9A and Figure 5B FIG9B shows the gripper 2 in more detail. The gripper 2 comprises a gripper head 20 which can be mounted on or connected to the manipulator 7 .

[0059] The gripper head 20 extends along a gripper axis A, which extends in a first direction X. Preferably, the gripper head 20 is rotatable relative to the manipulator 7 about said gripper axis (A).

[0060] The gripper 2 further comprises an arm 21 extending from the gripper head 20 in a direction away from the gripper axis A. The gripper 2 comprises a lifting element 22 movable in an outward direction T1 and an inward direction T2 opposite to the outward direction T1 along the arm 21. Preferably, the outward direction T1 and the inward direction T2 comprise at least one vector component in a radial direction perpendicular to the gripper axis A.

[0061] Preferably, the arms 21 extend from the clamp head 20 in a direction transverse or perpendicular to said clamp axis A. In the embodiment as shown, the clamp 2 comprises four arms 21. Alternatively, the clamp may comprise at least two arms 21, three arms 21 or more than four arms 21. The arms 21 are distributed around the clamp axis A in a circumferential direction C. Preferably, the arms 21 are evenly distributed around the clamp axis A.

[0062] Each lifting element 22 of the gripper 2 comprises a lifting drive (not shown) for driving said lifting element to move in the outward direction T1 and inward direction T2. ​​Preferably, the lifting drives of the lifting elements 22 are synchronized. The lifting drives may be mechanically coupled, for example.

[0063] The lifting elements 22 are each provided with a supporting member 23 for supporting the bead-apex 9 in a first direction X, and an abutment member 24 extending transversely to the supporting member 23 for abutting an inner edge 99 of the bead-apex 9. Preferably, the supporting member 23 extends in or substantially in an outward direction T1.

[0064] The spacer 8 also includes a plurality of grooves 84. The grooves 84 are configured to receive the lifting element 22 of the clamp 2. The grooves 84 extend through the mounting surface 81 in a direction parallel to the spacer axis B. The grooves 84 extend away from the inner edge 82 of the spacer 8 in a radial direction R transverse or perpendicular to the spacer axis B. Additionally or alternatively, the spacer 8 may include a plurality of recesses (not shown) extending in the radial direction R for receiving and / or accommodating at least the support member 23 of the lifting element 22.

[0065] The supporting member 23 comprises a supporting surface 230 for supporting thereon the bead-apex strip 9. Preferably, the supporting surface 230 extends parallel to the outward direction T1 or the inward direction T2.

[0066] The support member 23, in particular the support surface 230, protrudes from the abutment member 24 by a support distance L of at least four centimeters. More specifically, the support member 23 protrudes from the abutment member 24 in the outward direction T2. ​​Preferably, the support distance L is between four centimeters and ten centimeters. More preferably, the support distance L is between five centimeters and eight centimeters.

[0067] like Figure 5A -9A and Figure 5B -9B, the clamp 2 comprises a spacer clamp 31 for fixing the spacer 8. The spacer clamp 31 and the lifting element 22 are movable relative to each other in the first direction X. In the embodiment as shown, the spacer clamp 31 comprises a centering element that tapers in the first direction X for centering the clamping head 20 relative to the center hole of the spacer 8. Alternatively, the clamp 2 may, for example, be provided with a separate centering element for centering the clamping head 20.

[0068] The gripper 2 further comprises four height sensors 33 for detecting the distance between the gripper 2 and the spacer 8. The height sensors 33 are distributed in the circumferential direction C around the gripper axis A. The gripper 2 is provided with four spacer pushers 32 for separating the bead-apex 9 and the spacer 8 by pushing the spacer 8 away from the gripper 2.

[0069] The gripper 2 also includes an RFID reader or RFID sensor 35 for detecting and / or reading the RFID chip 95 in the bead-apex 9 .

[0070] Used below Figure 5A -9A and Figure 5B -9B describes a method for handling the bead-apex strip 9, in particular, a method for lifting, removing or clamping the bead-apex strip 9 from the spacer 8.

[0071] like Figure 5A and 5B , the bead-apex strip 9 is arranged offset from the center relative to the spacer 8. In other words, the center of the inner edge portion 99 of the bead-apex strip 9 is offset relative to the spacer axis B.

[0072] In the pick-up position, the gripper 2 is positioned above the spacer 8. By inserting the spacer gripper 31 into the spacer hole, the gripper head 20 and the spacer 8 are centered relative to each other. In other words, the gripper axis A and the spacer axis B are aligned. The gripper 2 moves relative to the spacer in the first direction X until the height sensor 32 detects a predetermined distance between the gripper head 20 and the inner edge 82 of the spacer 8.

[0073] The spacer clamp 31 engages the spacer 8 to hold the spacer 8 stationary relative to the clamp 2. The support member 23 is positioned in the corresponding groove 84 of the spacer 8. Preferably, the support surface 230 of the support member 23 is arranged flush or substantially flush with the mounting surface 81 of the spacer 8. The support member 23 is positioned inwardly in the radial direction R relative to the inner edge 99 of the bead 9.

[0074] like Fig. 6A and 6B, the lifting element 22 moves in the outward direction T1 into the sensing position. Specifically, the lifting element 22 moves in the outward direction T1 until one of the abutment members 24 abuts against the inner edge portion 99 of the bead-apex 9.

[0075] Then, if Fig. 7A and Figure 7B , the lifting element 22 moves in the inward direction T2 over a predetermined stroke length. Preferably, the predetermined stroke length is between one millimeter and twenty millimeters. More preferably, the predetermined stroke length is between one millimeter and ten millimeters. More preferably, the predetermined stroke length is between one millimeter and five millimeters. Optionally, the predetermined stroke length is less than the support distance L of the support member 23. Preferably, the predetermined stroke length is less than eighty percent of the support distance L. More preferably, the predetermined stroke length L is less than fifty percent of the support distance L.

[0076] Then, if Fig. 8A and 8B , the bead-apex strip 9 is lifted from the spacer 8 in the first direction X. Preferably, the spacer lifter 31 disengages the spacer 8. The lifting element 22 moves from the set position to the lifting position relative to the spacer 8 in the first direction X to lift the bead-apex strip 9 spacer 8 on the support member 23. The spacer 8 is pushed away from the bead-apex strip 9 in the first direction X by the spacer pusher 32.

[0077] Then, if Fig. 9A and 9B , the lifting element 22 moves from the lifting position to the clamping position in the outward direction T1. Specifically, the lifting element 22 moves in the outward direction T1 until each abutment member abuts against the inner edge 99 of the bead-apex strip 9, for centering the bead-apex strip 9. Optionally, the lifting element 22 can be moved away from the spacer 8 in the first direction X while moving in the outward direction T1.

[0078] Used below Figure 1A -1E is used to describe the method for transferring the bead-apex strip 9 from the exchange zone Z1 to the processing zone Z3 using the bead-apex strip processing station 1 according to the present invention.

[0079] like Figure 1A, two stacks of spacers 8 with bead-apex strips 9 stored thereon are provided in the exchange zone Z1 at the first spacer position S1 and the second spacer position S2, respectively. The second door 62 is closed to prevent the outside world from entering the exchange zone Z1. The first door 61 is opened to allow the manipulator 7 to enter the exchange zone Z1. Optionally, stacks of empty spacers 8 are arranged at the third spacer position S3. The stacks of empty spacers 8 at the third spacer position S3 can, for example, be left over from a previously performed process cycle of the method for transferring the bead-apex strips 9, as will be apparent from the following method steps.

[0080] The manipulator 7 operates in a first operating mode. In said first operating mode, the manipulator 7 is configured for transferring the topmost spacer 8 of the stack at the first spacer position S1 to the third spacer position S3 and for transferring the bead-apex strip 9 stored on said topmost spacer 8 to the processing zone Z3. Preferably, the bead-apex strip 9 is removed from the spacer 8 in the manner as described above. The bead-apex strip 9 can be removed from the spacer 8, for example, at the first spacer position S1, at the third spacer position S3 or while transferring the spacer 8 from the first spacer position S1 to the third spacer position S3.

[0081] Figure 1B The bead-apex processing station 1 is shown in a first buffering mode. In said first buffering mode, the manipulator 7 is configured to transfer the topmost spacer 8 with the bead-apex 9 stored thereon from the first spacer position S1 to the fourth spacer position S4. Preferably, the manipulator 7 is arranged to transfer two or more spacers 8 with the bead-apex 9 stored thereon in a sub-stack from the first spacer position S1 to the fourth spacer position S4. Preferably, in the buffering configuration, the manipulator 7 is configured to transfer an even number of spacers 8 from the first spacer position S1 to the fourth spacer position S4 simultaneously and / or continuously.

[0082] Typically, the manipulator 7 is configured to transfer two bead-apex strips 9 to a pair of bead setters (not shown) in the processing zone Z3 continuously or sequentially during the first operating mode. Alternatively, for example, two different bead processing stations 1 or two different manipulators 7 may be provided for each transferring a single bead-apex strip 9 to the bead setter. The bead-apex strip 9 at the bead setter may subsequently be transferred to a tire building drum, such as a forming drum, for assembling and / or forming a green tire or an unvulcanized tire. Preferably, the manipulator is configured to operate in the first buffer mode when the bead setter cannot receive the bead-apex strip 9, for example when the bead-apex strip 9 is transferred to the tire building drum by the bead setter.

[0083] The manipulator 7 is configured to cycle between the first operating mode and the first buffering mode until the stacked spacers 8 at the first position S1 are emptied or exhausted. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the first operating mode and the first buffering mode until the stacked spacers 8 at the first position S1 are emptied or exhausted.

[0084] Figure 1C The bead-apex processing station 1 is shown in a second operating mode. In this second operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the second spacer position S2 to the first spacer position S1 and to transfer the bead-apex 9 stored on the topmost spacer 8 to the processing zone Z3 in a manner similar to the first operating mode.

[0085] Therefore, the manipulator 7 is also configured to operate in a second buffering mode (not shown). In the second buffering mode 7, the manipulator is configured to transfer the topmost spacer 8 with the bead-apex strip 9 stored thereon, or a sub-stack of two or more spacers 8 with the bead-apex strip 9 stored thereon, from the second spacer position S2 to the fourth spacer position S4 in a manner similar to the first buffering mode.

[0086] Optionally, the manipulator 7 may additionally or alternatively be configured to operate in a first empty mode. In said first empty mode, the manipulator 7 is configured to transfer a topmost spacer 8 or two or more spacers 8 in a sub-stack from the fourth spacer position S4 to the first spacer position S1.

[0087] The manipulator 7 is configured to cycle between the second operating mode, the second buffer mode, and the optional first empty mode until the stacked spacers 8 at the second position S2 are emptied or exhausted. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the second operating mode, the second buffer mode, and / or the first empty mode until the stacked spacers 8 at the second position S2 are emptied or exhausted.

[0088] Figure 1D The bead-apex processing station 1 is shown in a third operating mode. In said third operating mode, the manipulator 7 is configured for transferring the topmost spacer 8 of the stack at the second spacer position S2 to the first spacer position S1 and for transferring the bead-apex 9 stored on said topmost spacer 8 to the processing zone Z3 in a manner similar to the first operating mode.

[0089] The manipulator 7 is configured to cycle between the third operating mode and the first empty mode until the stacked spacers 8 at the first position S1 reach a predetermined number of spacers 8 or a predetermined height. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the third operating mode and the first empty mode until a predetermined number of spacers 8 are stacked at the first spacer position S1.

[0090] Subsequently, the manipulator 7 is configured to cycle between the fourth operating mode and a second idle mode (not shown).

[0091] In a fourth operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the fourth spacer position S4 to the second spacer position S1 ,

[0092] And the bead-apex strip 9 stored on the topmost spacer 8 is transferred to the processing zone Z3 in a manner similar to the third operating mode. In other words, the fourth operating mode differs from the third operating mode in that the spacer 8 is stacked at the second spacer position S2. In the second empty mode, the manipulator 7 is configured to transfer the topmost spacer 8 or two or more spacers 8 in a sub-stack from the fourth spacer position S4 to the second spacer position S2. In other words, the second empty mode differs from the first empty mode in that the spacer 8 is stacked on the second spacer position S2.

[0093] The manipulator 7 is configured to cycle between the fourth operating mode and the second empty mode until the stacked spacers 8 at the second position S2 reach a predetermined number of spacers 8 or a predetermined height. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the fourth operating mode and the second empty mode until a predetermined number of spacers 8 are stacked at the second spacer position S2. Alternatively, the manipulator 7 may be configured to cycle between the fourth operating mode and the second empty mode until the stacked spacers 8 at the third spacer position S3 are emptied or exhausted.

[0094] like Figure 1E , the manipulator 7 is further configured to operate in a fifth operating mode. In the fifth operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the fourth spacer position S4 to the third spacer position S3, and to transfer the bead-apex strip 9 stored on the topmost spacer 8 to the processing zone Z3 in a manner similar to the first, second, third and fourth operating modes.

[0095] like Figure 1EIt is also shown in FIG. 6 that, during or before the fifth operating mode, the first door 61 has been closed to prevent access between the exchange zone Z1 and the processing zone Z2. Subsequently, the second door 62 is opened to allow the outside world to enter the exchange zone Z1. Therefore, the stacked spacers 8 at the first spacer position S1 and the second spacer position S2 can be removed from the exchange zone Z1. Subsequently, new stacks of spacers 8 with bead-apex strips 9 stored thereon can be provided to the exchange zone Z1. In other words, the stacks of empty spacers 8 and the stacks of spacers 8 with bead-apex strips 9 stored thereon are exchanged or swapped.

[0096] The manipulator 7 is configured to repeat the fifth mode of operation until the stack of spacers 8 at the fourth spacer position S4 is emptied or exhausted. Additionally or alternatively, the manipulator 7 may be arranged to repeat the fifth mode of operation until a new stack of spacers 8 with bead-apex strips 9 stored thereon is provided at the respective first spacer position S1 and second spacer position S2, the second door 62 being closed and the first door 61 being opened.

[0097] Preferably, the method is repeated when a new stack of spacers 8 with bead-apex strips 9 stored thereon is provided at the respective first spacer positions S1 and second spacer positions S2.

[0098] Alternatively, if Figure 1B As shown in FIG. 1 , the method further comprises: transferring the spacer 8 with the bead-apex strip 9 stored thereon or the bead-apex strip 9 without the spacer 8 to the inspection zone Z4 for inspection by an operator. The spacer 8 is transferred to the inspection zone Z4 by the manipulator 7. Figure 1C As shown in FIG. 1 , after the spacer 8 is transferred to the inspection zone Z4, the fourth door 64 is closed. Figure 1D , the third door 63 is open to allow the operator to inspect the bead-apex strip 9 in the inspection zone Z4. When the operator detects any defects in the bead-apex strip 9, the operator can reject the bead-apex strip 9 and remove the bead-apex strip 9 from the inspection zone Z4.

[0099] In summary, the method for processing the bead-apex strip 9 comprises the following steps:

[0100] a) positioning the lifting elements 22 in a set position, in which the lifting elements 22 are arranged below the bead-apex strip 9 in the first direction X, and at least one of the lifting elements 22 is arranged to be spaced apart from the inner edge portion 99 of the bead-apex strip 9 in the radial direction R in the first direction X;

[0101] b) lifting the bead-apex 9 from the spacer 8 on the lifting element 22; and subsequently

[0102] c) Moving each lifting element 22 in an outward direction T1 away from the gripper axis A so as to center the bead-apex 9 relative to the gripper axis A.

[0103] It is to be understood that the above description is included to illustrate the operation of the preferred embodiment and is not meant to limit the scope of the invention. From the above discussion, many variations will be apparent to those skilled in the art, which variations are also included within the scope of the invention.

[0104] Reference numerals list

[0105] 1 Bead-triangular rubber strip processing station

[0106] 2 Gripper

[0107] 20 Clamping head

[0108] 21 Arm

[0109] 22 Lifting elements

[0110] 23 Supporting member

[0111] 230 Support surface

[0112] 24 Adjacent member

[0113] 31 Spacer holder

[0114] 32 Spacer Pusher

[0115] 33 Height sensor

[0116] 34 RFID Sensor

[0117] 5Control Unit

[0118] 6. Fence

[0119] 60 Fence

[0120] 61 First Gate

[0121] 62 Second Gate

[0122] 63 The Third Gate

[0123] 64 The Fourth Gate

[0124] 7. Controller

[0125] 70 base

[0126] 71 Robotic Arm

[0127] 8 Spacers

[0128] 80 Spacer Body

[0129] 81 Mounting surface

[0130] 82 inner edge

[0131] 84 slots

[0132] 89 bearing parts

[0133] 9 Bead - Triangle rubber strip

[0134] 90 bead hole

[0135] 91 bead

[0136] 92 triangle rubber strip

[0137] 95 RFID tags

[0138] 99 inner edge

[0139] 1002 Clamp

[0140] 1020 clamping head

[0141] 1021 Arm

[0142] 1022 lifting element

[0143] 1023 Supporting member

[0144] 1024 adjacent components

[0145] 1008 Spacer

[0146] A Gripper axis

[0147] B Spacer Axis

[0148] C Circumferential direction

[0149] L Support distance

[0150] T1 outward direction

[0151] T2 inward direction

[0152] R radial direction

[0153] S1 First spacer position

[0154] S2 Second spacer position

[0155] S3 Third spacer position

[0156] S4 Fourth spacer position

[0157] X first direction

[0158] Z1 Exchange Zone

[0159] Z2 treatment area

[0160] Z3 processing area

[0161] Z4 Inspection Area

Claims

1. A method for processing a bead-apex rubber strip, wherein: The method comprises: providing a clamp comprising at least two lifting elements, the lifting elements being distributed in a circumferential direction around a clamp axis extending in a first direction, wherein the lifting elements are movable in an outward direction away from the clamp axis and in an inward direction opposite to the outward direction towards the clamp axis, wherein the lifting elements each comprise a supporting member protruding from the clamp axis for supporting the bead-apex rubber strip in the first direction, wherein the lifting elements each further comprise an abutment member extending transversely to the supporting member for abutting against an inner edge portion of the bead-apex rubber strip, wherein the method comprises the following steps: a) positioning the lifting element into a set position in which the supporting member is arranged below the bead-apex in the first direction and wherein at least one of the abutment members is arranged in the inward direction to be spaced a distance from an inner edge portion of the bead-apex; b) subsequently moving the lifting element relative to the spacer in the first direction from the set position to a lifting position to lift the bead-apex from the respective spacer on the support member; and c) subsequently moving each of the lifting elements in the outward direction away from the clamp axis from the lifting position to a clamping position in which the abutment member abuts the bead-apex for centering the bead-apex relative to the clamp axis.

2. The method according to claim 1, characterized in that Prior to step a), the method comprises the following steps: a1) moving the lifting elements in the outward direction until an abutment member of at least one of the lifting elements abuts against an inner edge portion of the bead-apex.

3. The method according to claim 2, characterized in that Following step a1), the method comprises the following steps: a2) moving the lifting element in the inward direction over a predetermined stroke length.

4. The method according to claim 3, characterized in that The predetermined stroke length is between 1 mm and 20 mm, or between 1 mm and 10 mm, or between 1 mm and 5 mm.

5. The method according to claim 3, characterized in that: Each of the support members extends away from the corresponding abutment member over a support distance, and wherein the predetermined stroke length is less than the support distance, or wherein the predetermined stroke length is less than eighty percent of the support distance, or wherein the predetermined stroke length is less than fifty percent of the support distance.

6. The method according to claim 1, characterized in that The spacer extends circumferentially around a spacer axis and wherein, prior to step a), the method comprises the step of aligning the holder axis with the spacer axis of the spacer.

7. The method according to claim 1, characterized in that The bead-apex rubber strip comprises a joint portion, wherein, before step a), the method further comprises the following steps: scanning at least a portion of the bead-apex rubber strip in a circumferential direction around the clamp axis to detect the position of the joint portion in the circumferential direction.

8. The method according to claim 1, characterized in that The tire bead-apex rubber strip includes an identifier, preferably an RFID chip, wherein, before step a), the method further includes the following steps: scanning at least a portion of the tire bead-apex rubber strip in a circumferential direction around the axis of the clamp to detect the position of the identifier in the circumferential direction.

9. The method according to claim 7, characterized in that: Prior to step a), the method comprises rotating the holder relative to the spacer about the holder axis, or the spacer relative to the holder about the holder axis, to a predetermined mutual orientation based on the detected position of the engagement portion or identifier.

10. The method according to claim 1, characterized in that The spacer comprises a spacer body extending circumferentially around a spacer axis, wherein the spacer comprises a plurality of grooves extending in a radial direction transversely or perpendicularly to the spacer axis, wherein the grooves are configured to receive support members of the lifting element, and wherein step a) comprises positioning each of the support members in a corresponding one of the grooves.

11. The method according to claim 1, characterized in that: The clamp comprises three or more height sensors for detecting the mutual distance between the clamp and a reference surface of the spacer, wherein the three or more height sensors are distributed around the clamp axis, and wherein the method comprises the following steps: determining the inclination of the spacer relative to the clamp based on the detected mutual distances between the corresponding height sensors and the reference surface.

12. The method according to claim 1, characterized in that Step b) further comprises: pushing the spacer away from the bead-apex strip in the first direction.

13. A holder for performing the method according to claim 1, wherein: The clamp comprises a clamp head extending along the clamp axis, wherein the clamp further comprises a plurality of lifting elements distributed in a circumferential direction around the clamp axis, wherein the lifting elements can move away from the clamp axis in an outward direction and toward the clamp axis in an inward direction opposite to the outward direction, wherein each of the lifting elements is provided with a supporting member for supporting the tire bead-apex rubber strip in a first direction parallel to the clamp axis, and is provided with an abutment member extending transversely to the supporting member for abutting against an inner edge portion of the tire bead-apex rubber strip, Wherein, the support member protrudes from the abutment member by a support distance of at least four centimeters.

14. The holder according to claim 13, characterized in that The support distance is between four centimeters and ten centimeters, or between five centimeters and eight centimeters.

15. The holder according to claim 13, characterized in that Each supporting member comprises a supporting surface for supporting the bead-apex thereon, wherein the supporting surface extends parallel to the outward direction or the inward direction.

16. The holder according to claim 13, characterized in that The clamp further comprises three or more height sensors for detecting the distance between the clamp and the spacer, wherein the three or more height sensors are distributed in a circumferential direction around the clamp axis.

17. The holder according to claim 13, characterized in that For each of the lifting elements, the gripper comprises a lifting drive for driving movement of the lifting element in the outward direction and in the inward direction.

18. The holder according to claim 13, characterized in that The holder also includes an RFID reader for detecting or reading an RFID chip in the bead-apex strip.

19. A bead-apex strip processing station for processing a bead-apex strip, wherein: The bead-apex processing station comprises a gripper according to claim 13 and a manipulator for moving the gripper to one or more spacer positions.

20. The bead-apex strip processing station according to claim 19, characterized in that: The gripper head is rotatable relative to the manipulator about the gripper axis.

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