Gripper and method for gripping tire traveler

Abstract

The invention relates to a gripper for gripping a tire bead ring to be transferred from a pick-up position to a placement position, the gripper (1) comprising: two or more engagement claws (12) arranged on the gripper at equal angular distances in the circumferential direction, each of the two or more engagement claws (12) is provided with an engagement finger (13) for engaging a tire bead ring (2) to be gripped, where the engagement claws are configured to move radially between a remote position, in which the engagement finger (13) is remote from the tire bead ring to be gripped, and an engaged position, in which the engagement finger engages the tire bead ring to be gripped, in which the engagement finger (13) engages the tire bead ring to be gripped. Wherein the gripper is provided with an ejection finger (35), which is configured to eject the tire bead ring gripped by the gripper from the gripper.

Description

Technical Field

[0001] The present invention relates to a gripper for gripping a tire bead ring to be transferred from a pick-up position to a placement position. In addition, the present invention relates to a method for gripping a tire bead ring to be transferred from a pick-up position to a placement position, and to a bead transfer device for transferring a tire bead ring from a pick-up position to a placement position. Background Art

[0002] Such a gripper is known, for example, from the international patent publication WO 2010 / 021546, which describes a device for transferring and placing tire beads, the device being provided in particular with a bead holding device for picking up and holding the bead, wherein the bead holding device is provided with engaging claws which are arranged on the bead holding device at equal angular distances in the circumferential direction, wherein the engaging claws can be driven or retracted radially in order to engage or release the tire bead, respectively. Summary of the invention

[0003] Known grippers are particularly used to retrieve tire bead rings from tire bead-apex assembly drums and place the retrieved tire bead rings on the next position (such as a pile of tire bead rings). The tire bead rings are picked up by driving the engagement claws radially outward so that the tire bead rings are engaged by the engagement claws, and are placed on the tire bead-apex assembly drum by driving the engagement claws radially inward to release the tire bead rings from the gripper. All engagement claws are driven at the same time so that the engagement claws move at the same time. It is important that the placement on the next position is performed centered and evenly. In order to obtain good adhesion of the tire bead ring to the apex, the tire bead ring is provided with a thin layer of unvulcanized rubber. Due to the thin layer of unvulcanized rubber, when the engagement claws move inward, the tire bead ring may remain stuck to one engagement claw. This is disadvantageous because it causes the tire bead ring to not be released from all engagement claws at the same time, and therefore the placement of the tire bead ring on the tire bead-apex assembly drum cannot be performed centered. In addition, the tire bead may be disadvantageously deformed into a non-circular shape by remaining stuck to one of the engaging claws.

[0004] The object of the present invention is to improve or eliminate one or more disadvantages of the known prior art, to provide an improved gripper or at least to provide an alternative gripper.

[0005] According to a first aspect, the invention provides a gripper for gripping a tire bead ring to be transferred from a pick-up position to a placement position, the gripper comprising:

[0006] Two or more engagement claws are arranged on the gripper at equal angular distances in the circumferential direction, wherein each of the two or more engagement claws is provided with an engagement finger for engaging the tire bead to be gripped,

[0007] wherein the engagement claw is configured to move radially between a remote position, in which the engagement finger is away from the tire bead to be grasped, and an engagement position, in which the engagement finger engages the tire bead to be grasped,

[0008] The gripper is provided with an ejection finger, which is configured to eject the tire bead gripped by the gripper from the gripper.

[0009] During use of the gripper according to the present invention, the engagement fingers move from a remote position such as a radially inward position to an engagement position such as a radially outward position in order to engage and thereby grip the tire bead ring. When the gripper is close to or in a placement position, the engagement fingers move radially inward to release the gripper tire bead ring from the gripper. Before or during the radial inward movement of the engagement fingers to release the gripped tire bead ring, the ejection fingers will apply an ejection force to the tire bead ring. When the engagement fingers move radially inward, the ejection force applied by the ejection fingers prevents the tire bead ring from remaining stuck to one or more engagement fingers. This is advantageous because the tire bead ring is released from all engagement fingers at the same time, so that the placement of the bead ring is centered and evenly performed.

[0010] In one embodiment, the ejection finger is configured to eject a tire bead gripped by the gripper from the gripper in an ejection direction that is transverse to the movement direction and directed away from the gripper. For example, when the gripper has a horizontal orientation so that the engagement jaw moves in a horizontal direction, the ejection finger is configured to eject the gripper tire bead in a vertical direction that is directed downward.

[0011] In one embodiment, the gripper comprises two or more ejection fingers, wherein each of the two or more engagement claws comprises an ejection finger. By arranging the ejection fingers at the engagement claws, the ejection fingers advantageously act on the gripped tire bead at a position closest to where the tire bead may remain stuck.

[0012] In one embodiment, the ejection finger is configured to move between an idle position, an ejection position, and an ejected position, in which the ejection finger is spaced from the tire bead ring, in the ejection position, the ejection finger abuts against the tire bead ring, thereby applying an ejection force to the tire bead ring, and in the ejected position, the ejection finger is at least partially positioned at the position where the tire bead ring is located. In one embodiment thereof, the ejection finger is configured to move into the ejection position when the associated engagement finger is in the engagement position. According to this embodiment, the ejection finger moves into the ejection position before the associated engagement finger moves out of the engagement position and moves toward the remote position. In the ejection position, the ejection finger is placed against the tire bead ring so that the ejection force is applied to the tire bead ring. Due to the ejection force, there is friction between the ejection finger and the tire bead ring in the radial direction. The inventors have surprisingly found that the ejection force applied to the tire bead ring and the radial friction associated therewith are sufficient to prevent the tire bead ring from remaining stuck to the engagement finger. Therefore, the gripper according to this embodiment is enabled to release the tire bead from all the engaging claws at the same time.

[0013] In an alternative embodiment, the ejection finger is configured to move into the ejection position upon initiating movement of the associated engagement finger from the engagement position to the remote position.

[0014] In one embodiment, the engagement finger is configured to move from the remote position to the engagement position at a first speed and from the engagement position to the remote position at a second speed, wherein the second speed is higher than the first speed.

[0015] In one embodiment, each engagement claw includes a separation finger, which is configured to separate the tire bead to be grasped from the surface on which the tire bead is located, and is used to move between a remote position and an engagement position. In one embodiment thereof, each separation finger is provided with a tapered tip, which is arranged in such a way that when the separation finger and the associated engagement finger are in the engagement position, the tapered tip radially extends beyond the associated engagement finger. The separation finger with a tapered tip advantageously allows the gripper to prevent the tire bead from slipping off the engagement finger, for example, during the removal of the tire bead to be grasped from the surface on which it is located.

[0016] In one embodiment, the engagement finger and the separation finger of each engagement claw are operably connected to each other so that the movement of the separation finger from the remote position to the engagement position causes the movement of the engagement finger from the remote position to the engagement position, and the separation finger can be moved toward the remote position independently of the engagement finger from the engagement position. Preferably, the gripper includes a driver, which is configured to move one or more engagement claws between the remote position and the engagement position. In one embodiment thereof, the driver is operably connected to the corresponding separation finger of the one or more engagement claws. The advantage of this embodiment is that, at least for each engagement claw or possibly each gripper, a single driver is sufficient to move the engagement finger and the separation finger from the remote position to the engagement position.

[0017] In another embodiment, the engagement finger of each engagement claw comprises a brake, which can move between an idle position and a brake position, in which the engagement finger is enabled to move between a remote position and the engagement position, and in which the engagement finger is prevented from moving between the remote position and the engagement position. In another embodiment, a spring is operably connected to the engagement finger and the separation finger of each engagement claw and is arranged between the engagement finger and the separation finger. According to this embodiment, the engagement finger can be maintained in the engagement position, and the associated separation finger has moved toward the remote position so that before releasing the tire bead ring, the tapered tip is out of the way. Subsequently, when the brake of each engagement finger moves to the idle position from the brake position, each engagement finger is pulled to the associated separation finger relatively quickly by means of a spring arranged between the engagement finger and the associated separation finger.

[0018] In one embodiment, the ejection finger of each engagement claw is arranged at the separation finger, so that the ejection finger extends in a direction parallel to the direction of movement. In one embodiment thereof, the ejection finger is arranged at the separation finger, which is rotatable about a rotation axis transverse to the direction of movement. According to this embodiment, the ejection finger works like a fin. This is advantageous because the height required to incorporate the ejection finger into the gripper is kept to a minimum.

[0019] According to a second aspect, the present invention provides a method for gripping a tire bead ring to be transferred from a pick-up position to a depositing position by means of a gripper according to the first aspect of the present invention, wherein the method comprises the following steps:

[0020] - moving the gripper towards the pick-up position when the engagement fingers are in the remote position;

[0021] - radially moving the engagement fingers into an engagement position, thereby engaging the tire bead;

[0022] - moving the gripper towards a placement position; and

[0023] - releasing the gripped tire bead by moving the engagement fingers towards a remote position,

[0024] The method further comprises the step of ejecting the tire bead from the gripper by means of an ejection finger of each engagement claw.

[0025] In one embodiment, wherein the ejection finger is configured to move between an idle position, an ejection position, and an ejected position after ejecting the tire bead ring, in which the ejection finger is spaced from the tire bead ring, in which the ejection finger abuts against the tire bead ring, thereby applying an ejection force to the tire bead ring, and in which the ejection finger is at least partially positioned at the position where the tire bead ring is located, the step of ejecting the tire bead ring includes moving the ejection finger from the idle position to the ejection position, and allowing the ejection finger to move to the ejected position. In an embodiment thereof, the step of moving the ejection finger from the idle position to the ejection position is performed before the step of releasing the gripped tire bead ring.

[0026] In an alternative embodiment, the step of moving the ejection fingers from the idle position to the ejection position is performed simultaneously with the step of releasing the gripped tire bead.

[0027] In one embodiment, when the gripper is a gripper in which the engagement finger of each engagement claw includes a brake (the brake is movable between an idle position and a brake position, in which the engagement finger is enabled to move between a remote position and an engagement position, and in which the engagement finger is prevented from moving between the remote position and the engagement position), for each engagement claw, the step of moving the engagement finger into the engagement position includes: moving the separation finger into the engagement position, thereby moving the associated engagement finger into the engagement position, and when the separation finger and the associated engagement finger are in the engagement position, moving the brake into the brake position.

[0028] In one embodiment, the method further comprises, for each engagement finger, moving the disengaging finger out of the engagement position toward the remote position when the detent of the associated engagement finger moves into the detent position.

[0029] In one embodiment, wherein the gripper is one in which a spring is operably connected to and disposed between the engagement finger and the disengagement finger of each engagement claw, the step of releasing the gripped tire bead by moving the engagement finger toward a remote position includes moving the brake into an idle position.

[0030] According to a third aspect, the present invention provides a bead transfer device for transferring a tire bead from a picking position to a placing position, the bead transfer device comprising:

[0031] A robot arm and a gripper according to the first aspect of the invention, the gripper being arranged at the robot arm such that the robot arm can move the gripper.

[0032] According to a fourth aspect, the invention provides a computer readable medium having computer executable instructions adapted to cause a gripper according to the first aspect of the invention to perform a method according to the second aspect of the invention.

[0033] 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 the subject of divisional patent applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The invention will be explained on the basis of exemplary embodiments shown in the schematic drawings, in which:

[0035] Figure 1 A bead transfer device for transferring a tire bead from a picking position to a placing position is shown, the bead transfer device comprising a gripper according to an embodiment of the present invention;

[0036] Figure 2 Shows Figure 1 An enlarged side view of a gripper of ; and

[0037] FIG. 3A to FIG. 3E Shown by means of Figure 2 The steps for picking up and placing the tire bead with a gripper. DETAILED DESCRIPTION

[0038] Figure 1 Schematically shown in the figure is a bead transfer device 50, which is configured to transfer a tire bead 2 from a picking position to a placing position, and the bead transfer device 50 includes a gripper 1 according to an embodiment of the present invention. The bead transfer device 50 can be used, for example, to transfer a tire bead 2 from a building drum to a bead separator, wherein the tire bead 2 can be picked up vertically from the building drum and can be placed horizontally on the bead separator.

[0039] like Figure 1 As shown, the bead transfer device 50 is provided with a robot 51 for engaging the tire bead 2 and transporting it from the picking position to the placing position. The robot 51 is supported by a robot base 52 fixed, for example, relative to a factory floor 53. The robot 51 has a robot arm 54 supported by the robot base 52, and a gripper 1 arranged at the robot arm 54, in particular, at the end of the robot arm 54 facing away from the robot base 52. The robot arm 54 generally provides six degrees of freedom for the robot 51, so that the bead transfer device 50 can especially pick up the tire bead 2 vertically and place the tire bead 2 horizontally, or vice versa.

[0040] Figure 2A detailed side view of the gripper 1 is shown in . The gripper 1 has a gripper frame 10 having a gripper connector 11 for connecting the gripper 1 to the robot arm 54. The gripper connector 11 extends generally transversely or lateral to the gripper frame 10 and defines a central axis C extending through the gripper connector 11 and transversely to the gripper frame 10. For example, the gripper frame 10 can be formed by four arms, not shown, extending radially outward from the center of the gripper frame 10. Such a configuration of a gripper frame is shown, for example, in the international patent publication WO2010 / 021546 of the present applicant.

[0041] In order to grip the tire bead ring 2 with the gripper 1, the gripper 1 is provided with two or more (four in this example) engagement claws 12. The engagement claws 12 are arranged on the gripper 1 at equal angular distances in the circumferential direction, so that according to the example shown, there is an angular distance of 90° between adjacent engagement claws 12. In addition, the engagement claws 12 are arranged to be movable at the gripper frame 10. The engagement claws 12 are configured to move mainly radially outward (as viewed from the center line C) and transversely to the center line C and along the moving direction M to engage the tire bead ring 2, and to move radially inward to release the tire bead ring 2 from the gripper 1.

[0042] In an alternative embodiment not shown, the engagement claw 12 can be constructed to move primarily radially inward (as viewed from the center line C) and transversely to the center line C and along the movement direction M to engage the tire bead 2, and to move radially outward to release the tire bead 2 from the gripper 1.

[0043] like Figure 2 As shown schematically, each engagement claw 12 includes an engagement finger 13 for engaging the tire bead ring 2 to be gripped. The engagement finger 13 is arranged to be movable to the gripper frame 10 by means of a first connector 14, so that the engagement finger 13 can move linearly relative to the gripper frame 10. For example, the engagement finger 13 is connected to a guide rail not shown at the gripper frame 10. The engagement finger 13 also includes an engagement body 15, which is connected to the first connector 14 and has a radially outwardly facing engagement surface 16, which is used to engage the tire bead ring 2 to be gripped by the gripper 1.

[0044] Each engagement finger 13 comprises a receiving slit 17 having a longitudinal axis parallel to the movement direction M and extending at least partially through the engagement finger 13 in a direction transverse to the movement direction M and the center line C. Figure 2 As is clearly shown in FIG. 1 , the length of the receiving slit 17 is less than the length of the engaging body 15 in the moving direction M, and preferably, the receiving slit 17 is located in the inwardly directed half of the engaging body 15. In addition, each engaging finger 13 is provided with a brake 18 on the side facing the gripper frame 10, which can be braked in a braking direction B parallel to the center line C in the manner shown in FIG. Figure 2 The illustrated embodiment moves between an idle position and a braking position in which the brake 18 is in braking contact with the gripper frame 10 .

[0045] like Figure 2 As shown, each engagement claw 12 also includes a separation finger 25, which is configured to separate the tire bead ring 2 to be grasped, for example, from any additional tire bead ring 2 on the pile of tire bead rings 2, or from the surface on which the tire bead ring 2 is placed. The separation finger 25 is movably connected to the gripper frame 10 by means of a second connector 26, for example, to a guide rail not shown. In addition, the separation finger 25 is operably connected to a drive not shown, such as a servo motor or a drive cylinder, which is configured to drive the separation finger 25 in a radially outward or radially inward movement direction M. In this exemplary embodiment, the separation finger 25 is arranged adjacent to the engagement finger 13 of the corresponding engagement claw 12.

[0046] Each separation finger 25 has a connection portion 27, which is rectangular when viewed from the side in this exemplary embodiment. The second connector 26 is arranged at the connection portion 27, in particular at the side thereof facing the gripper frame 10. On the side of the connection portion 27 facing the engagement finger 13, the connection portion 27 is provided with a connection pin 28 extending away from it and toward the engagement finger 13. The connection pin 28 is received in the receiving slit 17 of the adjacent engagement finger 13, so that when the connection pin 28 abuts against one end of the receiving slit 17, the movement of the separation finger 25 causes the movement of the engagement finger 13.

[0047] In an alternative embodiment, each separating finger 25 is provided with a receiving slot 17 and each engaging finger 13 is provided with a connecting pin 28 .

[0048] Each separating finger 25 also has a separating portion 29 arranged at the connecting portion 27, in particular at one side thereof facing radially outward. The separating portion 29 extends radially outward from the connecting portion 27 and is oval in shape, at least in the exemplary embodiment. At the end of the separating portion 29 facing away from the connecting portion 27, the separating portion 29 has a conical tip 30, which can be positioned below the tire bead ring 2 to be grasped. The separating finger 25 is intended to separate the tire bead ring 2 to be grasped from the surface on which the tire bead ring 2 is placed, for example, in the case where the tire bead ring 2 or the apex attached to the tire bead ring 2 remains adhered to the surface.

[0049] The length of the separation portion 29 and the length of the receiving slot 17 are selected so that when the separation finger 25 is in the engaged position (in the exemplary embodiment, the radially outward position), i.e. when the connecting pin 28 abuts against the radially outward end of the receiving slot 17, Figure 2As shown, the tapered tip 30 extends radially beyond the engagement surface 16, and when the separation finger 25 is in a remote position (a radially inward position in this exemplary embodiment), that is, when the connecting pin 28 abuts against or is close to the radially inward end of the receiving slit 17, the tapered tip 30 retracts radially so that the tapered tip 30 does not extend radially beyond the engagement surface 16.

[0050] The spring 31 is provided between the disengaging finger 25 and the engaging finger 13 of each engaging claw 12 , and is operatively connected to the disengaging finger 25 and the engaging finger 13 .

[0051] Furthermore, each engagement claw 12 comprises an ejecting finger 35, also called a fin, which is configured for ejecting the tire bead 2 gripped by the gripper 1 from the gripper 1. The ejecting finger 35 is configured for ejecting the tire bead 2 in an ejecting direction E transverse to the moving direction M of the engagement finger 13, in particular in a direction parallel to the central axis C. The ejecting finger 35 has an elongated ejecting body 36 having a first end 37 and a second end 38, the second end being opposite to the first end 37 when viewed in the longitudinal direction of the ejecting body 36. At its first end 37, the ejecting body 36 is rotatably connected to the separating finger 25, in particular to its connecting portion 27, on or near the side facing the gripper frame 1, wherein the ejecting finger 35 is rotatable about the rotation axis A. Thus, the movement of the separating finger 25 results in the movement of the ejecting finger 35. The second end 38 of the ejection finger 35 is configured to approach and / or contact the tire bead ring 2 while ejecting the tire bead ring 2 from the gripper 1. The length of the ejection body 36 is selected so that the second end 38 of the ejection body 36 extends radially beyond the engagement surface 16 regardless of the position of the separation finger 25 relative to the engagement finger 13.

[0052] like Figure 2 As best shown in FIG. 1 , a rotary piston 39 (such as a hydraulic or pneumatic piston) is disposed between and operatively connected to the ejection finger 35 and the separation finger 25, in particular to the connection portion 27 of the separation finger 25. The rotary piston 39 is configured to rotate the ejection finger 35 about the rotation axis A so as to move the ejection finger 35 from the position indicated in FIG. Figure 2 The idle position shown is moved to Figure 3D When the ejection finger 35 is in the ejection position, the ejection finger 35 abuts against the tire bead 2 and applies an ejection force to the tire bead 2, and the ejection force is generally parallel to the center line C.

[0053] In an alternative embodiment, the ejection finger 35 can be formed as an ejection piston or an ejection pusher.

[0054] FIG. 3A to FIG. 3E The schematic diagram shows that by means of Figure 2The steps of picking up and placing the tire bead ring 2 by the gripper 1 are shown. When the gripper 1 is required to grip the tire bead ring 2, the gripper 1 moves to the picking position, in which the engaging claw 12 is located in the tire bead ring 2, as shown in FIG. Figure 3A During this step, the engaging claw 12 is located in a radially inward position, as shown in FIG. Figure 3A As shown, in this radially inward position, the engagement claws 12 are spaced apart from the tire bead 2 .

[0055] Subsequently, the engaging claw 12, in particular the disengaging finger 25 thereof, is preferably moved at a first speed to a radially outward position, such as Figure 3B As shown. In the exemplary embodiment shown, the separation fingers 25 move radially outward, and the engagement fingers 13 are pulled due to the connection pins 28 in the receiving slits 17. When in the radially outward position, the engagement surfaces 16 of the engagement fingers 13 engage the tire bead ring 2, and optionally, the engagement claws 12 slightly stretch the tire bead ring 12 to prevent the tire bead ring 2 from sliding relative to the engagement surfaces 16. Once the tire bead ring 2 is engaged by the engagement claws 12 and thereby grasped, the gripper 1 can move the gripper 1 to move the tire bead ring 2 to a placement position, where the tire bead ring 2 can be placed.

[0056] Note that due to the position of the tapered tip 30 of the separation finger 25 relative to the tire bead 2 engaged by the engagement finger 13, the tire bead 2 may be separated, for example, from a not shown tire bead 2 directly adjacent to the tire bead 2.

[0057] exist Figure 3A and Figure 3B In the indicated steps, the brake 18 is in its rest position.

[0058] When the gripper 1 is almost in or in the placement position, the brake 18 is moved to its braking position so that the brake 18 is in braking contact with the gripper frame 10, such as Figure 3C Schematically indicated. Subsequently, the separation finger 25 moves toward its radially inward position. Due to the braking contact of the brake 18 with the gripper frame 10, the engagement finger 13 is prevented from moving into its radially inward position and is thereby maintained in its radially outward position. The movement of the separation finger 25 toward the radially inward position is limited by the length of the receiving slit 17. When the separation finger 25 moves radially inward, the tapered tip 30 of the separation finger 25 no longer extends radially beyond the engagement surface 16 of the engagement finger 13, and the spring 31 between the engagement finger 13 and the separation finger 25 is tensioned.

[0059] As a next step, Figure 3D As shown, the ejection fingers 35 are each rotated into the ejection position by means of a rotary piston 39 about their axis of rotation A. Figure 3DAs shown, the ejection finger 35 abuts against the tire bead 2 engaged by the engagement finger 13, thereby applying an ejection force to the tire bead 2. Note that the ejection force is not sufficient to push the tire bead 2 away from the engagement finger 13.

[0060] When the ejection finger 35 abuts against the tire bead ring 2, the engagement finger 13 is preferably moved radially inward at a second speed higher than the first speed by moving the brake 18 from the braking position to the idle position, thereby releasing the braking contact between the engagement finger 13 and the gripper frame 10. Due to the tensioning spring 31 between the engagement finger 13 and the separation finger 25, the engagement finger 13 is quickly pulled toward the separation finger 25 by the spring 31, thereby releasing the tire bead ring 2 from the engagement claw 12. When the engagement finger 13 is quickly pulled toward the separation finger 25, the ejection finger 35 pushes the tire bead ring 2 away from the gripper frame 10 to eject the tire bead ring 2. Optionally, the ejection finger 35 is further slightly rotated toward the tapered tip 30 of the separation finger 25, thereby moving into the ejected position.

[0061] Subsequently, the gripper 1, in particular its ejection finger 35, can be moved back into the pick-up position. Figure 3A Indicated schematically in FIG.

[0062] 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.

[0063] List of reference numerals:

[0064] 1 gripper;

[0065] 2. Tire wire ring;

[0066] 10 gripper frame;

[0067] 11 gripper connector;

[0068] 12 engaging claws;

[0069] 13 joint fingers;

[0070] 14 a first connector;

[0071] 15. Joining the main body;

[0072] 16 joint surface;

[0073] 17 receiving slit;

[0074] 18 brakes;

[0075] 25 separation finger;

[0076] 26 second connector;

[0077] 27 connecting part;

[0078] 28 connecting pin;

[0079] 29 separation unit;

[0080] 30 conical tip;

[0081] 31 spring;

[0082] 35 ejection finger;

[0083] 36 ejects the main body;

[0084] 37 first end;

[0085] 38 second end;

[0086] 39 Rotary piston;

[0087] 50 bead transfer device;

[0088] 51 manipulator;

[0089] 52 manipulator base;

[0090] 53 factory floor;

[0091] 54 robot arms;

[0092] A axis of rotation;

[0093] B braking direction;

[0094] C central axis;

[0095] E ejection direction;

[0096] M moving direction.

Claims

1. A gripper for gripping a tire bead ring to be transferred from a pick-up position to a placement position, the gripper comprising: two or more engagement claws, the two or more engagement claws being arranged on the gripper at equal angular distances in the circumferential direction, wherein each of the two or more engagement claws is provided with an engagement finger for engaging the tire bead to be gripped, wherein the engagement claw is configured to move radially along a moving direction between a remote position in which the engagement finger is away from the tire bead to be grasped and an engagement position in which the engagement finger engages the tire bead to be grasped, The gripper is provided with an ejection finger, and the ejection finger is configured to eject the tire bead gripped by the gripper from the gripper.

2. The gripper according to claim 1, wherein: The ejection finger is designed to eject a tire bead gripped by the gripper from the gripper in an ejection direction which is transverse to the displacement direction and points away from the gripper.

3. A gripper according to claim 1 or 2, comprising two or more ejection fingers, wherein: Each of the two or more engagement claws includes an ejection finger.

4. A gripper according to any one of claims 1, 2 or 3, wherein: The ejection finger is configured to move between an idle position, an ejection position, and an ejected position, wherein the ejection finger is spaced apart from the tire bead ring, wherein the ejection finger abuts against the tire bead ring to apply an ejection force to the tire bead ring, and wherein the ejection finger is at least partially positioned at a position where the tire bead ring is located.

5. The gripper according to claim 4, wherein: The ejection finger is configured to move into the ejection position when an associated engagement finger is in the engagement position.

6. The gripper of claim 4, wherein: The ejection finger is configured to move into the ejection position upon initiating movement of an associated engagement finger from the engagement position into the remote position.

7. A gripper according to any one of the preceding claims, wherein: The engagement finger is configured to move from the remote position to the engagement position at a first speed and from the engagement position to the remote position at a second speed, wherein the second speed is higher than the first speed.

8. A gripper according to any one of the preceding claims, wherein: Each engagement jaw includes a release finger configured for separating a tire bead to be gripped from a surface on which the tire bead is located and for moving between the remote position and the engagement position.

9. The gripper of claim 8, wherein: Each separation finger is provided with a tapered tip arranged in such a way that it extends radially beyond the associated engagement finger when the separation finger and the associated engagement finger are in the engaged position.

10. A gripper according to claim 8 or 9, wherein: The engagement finger and the separation finger of each engagement claw are operatively connected to each other so that movement of the separation finger from the remote position to the engagement position causes movement of the engagement finger from the remote position to the engagement position, and so that the separation finger can move away from the engagement position toward the remote position independently of the engagement finger.

11. A gripper according to any preceding claim, comprising a drive configured to move one or more of the engagement jaws between the remote position and the engagement position.

12. The gripper according to claim 10 and 11, wherein The actuator is operatively connected to a corresponding disengaging finger of one or more of the engagement jaws.

13. The gripper according to claims 10 and 12, wherein: The engagement finger of each engagement claw includes a brake that can be moved between an idle position and a braking position. In the idle position, the engagement finger is enabled to move between the remote position and the engagement position, and in the braking position, the engagement finger is prevented from moving between the remote position and the engagement position.

14. The gripper of claim 13, wherein: A spring is operatively connected to and disposed between the engagement finger and the disengagement finger of each engagement claw.

15. A gripper according to any one of claims 8, 9, 10, 12, 13 or 14, wherein: The ejection finger of each engagement claw is arranged at the separation finger such that the ejection finger extends in a direction parallel to the movement direction.

16. The gripper according to claims 3 and 15, wherein: The ejection finger is arranged on the separating finger, which is rotatable about an axis of rotation transverse to the displacement direction.

17. A method for gripping a tire bead ring to be transferred from a pick-up position to a depositing position by means of a gripper according to any one of the preceding claims, wherein: The method comprises the following steps: - moving the gripper towards the pick-up position when the engagement finger is in the remote position; - radially moving the engagement fingers into the engagement position, thereby engaging the tire bead; - moving the gripper towards the placement position; and - releasing the gripped tire bead by moving said engagement fingers towards said remote position, The method further comprises the step of ejecting the tire bead from the gripper by means of the ejection finger.

18. The method according to claim 17, wherein: The ejection finger is configured to move between an idle position, an ejection position, and an ejected position after ejecting the tire bead ring, wherein in the idle position, the ejection finger is spaced apart from the tire bead ring, in the ejection position, the ejection finger abuts against the tire bead ring so as to apply an ejection force to the tire bead ring, and in the ejected position, the ejection finger is at least partially positioned at a position where the tire bead ring is located, wherein the step of ejecting the tire bead ring comprises: moving the ejection finger from the idle position to the ejection position, and allowing the ejection finger to move to the ejected position.

19. The method according to claim 18, wherein: The step of moving the ejection finger from the idle position to the ejection position is performed before the step of releasing the gripped tire bead.

20. The method according to claim 19, wherein: The step of moving the ejection finger from the idle position to the ejection position is performed simultaneously with the step of releasing the gripped tire bead.

21. A method according to any one of claims 17 to 20, when the gripper is a gripper according to claim 13, wherein: The step of moving the engagement fingers into the engagement position comprises, for each engagement claw, moving the separation finger into the engagement position, thereby moving the associated engagement finger into the engagement position, and when the separation finger and the associated engagement finger are in the engagement position, moving the brake into the brake position.

22. The method according to claim 21, further comprising: For each engagement finger, when the detent of the associated engagement finger moves into the detent position, the disengaging finger is moved out of the engagement position toward the remote position.

23. The method according to claim 21 or 22, wherein: The gripper is a gripper according to claim 14, wherein the step of releasing the gripped tire bead by moving the engagement finger towards the remote position comprises moving the brake into the idle position.

24. A tire bead transfer device for transferring a tire bead from a picking position to a placing position, the bead transfer device comprising: A robot arm and a gripper according to any one of claims 1 to 16, the gripper being arranged at the robot arm such that the robot arm can move the gripper.

25. A computer readable medium having computer executable instructions adapted to cause a gripper according to any one of claims 1 to 16 to perform a method according to any one of claims 17 to 23.

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