Pick-up and placement system and tire production line comprising same

Abstract

The utility model relates to a pick-up placing system and a tire production line comprising the pick-up placing system, the pick-up placing system comprises a support member and a pick-up placing gripper used for picking up tire parts from the support member, the pick-up placement gripper comprises a base, a gripping head and a drive unit for moving the gripping head in a pick-up placement direction relative to the base towards a support plane, the gripping head being configured for holding a tire component in a gripper plane, the gripping head being tiltable between a first orientation and a second orientation, the gripper plane is parallel to the support plane in one of the first orientation and the second orientation, and wherein the pick-up placement system further comprises a spacer for defining a minimum spacing distance between the gripper plane and the support plane when the gripper head is in said one orientation.

Description

Technical Field

[0001] The utility model relates to a picking and placing system and a tire production line comprising the picking and placing system. Background Art

[0002] EP 3 144 130 A1 discloses a gum strip applicator for applying a gum strip over a butt joint between two ply strips at a butt splicer. The gum strip applicator comprises a gum strip conveyor and a transfer device for automatically removing the gum strip from the gum strip conveyor and placing the gum strip onto the butt splicer at the butt joint between the two ply strips. The transfer device comprises a vacuum head which is resiliently mounted to provide a force against the gum strip when placing the gum strip at the butt joint. In particular, a biasing member such as a compression spring may be provided to apply a desired application force against the gum strip. Utility Model Content

[0003] A disadvantage of known adhesive strip applicators is that the butt splicer and the adhesive strip conveyor may not be properly aligned in the vertical direction. When the height of the vacuum head is calibrated relative to the butt splicer, the vacuum head may be positioned too low or too high relative to the adhesive strip conveyor. When the vacuum head is positioned too low, the force applied to the adhesive strip may cause the adhesive strip to stick to the adhesive strip conveyor, making it difficult to reliably pick up the adhesive strip. Moreover, the force may cause damage to the adhesive strip. When the vacuum head is positioned too high, the vacuum head may also not be able to reliably pick up the adhesive strip due to lack of suction.

[0004] The utility model aims to provide a pick-and-place system and a tire production line for picking up tire components, wherein the picking up of tire components can be improved.

[0005] According to a first aspect, the utility model provides a pick-and-place system for picking up a first tire component, wherein the pick-and-place system includes a support for supporting the first tire component in a support plane and a pick-and-place gripper for picking up the first tire component from the support, wherein the pick-and-place gripper includes a base, a first gripper head, and a drive unit for moving the first gripper head relative to the base toward the support plane in a pick-and-place direction, wherein the first gripper head is constructed to hold the first tire component in a gripper plane, wherein the first gripper head can be tilted between a first orientation and a second orientation different from the first orientation about a tilt axis perpendicular to the pick-and-place direction, wherein the gripper plane is parallel to the support plane in one of the first orientation and the second orientation, wherein the pick-and-place system also includes a first spacer for limiting a minimum spacing distance between the gripper plane and the support plane when the first gripper head is in said one orientation.

[0006] The first gripping head can align itself relative to the support in an automatic and / or compliant manner so that the gripper plane extends parallel to or approximately parallel to the support plane so that the first tire component can be picked up when the first tire component is supported on the support in the support plane. According to the utility model, by keeping the first gripping head at a minimum spacing distance, the first gripping head can be prevented from being positioned too low or too high relative to the first tire component to be picked up. In particular, the minimum spacing distance can be selected to be optimal for picking up the first tire component without applying excessive pressure to the first tire component. In fact, the minimum spacing distance can be selected to be slightly larger than the thickness of the first tire component so that the first gripping head does not initially contact the first tire component, but is close enough to pick up the first tire component by suction.

[0007] In one embodiment, the minimum spacing distance is at least half a millimeter, and preferably at least one millimeter. Such a spacing distance may be sufficient to reliably pick up a first tire component of equal or slightly less thickness, such as a rubber strip, without over-pressing the first tire component against the support and / or damaging the first tire component.

[0008] In another embodiment, the first gripping head can be positioned in a pick-up position above the support plane in the pick-and-place direction for picking up the first tire component from the support, wherein when the first gripping head is in the pick-up position, the first spacer is located between the first gripping head and the support in the pick-and-place direction. Therefore, the first spacer can physically separate the first gripping head from the support at a position between the first gripping head and the support. Note that the first spacer can be held relative to the support and / or connected to the support. Alternatively, the first spacer can be connected to the first gripping head and / or protrude from the first gripping head.

[0009] Preferably, the first spacer comprises a bridge extending between the first gripping head and the support in a bridge direction perpendicular to the pick-and-place direction when the first gripping head is in the pick-up position. By placing the bridge in such a way that it extends across the support in the bridge direction, it is allowed to support the bridge relative to the support on one side of the support. Thus, the support itself can be kept away from components associated with the bridge, which could potentially interfere with the support and / or transfer of the first tire component on the support.

[0010] More preferably, the first spacer comprises a first leg for positioning the bridge relative to the support, wherein the bridge protrudes from the first leg above the support in a bridge direction.Thereby, the bridge can extend above the support in said bridge direction without interfering with the first tire component on said support.

[0011] Most preferably, the first spacer comprises a second leg for positioning the bridge relative to the support, wherein the first leg and the second leg are positioned on opposite sides of the support in the direction of the bridge. By supporting the bridge on both sides of the support, the bridge can hold the first gripping head at the minimum spacing distance in a more stable and / or rigid manner.

[0012] In another embodiment, the first spacer forms a resting surface for resting the first gripping head on said first spacer in a pick and place direction.The first gripping head can thereby be supported in physical abutment against the first spacer.

[0013] Preferably, the resting surface is arranged at a set spacer height above the support plane. The spacer height can be selected so that the gripper plane remains at a minimum spacing distance. Note that the spacer height can be different from the minimum spacing distance, for example to create a spacing between the first spacer and the support without increasing the minimum spacing distance.

[0014] More preferably, the first spacer comprises a spacer body and a height adjuster, which defines a resting surface relative to the spacer body and sets the spacer height. The height adjuster may be adjustable, such as a screw adjuster, or may be removable, detachable and / or replaceable for alternative height adjusters with different heights, so as to set the desired spacer height. By varying the spacer height, the minimum spacing distance may be adjusted, for example when different tire components with different thicknesses are to be picked up.

[0015] In another embodiment, the first spacer comprises a spacer body extending away from the support plane at a gap height to define a feed gap for the first tire component between the support plane and the spacer body. The feed gap allows the first tire component to pass under the spacer body without contacting the spacer body.

[0016] In another embodiment, the first spacer defines a minimum spacing distance at the first spacing position, wherein the pick-and-place system further comprises a second spacer for defining the minimum spacing distance at the second spacing position, the second spacing position being spaced apart from the first spacing position in a longitudinal direction parallel to the support plane and perpendicular to the tilt axis. By providing two spacers at two spacing positions, the first gripping head can be supported in a more reliable and / or stable manner. In particular, the first gripper can be compliantly pushed or forced into the one orientation in which the gripper plane is parallel to the support plane. Moreover, the picking area in the longitudinal direction between the two spacing positions can remain free of spacers, thereby allowing the first tire component to be picked up in the picking area without the spacer interfering with the picking.

[0017] Preferably, the pick and place system comprises a conveyor forming a support surface and being configured for conveying the first tire component in a feed direction parallel to the longitudinal direction, wherein the second spacer is located downstream of the first spacer in the feed direction. Thus, the spacers can be spaced apart from each other in the feed direction. Moreover, when this embodiment is combined with the aforementioned embodiment in which a feed gap is introduced at the first spacer, it will be understood that the first tire component can be fed into the pick-up area between the two spacers in the feed direction through the feed gap below the first spacer.

[0018] In another embodiment, the first gripping head comprises a gripper body forming a first abutment surface for resting on the first spacer. The first abutment surface may be particularly dedicated and / or adapted to rest on the first spacer in a reliable and / or stable manner. Moreover, the first abutment surface may remain free of components of the first gripping head responsible for picking up the first tire component, so that the placement of the first gripping head on the first spacer does not interfere with the ability of the first gripping head to pick up the first tire component.

[0019] Preferably, the gripper body also forms a holding surface of the gripper body for holding the first tire component into the gripper plane, wherein the first abutment surface is recessed away from the support plane relative to the holding surface in a recessed direction parallel to the pick-and-place direction. Thus, the first gripper head can be supported on the first spacer at a height above the support plane exceeding the minimum spacing distance while maintaining the holding surface at the gripper plane. This allows the first spacer to be designed as previously described with a spacer height above the minimum spacing distance, for example for providing the aforementioned feed gap.

[0020] In another embodiment, the pick and place system further comprises a first suspension member and a second suspension member for suspending the first gripping head at a first suspension height and a second suspension height, respectively, relative to the base, wherein the first suspension member is configured to change the first suspension height relative to the second suspension height. Thus, by changing at least the first suspension height to be different from the second suspension height, the gripping head can be tilted about the tilt axis.

[0021] Preferably, the second suspension member is configured to change the second suspension height relative to the first suspension height.Thus, both suspension heights can be changed to allow the first gripping head to assume said one orientation with the gripper plane parallel to the support plane.

[0022] More preferably, the drive unit comprises a first pick and place drive and a second pick and place drive, which are operably connected to the first suspension member and the second suspension member for controlled displacement of the suspension members in a pick and place direction. The pick and place drive can, for example, be used to displace the suspension members away from the support in the pick and place direction when the first tire component is held to the first gripping head for picking up the first tire component from the support. Additionally or alternatively, the pick and place drive can be used to actively tilt the first gripping head about a tilting axis, for example to position the first gripping head in said one orientation already before the first gripping head contacts the first spacer.

[0023] Most preferably, the first gripping head is configured to be displaceable parallel to the pick and place direction independently of the first pick and place drive and the second pick and place drive, wherein the pick and place system is further provided with a displacement sensor at each suspension member for distinguishing between controlled and independent displacement of the respective suspension member. The displacement sensor is capable of detecting when the first gripping head is displaced and / or lifted in an uncontrolled manner, for example due to irregularities in the first tire component. The process can then be interrupted and an operator can be alerted to investigate.

[0024] In another embodiment, the drive unit is further configured to move the pick and place gripper in a first drive direction orthogonal to the pick and place direction and in a second drive direction orthogonal to the first drive direction and the pick and place direction. Thus, the drive unit can operate like an XYZ drive system, wherein the orthogonal XYZ directions correspond to the two drive directions and the pick and place direction. Tilting of the first gripping head about the tilt axis provides a fourth degree of freedom.

[0025] In another embodiment, the pick-and-place gripper further comprises a second gripping head for holding a second tire component, wherein the second gripping head can be tilted in the same manner as the first gripping head, wherein the first spacer is configured to define a minimum separation distance also at the second gripping head. Thus, the same first spacer can be used to hold both gripping heads at the minimum separation distance.

[0026] Preferably, the first gripping head and the second gripping head are arranged side by side in the lateral direction, wherein the first spacer extends in the lateral direction across the spacer width of the first gripping head and the second gripping head. In other words, the first spacer is wide enough to support both gripping heads simultaneously. Therefore, no dedicated spacer is required for the second gripping head.

[0027] Additionally or alternatively, the first gripping head and the second gripping head are configured to pick up strip-shaped tire components, in particular adhesive strips. By providing the gripping heads at the pick-and-place gripper, two adhesive strips can be picked up and transferred to the buffer layer station and / or the adhesive strip folding station in a single transfer action. The two adhesive strips can be picked up simultaneously or one after another. Once the gripping heads of the pick-and-place gripper hold the two adhesive strips, they can be transferred simultaneously.

[0028] In another embodiment that can also be applied to the gripping head independently of the pick and place system, the first gripping head includes a gripper body, the gripper body forming a holding surface of the gripper body for holding the first tire component to the gripper plane, wherein the first gripping head also includes a plurality of holding openings for holding the first tire component to the gripper body by suction and a verification opening for verifying that the first tire component is properly held to the plurality of holding openings, wherein the gripper body forms a vacuum chamber arranged to be in air communication with the plurality of holding openings and a verification chamber arranged to be in air communication with the verification openings, wherein the verification chamber is also arranged to be in air communication with the vacuum chamber via a connecting channel, and wherein the pick and place system also includes a vacuum sensor for measuring the pressure in the verification chamber.

[0029] When the first tire component is picked up by the plurality of holding openings by suction, some of the plurality of holding openings may not be covered or completely covered by the first tire component, resulting in a certain amount of leakage. When the number of holding openings in the plurality of holding openings is large, for example more than twenty, the pressure loss will be minimal and it will be difficult to notice such a leak. In order to improve the accuracy of leak detection, the pressure in the vacuum chamber is compared with the pressure in the verification chamber. If the verification opening is covered, the pressures should be equal. If the verification opening is not covered, the ambient pressure will enter the verification chamber, thereby creating a pressure difference between the verification chamber and the vacuum chamber. The vacuum sensor can directly measure the pressure in the verification chamber, and can therefore accurately determine whether such a pressure difference is significant and / or indicates a leak.

[0030] Preferably, the verification opening has a first surface area in cross section, wherein the connecting channel has a second surface area in cross section that is equal to or smaller than the first surface area. By restricting the air flow from ambient air to the verification chamber and the vacuum chamber to the same cross section, the pressure measured in the verification chamber should be more or less close to the average between the ambient pressure and the pressure in the vacuum chamber. Thus, there will be a significant pressure difference between the vacuum chamber and the verification chamber, which pressure difference can be effectively used to determine whether a leak has occurred during the picking up of the first tire component.

[0031] According to the second aspect, the utility model provides a tire production line, comprising a pick-up and place system according to any one embodiment of the first aspect of the utility model, wherein the tire production line also includes a rubber strip supply station, a buffer layer supply station and / or a rubber strip folding station, wherein the pick-up and place system is constructed to transfer one or more rubber strips from the rubber strip supply station to the buffer layer supply station and / or the rubber strip folding station.

[0032] The tire production line according to the second aspect comprises the pick-and-place system according to the first aspect of the utility model, and thus has the same technical advantages, which will not be repeated below.

[0033] In one embodiment of the cutting device, which can also be applied to a tire production line independent of the above, the rubber strip supply station comprises a cutting device for cutting the continuous strip into a certain length to form the rubber strip, wherein the cutting device comprises a cutting table for supporting the continuous strip in a cutting plane and a holder for holding the cutting table, wherein the cutting table is rotatable about one or more rotation axes parallel to the cutting plane. Thus, the orientation of the cutting table can be made to conform to an opposing surface (such as an anvil) positioned directly opposite to the cutting table, even if the opposing surface is positioned at a slight angle to the initial orientation of the cutting plane.

[0034] Preferably, the one or more axes of rotation include a first axis of rotation and a second axis of rotation orthogonal to the first axis of rotation.Thus, the cutting table has at least two degrees of freedom to accommodate orientation of the opposing faces.

[0035] Additionally or alternatively, at least one of the one or more rotation axes coincides with the cutting plane.In this way, the cutting table can be kept at the same height for at least one position along said one rotation axis.

[0036] In a further embodiment, the first gripping head comprises an anvil which cooperates with the cutting table to hold the continuous strip for cutting, wherein the cutting table can be freely rotated about one or more axes of rotation to adapt its orientation to the anvil. As previously described, the cutting table can thereby passively or compliantly follow and / or adapt its orientation to the orientation of the anvil.

[0037] Whenever possible, the various aspects and features described and shown in the specification may be applied separately. These separate aspects may be made subject to divisional patent applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be explained based on exemplary embodiments shown in the schematic drawings, in which:

[0039] Figure 1An isometric view of a tire production line according to a first exemplary embodiment of the present invention is shown, the tire production line comprising a pick-and-place gripper with two gripping heads, a strip supply station, a strip folding station and a buffer supply station;

[0040] Figure 2 , Figure 3 and Figure 4 The method for picking up a first tire component during the steps of the method according to Figure 1 A side view of a pick and place gripper and adhesive tape supply station of FIG. 1 , which is simplified by showing only one of the two gripping heads;

[0041] Figure 5 Shows Figure 2 A front view of a simplified pick and place gripper and tape supply station;

[0042] Figure 6 Shown during the step of replacing the height adjuster Figure 5 A front view of the adhesive tape supply station;

[0043] Figure 7 A front view of an alternative adhesive tape supply station according to a second exemplary embodiment of the present invention is shown;

[0044] Figure 8 and Fig. 9 They are shown according to Figure 1 A side view and a front view of a pick and place gripper and a tape supply station, which includes two gripping heads;

[0045] Fig.10 and Fig.11 The method for hanging during the step of adjusting the hanging height of the corresponding gripping head is shown. Figure 1 A side view of a suspension member of a gripping head;

[0046] Fig.12 and Fig.13 The method of holding the first tire component by suction is shown during the step of holding the first tire component by suction. Figure 1 A side view of a vacuum area of ​​a gripping head;

[0047] Fig.14 A top view of a cutting device of a tape supply station having multiple cutting stations is shown;

[0048] Fig.15 and Fig.16 Shows Fig.14 A side view of a cutting table;

[0049] Fig.17 and Fig.18 Shows Fig.14A front view of a cutting table; and

[0050] Fig.19 Shown according to Figure 1 Isometric view of the drive unit of the pick and place gripper. DETAILED DESCRIPTION

[0051] Figure 1 A tire production line 100 according to an exemplary embodiment of the utility model is shown, which is used to manufacture a green tire or an unvulcanized tire or its tire components G1, G2. In particular, the tire production line 100 as shown is configured to cut into a certain length and apply rubber strips G1', G2' at or around the longitudinal edges of the buffer layers K1, K2. However, it will be obvious to those skilled in the art that the utility model can also be applied to other tire components G1, G2, in particular to strip-shaped tire components, such as sidewalls, apex strips, reinforcing strips and / or chafers.

[0052] like Figure 1 As shown, the tire production line 100 includes a buffer layer supply station 101 for supplying buffer layers K1 and K2, a rubber strip supply station 102 for supplying rubber strips G1' and G2', and a rubber strip folding station 103 for optionally folding the rubber strips G1' and G2' around the edges of the buffer layers K1 and K2. The tire production line 100 also includes a pick-and-place system 1, which is used to pick up the rubber strips G1' and G2' from the rubber strip supply station 102, and is used to transfer and / or place the picked-up rubber strips G1' and G2' to the rubber strip folding station 103 or directly transfer and / or place them to the buffer layer supply station 101.

[0053] When the adhesive strips G1', G2' are applied only to one side of the buffer layers K1, K2, the adhesive strips G1', G2' can be directly applied to the buffer layers K1, K2 at the buffer layer supply station 101. When the adhesive strips G1', G2' are to be folded around the edges, the adhesive strips G1', G2' are first provided to the adhesive strip folding station 103, and then one of the buffer layers K1, K2 is transferred from the buffer layer supply station 101 to the adhesive strip folding station 103 and placed on the adhesive strips G1', G2'. The adhesive strip folding station 103 includes a folding mechanism, such as that disclosed in WO 2018 / 139917 A1, to fold the adhesive strips G1', G2' around the edge of the one buffer layer K1, K2. Alternatively, the adhesive strips G1 ′, G2 ′ may be folded around the edges of the buffer layers K1 , K2 during operation or movement, wherein a set of gradually inclined folding rollers are arranged in the buffer layer supply station 101 along the conveying path of the buffer layers K1 , K2 .

[0054] like Figure 1 As further shown, the adhesive strip supply station 102 comprises a cutting device 120 having one or more cutting stations 121 - 123 , in this example three cutting stations 121 - 123 , for receiving the continuous strip G from an upstream station, such as an extruder (not shown).

[0055] like Fig.14 As best seen in FIG. 1 , each cutting station 121-123 is provided with a cutting slot 124-126 through which a cutter can pass to cut the continuous strip G into a certain length to form a single adhesive strip G1', G2'. In this example, the cutting slot 124-126 is V-shaped. Each cutting slot 124-126 has a different V-shaped angle, thereby allowing the continuous strip G to be cut at the different angles. When switching to a different cutting station 121-123 to cut the continuous strip G, the front end of the continuous strip G cut last time is cut off by the newly selected cutting station 121-123 and discarded as waste. Then, the predetermined length of the adhesive strip G1', G2' cut at the newly selected cutting station 121-123 is supplied to the outside of the cutting slot 124-126 of the newly selected cutting station 121-123. Subsequently, the continuous strips G1', G2' can be cut into a certain length.

[0056] Figures 15 to 18 The first cutting table 121 of the one or more cutting tables 121-123 is shown in more detail. It will be apparent to those skilled in the art that the features described in conjunction with the first cutting table 121 apply mutatis mutandis to the other cutting tables 122, 123.

[0057] When compared Figures 15 to 18 , the first cutting table 121 is shown to be rotating about a first rotation axis R1 and a second rotation axis R2, the second rotation axis being orthogonal to the first rotation axis R1, and both being parallel to the cutting plane C. In particular, the cutting device 120 includes a holder 127 for holding the first cutting table 121 in a particular orientation. The holder 127 includes one or more mechanisms that provide the first cutting table 121 with the above-mentioned degrees of freedom. In this exemplary embodiment, as Fig.15 and Fig.16 As shown, the holder 127 includes one or more linkage mechanisms 128 to allow the first cutting table 121 to rotate around the first rotation axis R1. Fig.17 and Fig.18 As shown, the retainer 127 includes an arcuate slot 129 and a pin that can move through the slot to allow the first cutting table 121 to rotate around the second rotation axis R2. Fig.17 and Fig.18The arcuate slot 129 in the embodiment extends concentrically with the virtual axis, and conveniently extends within or coincides with the cutting plane C.

[0058] It should be understood that many alternative mechanisms can produce the same effect, which will also be included in the scope of the present invention.

[0059] The cutting device 120 further comprises a cutting table pusher 192 for pushing the first cutting table 121 upwards towards the opposing surface and / or the anvil 59 at the first gripping head 5 so that the first cutting table 121 can automatically adapt to the orientation of the opposing surface and / or the anvil 59 .

[0060] like Figure 1 As shown, the pick and place system 1 comprises a support 2 for supporting the adhesive strips G1', G2' in a support plane A. In this example, the support 2 comprises a conveyor for conveying and / or feeding the adhesive strips G1', G2' in or along the support plane A in a feeding direction F. Specifically, the conveyor 21 comprises an endless conveyor belt 22, which defines a support surface 20 for supporting the adhesive strips G1', G2' in the support plane A in its upper stroke.

[0061] Note that the conveyor 21 can also be considered as a part of the adhesive tape supply station 102 .

[0062] The pick and place system 1 further comprises a pick and place gripper 3 for picking up the adhesive strips G1', G2' from the support 2. The pick and place gripper 3 comprises a base 4, a first gripping head 5, a second gripping head 5' and a drive unit 9 for moving the gripping heads 5, 5' relative to the base 4 along a pick and place direction Z towards the support plane A.

[0063] In this exemplary embodiment, the drive unit 9 provides the gripping head 5, 5' with at least three degrees of freedom, in particular in a first drive direction X, a second drive direction Y orthogonal to the first drive direction X, and a pick-and-place direction Z orthogonal to both the first drive direction X and the second drive direction Y. The first drive direction X may alternatively be referred to as a lateral direction L or a bridge direction. The second drive direction Y may alternatively be referred to as a feed direction F or a longitudinal direction.

[0064] In this example, the pick and place direction Z is vertical or substantially vertical. Therefore, the first drive direction X and the second drive direction Y are horizontal or substantially horizontal.

[0065] Fig.19 A part of the drive unit 9 is shown in more detail. The drive unit 9 comprises a Figure 1The drive frame 90 of the pick and place gripper 3. The drive frame 90 can be moved laterally in a first drive direction X or in a lateral direction L over or along a set of drive rails 91. The drive unit 9 comprises a lateral drive 92 for driving said lateral movement. In this example, the lateral drive 92 is formed by two individually controllable lateral motors 93, 94, which allow minor corrections and / or adjustments of the orientation of the pick and place gripper 3 about the vertical correction axis N, for example to align the pick and place gripper 3 with the vertical correction axis N. Figure 1 The adhesive strip supply station 102 is aligned.

[0066] As mentioned above, the pick and place gripper 3 has two gripping heads 5, 5' and can therefore be considered a double gripper. However, it should be understood that the present invention can also be applied to a pick and place gripper 3 having a single gripping head (eg only the first gripping head 5).

[0067] In such Figure 1 In the double gripper configuration shown, the first gripper head 5 and the second gripper head 5' are configured to pick up the first adhesive strip G1' and the second adhesive strip G2' respectively simultaneously or one after another. The gripper heads 5, 5' are located side by side in the first driving direction X or lateral direction L. In this example, the gripper heads 5, 5' are both suspended from and / or carried by the same base 4.

[0068] exist Figures 2 to 5 In FIG. 1 , a pick-and-place gripper 3 is shown in simplified form with only the first gripping head 5. Note that Figure 8 and Fig. 9 , a pick and place gripper 3 is shown having a first gripping head 5 and a second gripping head 5'. The second gripping head 5' is shown in dotted lines and is shown slightly offset relative to the first gripping head 5. However, in reality, the second gripping head 5' may be directly and / or completely behind the first gripping head 5 and may thus be completely hidden from view.

[0069] It should be understood that the first gripping head 5 and the second gripping head 5' have similar features and / or functions in the way they pick up their respective adhesive strips G1', G2'. Therefore, the operation of the first gripping head 5 is explained below with reference only to the first gripping head 5. However, the following description also applies to the second gripping head 5', mutatis mutandis.

[0070] like Figure 2As best seen in the figure, the first gripping head 5 includes a gripper body 50, which forms or defines a holding surface 51 for holding the first rubber strip G1' to the gripper body 50 in the gripper plane B. In this example, the gripper body 50 is elongated and / or extends along a length sufficient to pick up the entire length of the first rubber strip G1'. In particular, the first gripper body 50 can be formed as a beam. The first gripping head 5 also includes a plurality of holding openings 52, which enter or enter the gripper plane B from the gripper body 50, for holding the first tire component G1 in the gripper body 50 by suction. The holding openings 52 are grouped into a plurality of independently controllable vacuum areas V.

[0071] Fig.12 and Fig.13 One vacuum region V is shown in more detail. The first gripping head 5 is provided with a vacuum chamber 54 in each vacuum region V, which is arranged in air communication with a plurality of holding openings 52 of the respective vacuum region V. The first gripping head 5 is also provided with a vacuum channel 56 for connecting the vacuum chamber 54 to a (partial) vacuum source.

[0072] The first gripping head 5 is also provided with a verification opening 53 from the gripper body 50 into or into the gripper plane B. The cross section of the verification opening 53 has a first surface area. The verification opening 53 is strategically positioned relative to the holding opening 52 to check the presence, absence and / or correctness of the holding of the first adhesive strip G1' at the first gripping head 5 at the location of the verification opening 53. The verification opening 53 can, for example, be located in the feed direction F directly downstream of a plurality of holding openings 52 of the corresponding vacuum region V.

[0073] The first gripping head 5 further comprises a verification chamber 55 arranged in air communication with the verification opening 53. The verification chamber 55 is also arranged in air communication with the vacuum chamber 54 via a connecting channel 57. The connecting channel 57 has a second surface area equal to or smaller than the first surface area of ​​the verification opening 53 in cross section.

[0074] The pick and place system 1 further comprises a vacuum sensor 58, which is operably connected to or arranged in or at the first gripping head 5, for measuring the pressure in the verification chamber 55. By limiting the air flow from the ambient air to the verification chamber 55 and the vacuum chamber 54 to the same cross section, the pressure measured in the verification chamber 55 should be more or less close to the average value between the ambient pressure and the pressure in the vacuum chamber 54. Therefore, when the first adhesive strip G1' does not completely cover all the holding openings 52 and / or the verification openings 53 in the corresponding vacuum area V, as shown in FIG. Fig.13 As schematically shown by the dashed line in FIG. 5 , there will be a significant pressure difference between the vacuum chamber 54 and the verification chamber 55 , which can be effectively used to determine whether a leak occurs during the picking up of the first adhesive strip G1 ′.

[0075] like Fig.15 As shown, the first gripping head 5 is also provided with one or more anvils 59. When the first gripping head 5 is in the picking position above the adhesive tape supply station 102, the anvils and Figure 1 One or more cutting tables 121 - 123 of the middle cutting device 120 are directly opposed to each other to cooperate with the knives 128 of the corresponding cutting tables 121 - 123 to cut the continuous strip G into certain lengths.

[0076] like Figures 15 to 18 As shown, the first cutting table 121 can be optionally provided with one or more guide wheels 190, which can allow relative movement between the pick-and-place gripper 3 and the first cutting table 121 in the longitudinal direction, and keep the cutting plane C slightly separated from the gripper plane B to prevent excessive force from being applied to the first adhesive strip G1'.

[0077] like Figures 2 to 4 As shown, the first gripping head 5 and the support 2 may not be properly aligned. In particular, the support plane A defined by the support 2 may be slightly angled with the gripper plane B of the first gripping head 5. In order to compensate for the misalignment, the first gripping head 5 may be tilted about a tilting axis T perpendicular to the pick-and-place direction Z in the manner shown in FIG. Figure 2 and Figure 3 The first orientation shown (in this example, the neutral or horizontal orientation) and the Figure 4 The second orientation shown is different from the first orientation (in this example, an inclined orientation). In the first orientation, the gripper plane B extends at an angle to the support plane A, while in the second orientation, the gripper plane B is parallel or approximately parallel to the support plane A.

[0078] In order to allow tilting of the first gripping head 5, the pick and place system 1 is provided with a first suspension member 6 and a second suspension member 6' for suspending the first gripping head 5 relative to the base 4 at a first suspension height S1 and a second suspension height S2, respectively. Figure 8 As shown, similar suspension members may be provided for the second gripping head 5' without reference numerals. The drive unit 9 comprises a longitudinal drive 95, such as a timing belt, which moves at least one of the suspension members 6, 6' in a second drive direction Y or longitudinal direction. The other suspension member 6' may be slidably mounted on a guide rail for movement in the same direction. At least one of the suspension members 6, 6', and in this example both, are configured for changing their respective suspension heights S1, S2.

[0079] like Figures 2 to 4As further shown, the drive unit 9 comprises a first pick and place drive 96 and a second pick and place drive 97, which are operatively connected to the first suspension member 6 and the second suspension member 6' for controlled displacement of said suspension members 6, 6' and thereby the first gripping head 5 in the pick and place direction Z. In this example, the pick and place drives 96, 97 comprise a drive cam 98 having a cam lobe 99, which converts a rotation of the drive cam 98 into an upward movement of the respective suspension member 6, 6'.

[0080] Fig.10 and Fig.11 The operation of the first pick and place drive 96 and the first suspension member 6 is shown in more detail. It should be understood that the following description applies mutatis mutandis to the second suspension member 6' and the second pick and place drive 97.

[0081] like Fig.10 As shown, the first suspension member 6 includes a carriage 60 that can move along a set of tracks in a pick-and-place direction Z. Figure 2 As shown, the carriage 60 is provided with a first shaft 60 for carrying the first gripping head 5. Fig.10 6, note that the first suspension member 6 is provided with a lever 62 rotatable about a hinge 63. The first suspension member 6 is also provided with a follower 64, in particular a cam stick, which is mounted to the lever 62 at one side of the hinge 63 to rest on the drive cam 98 of the first pick and place drive 96. The first suspension member 6 may optionally be provided with a biasing member 65, such as a spring, to bias the follower 64 into contact with the drive cam 98.

[0082] Note that as long as the follower 64 is supported by the drive cam 98, the abutment between the follower 64 and the drive cam 98 prevents the lever 62 from rotating about the hinge 63. Therefore, the orientation of the lever 62 about the hinge 63 does not change. However, when the first suspension member 64 is lifted away from the drive cam 98, for example due to irregularities of the first adhesive strip G1' or due to contact with one of the spacers 8, 8', the lever 62 is free to rotate about the hinge 63, and due to the biasing force applied to the lever 62 by the biasing member 65, the lever will rotate freely. Therefore, when the first suspension member 64 is lifted in the pick-and-place direction Z independently of the drive cam 98, the orientation of the lever 62 is changed.

[0083] In this example, the first suspension member 6 is also provided with a displacement sensor 66 which is able to distinguish between a controlled displacement caused by the first pick and place drive 96 displacing the first suspension member 6 and an independent displacement of the first suspension member 6. In particular, the displacement sensor 66 is positioned so that when the lever 62 is in a position such as Fig.10 In the orientation shown, it can detect proximity and / or contact with the lever 62, and when the lever 62 is in .... Fig.11 In the orientation shown, it can detect that it is not in contact with the lever 62 or is at a certain distance from it.

[0084] like Figure 4 As best seen in FIG. 1 , the pick and place system 1 further comprises a first spacer 8 and a second spacer 8' located at the first spaced position P1 and the second spaced position P2, respectively, the first spacer and the second spacer being spaced apart along the feed direction F. When the first gripping head 5 is in the second orientation, the spacers 8, 8' define a minimum spacing distance D between the gripper plane B and the support plane A. In particular, the minimum spacing distance D is the distance between the holding surface 51 and the support surface 20 when the first gripping head 51 is in the second orientation, resting on the spacers 8, 8'. In this example, the minimum spacing distance D is at least half a millimeter, and preferably at least one millimeter.

[0085] In this example, when the first gripping head 5 is in the pick-up position above the support 2, the spacers 8, 8' are located between the first gripping head 5 and the support 2 along the pick-up and placement direction Z. In particular, Figure 1 As best seen in FIG. 2 , the two spacers 8 , 8 ′ extend across the support surface 20 in the first drive direction X, in the lateral direction L and / or in the bridge direction.

[0086] In this example, the spacers 8, 8' are similar or identical. Therefore, the spacers 8, 8' will be described below with reference only to the first spacer 8. However, it should be understood that the following description applies mutatis mutandis to the second spacer 8'.

[0087] like Figure 5 As best seen in FIG. 1 , the first spacer 8 comprises a spacer body 80 formed by a bridge 83 extending between the first gripping head 5 and the support 2 in a first drive direction X, lateral direction L or bridge direction when the first gripping head 5 is in the pick-up position. In this example, the spacer body 80 also comprises a first leg 81 and a second leg 82 on opposite sides of the support 2 for positioning the bridge 83 relative to the support 2.

[0088] The first spacer 8 forms a resting surface 84 for resting the first gripping head 8 on the first spacer 8 along the pick-and-place direction Z. The resting surface 84 is arranged at a set spacer height H1 above the support plane A. In this example, the first spacer 8 includes a spacer body 80 and a height adjuster 85, which defines the resting surface 84 relative to the spacer body 80 and sets the spacer height H1. Figure 6 As shown, the height adjuster 85 can be formed as an insert that can be disassembled and / or removed from the spacer body 80 to be interchanged with an alternative height adjuster 85' that sets a different spacer height H1. Alternatively, the height of the height adjuster 85 itself can be adjusted (not shown), for example, by adjusting a screw, bolt, etc.

[0089] like Figure 5 As further shown, the spacer body 80 extends away from the support surface A at a gap height H2 to define a feed gap 86 for the first adhesive strip G1 ′ between the support surface 20 and the spacer body 80 . Figure 1 As shown, the first adhesive strip G1 ′ can be fed in the feeding direction F below or through the feed gap 86 in the first spacer 8 into a pick-up area between the first spacer 8 and the second spacer 8 ′ in the feeding direction F.

[0090] Note that a feed gap 86 also exists at the second spacer 8 ′, but is not strictly necessary, since the first glue strip G1 ′ does not normally pass through the second spacer 8 ′ in the feed direction F.

[0091] Figure 7 An alternative first spacer 108 is shown which differs from the first spacer 8 described above only in that it has a single leg 181 for supporting a bridge 183 from only one side of the support 2 .

[0092] like Figure 2 As best seen in FIG. 1 , the gripper body 50 of the first gripping head 5 further defines or forms a first abutment surface 71 and a second abutment surface 72 for resting on the first spacer 8 and the second spacer 8 ', respectively. In this example, the two abutment surfaces 71, 72 are recessed relative to the holding surface 51 along a recess direction R away from the support plane A parallel to the pick-and-place direction Z. Thus, the first gripping head 5 can be supported on the spacers 8, 8' at a spacer height H1 greater than the minimum spacing distance D.

[0093] Note that similar to Figures 2 to 4 Simplified representation of the pick and place gripper 3 in FIG. 1 , the first spacer 8 is also shown in a simplified manner in FIG. Figure 5 , Figure 6 and Figure 7 , because it is shown as interacting only with the first gripping head 5 of the simplified pick-and-place gripper 3. However, in the case of a dual configuration of the pick-and-place gripper 3, such as Fig. 9 As shown, the first spacer 8 may have a spacer width W along the lateral direction L that is sufficient to span and / or support the first gripping head 5 and the second gripping head 5 ′ side by side on the same spacer body 80 .

[0094] Now refer to Figures 1 to 19 A method for picking up a rubber strip G1 ′, G2 ′ or any other strip-shaped tire component G1 , G2 using the above-described tire production line 100 and in particular the above-described pick and place system 1 is briefly described.

[0095] Figure 1The feeding of rubber strips G1', G2' onto the support surface 20 of the rubber strip feeding station 102 is shown along the feeding direction F. The rubber strips G1', G2' are supported in the support plane A and are ready to be picked up by the pick and place gripper 3. On the other side of the tire production line 100, the buffer layers K1, K2 are fed by the buffer layer feeding station 101. One of the buffer layers K1, K2 can optionally be transferred to the rubber strip folding station 103.

[0096] Figure 2 A situation in which the first gripping head 5 is moved into a pick-up position above and / or over the support surface 20 is shown.

[0097] Figure 3 The first gripping head 5 is shown being moved downwards relative to its base 4 in the pick-and-place direction Z towards the support surface 20 by the drive unit 9 until the first abutment surface 71 is in abutment contact with the second spacer 8'. Note that, depending on the misalignment between the pick-and-place gripper 3 and the support 2, the first gripping head 5 may first be in abutment contact with the first spacer 8.

[0098] Figure 4 The situation is shown where the first gripping head 5 has been moved further downwards towards the supporting surface 20 in the pick and place direction Z. Since the first gripping head 5 is already supported on at least one of the spacers 8, 8', the further movement has resulted in a tilting of the first gripping head 5 about the tilting axis T to a second orientation in which the gripper plane B is aligned and / or parallel to the supporting plane A. In this second orientation, the gripper plane B of the first gripping head 5 is tilted to an inclination angle E of a few degrees relative to a drive plane spanned by the first drive direction X and the second drive direction Y or alternatively relative to a horizontal plane.

[0099] During said tilting, the spacers 8, 8' maintain a minimum spacing distance D between the holding surface 51 of the first gripping head 5 and the supporting surface 20 of the supporting element 2. Therefore, the first gripping head 5 does not exert excessive force on the first adhesive strip G1'.

[0100] Optionally, the minimum spacing distance D can be selected to be slightly larger than the thickness of the first adhesive strip G1'. Therefore, when the first gripping head 5 is at the minimum spacing distance D, the first gripping head 5 does not initially contact the first adhesive strip G1'. Fig.12 and Fig.13 The first adhesive strip G1 ′ is only sucked in and held against the holding surface 51 of the first gripping head 5 when the holding element 52 shown is supplied with a (partial) vacuum.

[0101] When the first adhesive strip G1 ′ is held to the first gripping head 5 , the pick and place actuators 96 , 97 may be controlled to move the first gripping head 5 upward in the pick and place direction Z, away from the support plane A. The first adhesive strip G1 ′ may then be transferred by the first gripping head 5 to Figure 1 The buffer layer supply station 102 and / or the adhesive strip folding station 103, where it can be released from the first gripping head 5.

[0102] The steps of the above method can be performed in a dual configuration of the pick and place gripper 3, such as Figure 1 , Figure 8 and Fig. 9 As shown, this is performed simultaneously or one after the other for the two gripping heads 5 , 5 ′, thereby picking up two adhesive strips G1 ′, G2 ′.

[0103] Note that Figure 3 In the process, the first gripping head 5 is still in contact with Figure 2 However, during a previous cycle of the method, the pick and place system 1 may have been calibrated to the inclination angle E required to align the first gripping head 5 with the support 2. Fig.10 and Fig.11 As shown, the displacement sensors 66 can be used for this calibration process, since they are able to detect when and / or at which height position the first gripping head 51 contacts one of the spacers 8, 8' and is lifted independently of the pick and place drives 96, 97. The calibration can be used to tilt the first gripping head 5 about the tilting axis T to the predetermined or previously calibrated tilting angle E using the pick and place drives 96, 97 before the first gripping head 5 contacts either of the spacers 8, 8'. Thus, the first gripping head 5 can be conveniently placed on both spacers 8, 8' almost simultaneously without any further tilting, which otherwise could cause a relative movement between the first gripping head 5 and the support 2, which relative movement could potentially damage the first adhesive strip G1'.

[0104] 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 utility model. From the above discussion, many variations still included in the scope of the utility model will be apparent to those skilled in the art.

[0105] List of reference numerals:

[0106] 1Pick and place system;

[0107] 2 support members;

[0108] 20 support surface;

[0109] 21 conveyor;

[0110] 22 conveyor belts;

[0111] 3. Pick and place gripper;

[0112] 4 base;

[0113] 5. First gripping head;

[0114] 50 gripper body;

[0115] 51 keep face;

[0116] 52 Keep open;

[0117] 53 verification opening;

[0118] 54 vacuum chamber;

[0119] 55 verification room;

[0120] 56 vacuum channel;

[0121] 57 connecting channels;

[0122] 58 vacuum sensor;

[0123] 59 anvil;

[0124] 5. Second gripping head;

[0125] 6 a first suspension member;

[0126] 60 carriages;

[0127] 61 first axis;

[0128] 61' second axis;

[0129] 62 levers;

[0130] 63 hinges;

[0131] 64 follower;

[0132] 65 offset member;

[0133] 66 displacement sensor;

[0134] 6' second suspension member;

[0135] 71 first abutting surface;

[0136] 72 second abutting surface;

[0137] 8 a first spacer;

[0138] 80 spacer body;

[0139] 81 first leg;

[0140] 82 second leg;

[0141] 83 bridges;

[0142] 84 shelf surface;

[0143] 85 height adjuster;

[0144] 85' optional height adjuster;

[0145] 86 feeding gap;

[0146] 8' second spacer;

[0147] 9 drive units;

[0148] 90 drive frame;

[0149] 91 drive track;

[0150] 92 lateral drive;

[0151] 93 first lateral motor;

[0152] 94 second lateral motor;

[0153] 95 longitudinal drive;

[0154] 96 first pickup drive;

[0155] 97 second pickup drive;

[0156] 98 driving cam;

[0157] 99 cam lobes;

[0158] 100 tire production lines;

[0159] 101 Buffer layer supply station;

[0160] 102 adhesive tape supply station;

[0161] 120 cutting device;

[0162] 121 first cutting table;

[0163] 122 second cutting table;

[0164] 123 third cutting table;

[0165] 124 first cutting slot;

[0166] 125 second cutting slot;

[0167] 126 third cutting slot;

[0168] 127 retainer;

[0169] 128 connecting rod mechanism;

[0170] 129 actuating slot;

[0171] 103 adhesive tape folding station;

[0172] 108 optional spacer;

[0173] 181 single leg;

[0174] 183 bridge;

[0175] 190 guide wheel;

[0176] 191 knives;

[0177] 192 cutting table thruster;

[0178] A support plane;

[0179] B gripper plane;

[0180] C cutting plane;

[0181] D minimum separation distance;

[0182] E tilt angle;

[0183] F supply direction;

[0184] G continuous strip;

[0185] G1 first tire component;

[0186] G1' first adhesive strip;

[0187] G2 second tire component;

[0188] G2' second adhesive strip;

[0189] H1 spacer height;

[0190] H2 clearance height;

[0191] K1, K2 buffer layers;

[0192] L lateral;

[0193] N correction axis;

[0194] P1 first interval position;

[0195] P2 second interval position;

[0196] R concave direction;

[0197] R1 first rotation axis;

[0198] R2 second rotation axis;

[0199] S1 first suspension height;

[0200] S2 second suspension height;

[0201] T tilt axis;

[0202] V vacuum area;

[0203] W width;

[0204] X first driving direction;

[0205] Y second driving direction;

[0206] Z picks the placement direction.

Claims

1. A pick and place system for picking up a first tire component, characterized in that The pick and place system comprises a support for supporting the first tire component in a support plane and a pick and place gripper for picking up the first tire component from the support, wherein the pick and place gripper comprises a base, a first gripper head and a drive unit for moving the first gripper head relative to the base toward the support plane in a pick and place direction, wherein the first gripper head is constructed to hold the first tire component in a gripper plane, wherein the first gripper head is tiltable between a first orientation and a second orientation different from the first orientation about a tilt axis perpendicular to the pick and place direction, wherein the gripper plane is parallel to the support plane in one of the first orientation and the second orientation, wherein the pick and place system further comprises a first spacer for limiting a minimum spacing distance between the gripper plane and the support plane when the first gripper head is in the one orientation.

2. The pick and place system according to claim 1, characterized in that The minimum separation distance is at least half a millimeter.

3. The pick and place system according to claim 1, characterized in that The first gripping head is positionable in the pick-up position above the support plane in the pick-up and place direction for picking up the first tire component from the support, wherein the first spacer is located between the first gripping head and the support in the pick-up and place direction when the first gripping head is in the pick-up position.

4. The pick and place system according to claim 3, characterized in that The first spacer comprises a bridge extending between the first gripping head and the support in a bridge direction perpendicular to the pick and place direction when the first gripping head is in the pick position.

5. The pick and place system according to claim 4, characterized in that The first spacer comprises a first leg for positioning the bridge relative to the support, wherein the bridge protrudes from the first leg in the bridge direction above the support.

6. The pick and place system according to claim 5, characterized in that The first spacer comprises a second leg for positioning the bridge relative to the support, wherein the first leg and the second leg are positioned on opposite sides of the support in the direction of the bridge.

7. The pick and place system of claim 1, wherein: The first spacer forms a resting surface for resting the first gripping head on the first spacer along the pick and place direction.

8. The pick and place system according to claim 7, characterized in that The resting surface is arranged at a set spacer height above the supporting plane.

9. The pick and place system according to claim 8, characterized in that The first spacer includes a spacer body and a height adjuster that defines the resting surface relative to the spacer body and sets the height of the spacer.

10. The pick and place system of claim 1, wherein: The first spacer includes a spacer body extending away from the support plane at a gap height to define a feed gap for the first tire component between the support plane and the spacer body.

11. The pick and place system of claim 1, wherein: The first spacer defines the minimum spacing distance at a first spacing position, wherein the pick-and-place system further comprises a second spacer, the second spacer being used to define the minimum spacing distance at a second spacing position, the second spacing position being spaced apart from the first spacing position in a longitudinal direction parallel to the support plane and perpendicular to the tilt axis.

12. The pick and place system of claim 11, wherein: The pick and place system comprises a conveyor forming a support surface and configured for conveying the first tire component in a feed direction parallel to the longitudinal direction, wherein the second spacer is located downstream of the first spacer in the feed direction.

13. The pick and place system of claim 1, wherein: The first gripping head comprises a gripper body forming a first abutment surface for resting on the first spacer.

14. The pick and place system of claim 13, wherein: The gripper body further forms a holding surface of the gripper body for holding the first tire component into the gripper plane, wherein the first abutment surface is recessed away from the supporting plane relative to the holding surface in a recessed direction parallel to the pick and place direction.

15. The pick and place system of claim 1, wherein: The pick-and-place system further comprises a first suspension member and a second suspension member for suspending the first gripping head at a first suspension height and a second suspension height, respectively, relative to the base, wherein the first suspension member is configured to change the first suspension height relative to the second suspension height.

16. The pick and place system of claim 15, wherein: The second suspension member is configured to change the second suspension height relative to the first suspension height.

17. The pick and place system of claim 16, wherein: The drive unit comprises a first pick and place drive and a second pick and place drive operatively connected to the first suspension member and the second suspension member for controlled displacement of the suspension members in the pick and place direction.

18. The pick and place system of claim 17, wherein: The first gripping head is configured to be displaceable parallel to the pick and place direction independently of the first pick and place drive and the second pick and place drive, wherein the pick and place system is further provided with a displacement sensor at each suspension component for distinguishing between a controlled displacement and an independent displacement of the corresponding suspension component.

19. The pick and place system of claim 1, wherein: The drive unit is further configured to move the pick and place gripper in a first drive direction orthogonal to the pick and place direction and in a second drive direction orthogonal to the first drive direction and the pick and place direction.

20. The pick and place system of claim 1, wherein: The pick and place gripper further comprises a second gripping head for holding a second tire component, wherein the second gripping head is tiltable in the same manner as the first gripping head, wherein the first spacer is configured for defining the minimum spacing distance also at the second gripping head.

21. The pick and place system of claim 20, wherein: The first gripping head and the second gripping head are arranged side by side in a lateral direction, wherein the first spacer extends across a spacer width of the first gripping head and the second gripping head in the lateral direction.

22. The pick and place system of claim 20, wherein: The first gripping head and the second gripping head are configured to pick up a strip-shaped tire component.

23. A tire production line comprising a pick-and-place system, the pick-and-place system being the pick-and-place system according to claim 1, characterized in that: The tire production line also includes a rubber strip supply station, a buffer layer supply station or a rubber strip folding station, wherein the pick-up and placement system is constructed to transfer one or more rubber strips from the rubber strip supply station to the buffer layer supply station or the rubber strip folding station.

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