Gripper and processing station for processing bead-apex
By designing a clamp with support members and adjacent members, the damage problem of bead-triangle rubber strips during lifting and centering is solved, achieving a more reliable and precise treatment effect.
Patent Information
- Application Number
- CN202421335323.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2023-06-13
- Filing Date
- 2024-06-12
- Publication Date
- 2025-07-01
- Estimated Expiration
- 2034-06-12
AI Technical Summary
When the existing clamps lift and center the bead-triangle rubber strip, it is easy to cause damage to the rubber strips and inaccurate position. Especially during the treatment of large rubber strips, there are problems of deformation, tear and unpredictable release.
A clamper is designed, including a lifting element distributed in a circumferential direction extending along the clamper axis, each lifting element having a support member and an adjacent member, the support member protruding at least four centimeters, for supporting and centering the bead-triangle strip during clamping, and the lifting element moves synchronously in the outward and inward directions to reduce frictional damage.
It minimizes friction damage of bead-triangle rubber strips during lifting and centering, ensuring more reliable and precise treatment, avoiding deformation and tearing of rubber strips, and improving the reliability of treatment.
Smart Images
Figure CN223045225U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a gripper for processing a bead - apex strip and a processing station. Background Art
[0002] In Figures 2A to 4A and Figures 2B to 4B there is shown a gripper 1002 for lifting a bead - apex strip 9 from a spacer 1008 during steps of a known method for lifting a bead - apex strip 9. The gripper 1002 includes a gripper head 1020 with radially extending arms 1021. The gripper 1002 further includes lifting elements 1022 that are radially movable relative to the arms 1021. Each of the lifting elements 1022 includes a support member 1023 that is to be inserted between the bead - apex strip 9 and the spacer 1008 when the lifting element 1022 moves in a radially outward direction; and an abutment member 1024 for abutting against a radially inner edge portion 99 of the bead - apex strip 9. The support member 1023 has a wedge shape that tapers radially outward.
[0003] As shown in Figure 2A and 2B a corresponding method for lifting the bead - apex strip 9 from the spacer 1008 includes the steps of positioning the lifting elements 1022 radially within the inner edge portion 99 of the bead - apex strip 9. The lifting elements 1022 are continuously displaced in a radially outward direction along the spacer 1008. As shown in Figure 3A and 3B when moving in a radially outward direction, the wedge - shaped support member 1023 partially lifts the bead - apex strip 9 from the spacer 1008. Summary of the Utility Model
[0004] As shown in Figure 4A and Figure 4B the lifting elements 1022 are then also moved in a radially outward direction to center the bead - apex strip 9 relative to the gripper head 1020.
[0005] A disadvantage of the known gripper is that when centering the bead - apex strip 9 before or while lifting the bead - apex strip 9 from the spacer 1008, a part of the apex strip 9 may remain adhered or stuck to the spacer 1008. This is especially the case when processing a bead - apex strip 9 with a relatively large apex strip 92, such a bead - apex strip 9 being used, for example, in the molding of truck tires. Thus, as shown in, for example, Figure 4A and Figure 4B repositioning of the bead - apex strip 9 due to centering the bead - apex strip 9 may deform, tear 900 or otherwise damage the bead - apex strip 92.
[0006] In addition, it may not be possible to predict the release of the apex strip from the spacer. The unpredictable release of the apex strip may cause the bead-apex strip to be displaced or shifted relative to the gripper after centering the bead-apex strip.
[0007] The object of the present utility model is to provide a gripper and a processing station for processing a bead-apex strip, wherein damage to the apex strip 92 can be prevented, and / or wherein the bead-apex strip can be processed more precisely and / or more reliably.
[0008] According to a first aspect, the present utility model relates to a gripper for processing a bead-apex strip, in particular for gripping a bead-apex strip from a spacer, wherein the gripper comprises a gripper head extending along a gripper axis, wherein the gripper further comprises a plurality of lifting elements distributed circumferentially around the gripper axis, wherein the lifting elements are movable in an outward direction away from the gripper axis and in an inward direction opposite to the outward direction towards the gripper axis, wherein each of the lifting elements is provided with a supporting member for supporting the bead-apex strip in a first direction parallel to the gripper axis, and with an abutting member extending transversely to the supporting member for abutting against the inner edge portion of the bead-apex strip, wherein the supporting member projects from the abutting member by a supporting distance of at least four centimeters.
[0009] This protruding supporting member enables the gripper to perform a method for processing a bead-apex strip, in particular for gripping a bead-apex strip from a spacer, wherein the method comprises the following steps:
[0010] a) Positioning the lifting element in a set position, in which the supporting member is arranged below the bead-apex strip in the first direction, and wherein at least one of the abutting members is arranged at a distance from the inner edge portion of the bead-apex strip in the inward direction;
[0011] b) Subsequently moving the lifting element in the first direction relative to the spacer from the set position to a lifting position to lift the bead-apex strip from the spacer on the corresponding supporting member; and
[0012] c) Subsequently moving each lifting element in an outward direction away from the gripper axis from the lifting position to a clamping position, in which the abutting member abuts against the bead-apex strip for centering the bead-apex strip relative to the gripper axis.
[0013] In other words, centering of the bead - apex strip relative to the gripper can be performed after lifting the bead - apex strip from the spacer. Thus, frictional damage to the apex strip due to movement of the apex strip along the mounting surface of the spacer can be minimized or ultimately avoided. Thus, the bead - apex strip can be handled more reliably.
[0014] Typically, the lifting elements are driven synchronously in the outward direction and / or the inward direction. A support distance of four centimeters enables the gripper to support the bead - apex strip in a first direction during the steps of the above - described method. More specifically, the support distance can be such that, during the steps of the method, when the bead - apex strip is arranged eccentrically relative to the spacer, the gripper can support the bead - apex strip in the first direction. Thus, the gripper has the same advantages as described above.
[0015] In a preferred embodiment, the support distance is between four centimeters and ten centimeters, preferably between five centimeters and eight centimeters.
[0016] In a further embodiment, each support member includes a support surface for supporting the bead - apex strip thereon, wherein the support surface extends parallel to the outward direction or the inward direction. Thus, the support member can move in the outward direction without lifting the bead - apex strip in the first direction. Preferably, the spacer includes a groove for receiving the support member such that the support surface extends below the mounting surface of the spacer, or flush or substantially flush with the mounting surface, in the first direction. Thus, frictional contact between the support surface and the bead - apex strip can be minimized when the support member moves in the outward direction.
[0017] In a further embodiment, the gripper further includes three or more height sensors for detecting the distance between the gripper and the spacer, wherein the three or more height sensors are distributed circumferentially around the gripper axis. The height sensors can be connected to a control unit for determining the inclination of the spacer relative to the gripper.
[0018] In a further embodiment, for each lifting element, the gripper includes a lifting drive device for driving the lifting element to move in the outward direction and the inward direction. Preferably, the lifting drive devices are synchronous, i.e., the lifting elements can move synchronously in the outward direction.
[0019] In a further embodiment, the gripper further includes an RFID reader for detecting and / or reading an RFID chip in the bead - apex strip. The RFID chip can be embedded, for example, in the apex strip material. The RFID chip can contain, for example, stored data related to the construction of the bead - apex strip.
[0020] According to a second aspect, the present utility model relates to a bead - apex strip processing station for processing a bead - apex strip, wherein the station includes a gripper according to the first aspect of the present utility model and a manipulator for moving the gripper to one or more spacer positions.
[0021] The bead - apex strip processing station includes a gripper according to the first aspect of the present utility model. Therefore, the bead - apex strip processing station has the same advantages as described above.
[0022] In an embodiment thereof, the gripper head can rotate relative to the manipulator about the gripper axis. Therefore, the gripper can rotate relative to the spacer about the gripper axis to scan the bead - apex strip on the spacer. Therefore, the gripper can be rotated about the gripper axis to a predetermined orientation relative to the spacer and / or the bead - apex strip. When transferring the bead - apex strip on the gripper, the mutual orientation can be maintained. Therefore, the bead - apex strip can be transferred more precisely and / or more reliably. In addition, an intermediate device for orienting the bead - apex strip can be omitted.
[0023] The various aspects and features described and illustrated in this specification can be applied separately whenever possible. These separate aspects, particularly those described in the appended claims, can be the subject of divisional patent applications. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The present utility model will be described based on exemplary embodiments shown in the attached schematic drawings, in which:
[0025] Figure 1A - 1E shows a bead - apex strip processing station according to an embodiment of the present utility model;
[0026] Figure 2A 、 3A and 4A show a known gripper during the step of gripping a bead - apex strip from a spacer;
[0027] Figure 2B 、 3B and 4B respectively show cross - sectional views taken along lines IIB - IIB, IIIB - IIIB, and IVB - IVB in Figure 2A 、 3A and 4A;
[0028] Figure 5A - 9A shows a bead - apex strip gripper according to an embodiment of the present utility model during an exemplary step of gripping a bead - apex strip from a spacer; and
[0029] Figure 5B - 9B respectively show cross - sectional views taken along lines in Figure 5ACross-sectional views taken along lines VB-VB, VIB-VIB, VIIB-VIIB, VIIIB-VIIIB, and IXB-IXB in -9A. Detailed implementation
[0030] Figure 1 shows a bead - apex strip processing station 1 for processing a bead - apex strip 9 for tire building according to an embodiment of the present invention. In particular, the bead - apex strip processing station 1 is configured to receive a carrier or spacer 8 with stacked bead - apex strips 9 stored thereon, and to remove the bead - apex strips 9 from the spacer 8.
[0031] As Figure 1A -1E shows, the bead - apex strip processing station 1 defines a replacement area Z1 for receiving the spacer 8 with stacked bead - apex strips 9 stored thereon. In this specific embodiment, the replacement area Z1 defines a first spacer position S1 and a second spacer position S2. The first spacer position S1 and the second spacer position S2 are each arranged to receive a corresponding stacked spacer 8. The stacked spacers 8 can be provided, for example, on a carrier or a carrier 89.
[0032] The bead - apex strip processing station 1 defines a processing area Z2 for processing the bead - apex strip 9 and the spacer 8. The second processing area Z2 defines a third spacer position S3 and a fourth spacer position S4. The third spacer position S3 and the fourth spacer position S4 are arranged for intermediate and / or temporary storage of the spacer 8.
[0033] Optionally, the bead - apex strip processing station 1 further defines a processing area Z3 for receiving the bead - apex strip from the processing area Z2. The processing area Z3 can include, for example, a tire building drum and / or one or more bead setters for receiving the bead - apex strip 9.
[0034] The bead - apex strip processing station 1 includes a gripper 2 for processing the spacer 8 and the bead - apex strip 9, and a controller 7 for moving the gripper 2 between the spacer positions S1 - S4. The controller 7 includes a base 70 and an arm 71 for moving the gripper 2 relative to the base 70. Alternatively, the controller 7 can include, for example, a gantry crane (not shown) for moving the gripper 2 relative to the base 70. In the embodiment shown, the base 70 of the controller 7 is arranged in the processing area Z2.
[0035] The controller 7 is configured to transfer the spacer 8 between the spacer positions S1 - S4. The controller 7 is also configured to transfer the bead - apex strip 9 from the spacer positions S1 - S4 to the processing area Z3.
[0036] AsFigure 1A As also shown in -1E, the bead - apex processing station 1 includes a barrier or fence 6 for at least partially enclosing the exchange area Z1, the processing area Z2, and the machining area Z3. The fence 6 is arranged to restrict access from the outside to the exchange area Z1, the processing area Z2, and the machining area Z3 to enhance the safety of the workers.
[0037] The fence 6 includes a railing 60 arranged to surround at least a part of the exchange area Z1 and the processing area Z2. The fence 6 further includes a first door 61 and a second door 62 between the exchange area Z1 and the processing area Z2 to selectively enable access to the exchange area Z1. Preferably, the first door 61 and the second door 62 are functionally coupled. In particular, the first door 61 is configured to open only when the second door 62 is closed. Thus, the second door 62 is configured to open only when the first door 61 is closed.
[0038] In Figure 1A the schematic view of -1E, the first door 61 and the second door 62 are drawn as vertical doors. Alternatively, the first door 61 may include, for example, a lid on the top of the exchange area Z1 to selectively allow the manipulator 7 to enter the exchange area Z1 from above.
[0039] Optionally, the bead - apex processing station 1 further defines an inspection area Z4 for an operator to inspect the bead - apex 9. The fence 6 includes a third door 63 to allow access from the outside to the inspection area Z4. The fence 6 further includes a fourth door 64 between the inspection area Z4 and the processing area Z2 to selectively allow access between the processing area Z2 and the inspection area Z4. The third door 63 and the fourth door 64 are functionally coupled in a manner similar to the first door 61 and the second door 62.
[0040] As Figure 5A shown best in -9A and Figure 5B -9B, each bead - apex 9 includes a bead core, a bead ring or bead 91, and a filling portion, an apex filling portion, or apex 92 arranged to surround the bead 91. Preferably, the apex 92 gradually tapers in the radial direction R relative to and / or away from the bead 91. The bead - apex 9 is further provided with an inner edge portion 99 that is circular or substantially circular and has an inner diameter or flange diameter. The inner edge portion 99 defines a bead opening or bead hole 90. In other words, the inner edge portion 99 extends circumferentially around the bead hole 90.
[0041] The apexes 92 are joined together at a joint line or joint 93. In the illustrated embodiment, the joint (splice) 93 extends in or substantially in the radial direction R. Alternatively, the joint 93 may extend, for example, at an inclined angle relative to the radial direction R.
[0042] The bead - apex strip 9 further includes a marker, identifier, or chip for identification. In the illustrated embodiment, the identifier is an RFID chip 95. The RFID chip 95 is integrated or embedded within the apex strip 92. Preferably, at a position radially opposite to the joint 93 in the radial direction R, the RFID chip 95 is embedded within the apex strip 92. In other words, the RFID chip 95 is placed such that it is circumferentially displaced by more than or approximately one hundred and eighty degrees relative to the joint 93.
[0043] The spacers 8 each include a spacer body 80. The spacer body 80 extends circumferentially about a spacer axis B. This body forms a mounting surface 81 for supporting the bead - apex strip 9 thereon. In the illustrated embodiment, the mounting surface 81 is frustoconical or substantially frustoconical. Alternatively, the mounting surface 81 can be, for example, a flat surface, i.e., the mounting surface 81 can extend within a supporting plane.
[0044] The spacer 8 includes an inner edge portion 82 that extends circumferentially about the spacer axis B. The inner edge portion 82 defines a central hole that extends through the spacer body 8 in a direction parallel to the spacer axis B.
[0045] In Figure 5A -9A and Figure 5B -9B show the gripper 2 in more detail. The gripper 2 includes a gripping head 20 that can be mounted to or connected to the manipulator 7.
[0046] The gripping head 20 extends along a gripper axis A that extends in a first direction X. Preferably, the gripping head 20 is rotatable about the gripper axis (A) relative to the manipulator 7.
[0047] The gripper 2 further includes an arm portion 21 that extends from the gripping head 20 in a direction away from the gripper axis A. The gripper 2 includes a lifting element 22 that can move along the arm portion 21 in an outward direction T1 and an inward direction T2 opposite to the outward direction T1. Preferably, the outward direction T1 and the inward direction T2 include at least one vector component in a radial direction perpendicular to the gripper axis A.
[0048] Preferably, the arm portion 21 extends from the gripping head 20 in a lateral or perpendicular direction to the gripper axis A. In the illustrated embodiment, the gripper 2 includes four arm portions 21. Optionally, the gripper can include at least two arm portions 21, three arm portions 21, or more than four arm portions 21. The arm portions 21 are distributed circumferentially about the gripper axis A. Preferably, the arm portions 21 are evenly distributed about the gripper axis A.
[0049] Each lifting element 22 of the gripper 2 includes a lifting drive device (not shown) for driving the lifting element to move in an outward direction T1 and an inward direction T2. Preferably, the lifting drive devices of the lifting elements 22 are synchronized. The lifting drive devices can be mechanically coupled, for example.
[0050] Each of the lifting elements 22 is provided with a support member 23 for supporting the bead - apex strip 9 in a first direction X, and an abutting member 24 extending transversely to the support member 23 for abutting against the inner edge portion 99 of the bead - apex strip 9. Preferably, the support member 23 extends in or substantially in the outward direction T1.
[0051] The spacer 8 further includes a plurality of slots 84. The slots 84 are configured to receive the lifting elements 22 of the gripper 2. The slots 84 extend through the mounting surface 81 in a direction parallel to the spacer axis B. The slots 84 extend away from the inner edge portion 82 of the spacer 8 in a radial direction R that is transverse or perpendicular to the spacer axis B. Additionally or alternatively, the spacer 8 may include a plurality of recesses (not shown) extending in the radial direction R for receiving and / or accommodating at least the support members 23 of the lifting elements 22.
[0052] The support member 23 includes a support surface 230 for supporting the bead - apex strip 9 thereon. Preferably, the support surface 230 extends parallel to the outward direction T1 or the inward direction T2.
[0053] The support member 23, in particular the support surface 230, projects at least four centimeters of a support distance L above the abutting member 24. More specifically, the support member 23 projects from the abutting member 24 in the outward direction T2. Preferably, the support distance L is between four centimeters and ten centimeters. More preferably, the support distance L is between five centimeters and eight centimeters.
[0054] As Figure 5A -9A and Figure 5B -9B also shown, the gripper 2 includes a spacer gripper 31 for fixing the spacer 8. The spacer gripper 31 and the lifting elements 22 are movable relative to each other in the first direction X. In the illustrated embodiment, the spacer gripper 31 includes a centering element that gradually tapers in the first direction X for centering the gripping head 20 relative to the central hole of the spacer 8. Alternatively, the gripper 2 may be provided, for example, with a separate centering element for centering the gripping head 20.
[0055] The gripper 2 further includes four height sensors 33 for detecting the distance between the gripper 2 and the spacer 8. The height sensors 33 are distributed in a circumferential direction C around the gripper axis A. The gripper 2 is provided with four spacer pushers 32 for separating the bead - apex strip 9 and the spacer 8 by pushing the spacer 8 away from the gripper 2.
[0056] The gripper 2 further comprises an RFID reader or RFID sensor 35 for detecting and / or reading the RFID chip 95 in the bead - apex strip 9.
[0057] As used below Figure 5A -9A and Figure 5B -9B are used to describe the method of processing the bead - apex strip 9, in particular the method for lifting, removing or gripping the bead - apex strip 9 from the spacer 8.
[0058] As Figure 5A and 5B shown, the bead - apex strip 9 is arranged eccentrically with respect to the spacer 8. In other words, the center of the inner edge portion 99 of the bead - apex strip 9 is offset with respect to the spacer axis B.
[0059] In the pick - up position, the gripper 2 is positioned above the spacer 8. By inserting the spacer gripper 31 into the spacer hole, the gripping head 20 and the spacer 8 are centered with respect to each other. In other words, the gripper axis A and the spacer axis B are aligned. The gripper 2 is moved in a first direction X with respect to the spacer until the height sensor 32 detects a predetermined distance between the gripping head 20 and the inner edge portion 82 of the spacer 8.
[0060] The spacer gripper 31 engages the spacer 8 to hold the spacer 8 stationary with respect to the gripper 2. The support member 23 is positioned in the corresponding groove 84 of the spacer 8. Preferably, the support surface 230 of the support member 23 is arranged flush or substantially flush with the mounting surface 81 of the spacer 8. The support member 23 is positioned radially R inwardly with respect to the inner edge portion 99 of the bead - apex strip 9.
[0061] As Figure 6A and 6B shown, the lifting element 22 is moved in an outward direction T1 into the sensing position. Specifically, the lifting element 22 is moved in the outward direction T1 until one of the abutting members 24 abuts against the inner edge portion 99 of the bead - apex strip 9.
[0062] Subsequently, as Figure 7A and Figure 7B shown, the lifting element 22 is moved in an inward direction T2 over a predetermined stroke length. Preferably, the predetermined stroke length is between one millimeter and twenty millimeters. More preferably, the predetermined stroke length is between one millimeter and ten millimeters. More preferably, the predetermined stroke length is between one millimeter and five millimeters. Optionally, the predetermined stroke length is less than the support distance L of the support member 23. Preferably, the predetermined stroke length is less than eighty percent of the support distance L. More preferably, the predetermined stroke length L is less than fifty percent of the support distance L.
[0063] Subsequently, as Figure 8A and 8B shown in, the bead - apex strip 9 is lifted from the spacer 8 in the first direction X. Preferably, the spacer lifter 31 disengages the spacer 8. The lifting element 22 moves relative to the spacer 8 from the set position to the lifting position in the first direction X to lift the bead - apex strip 9 from the spacer 8 on the support member 23. The spacer 8 is pushed away from the bead - apex strip 9 in the first direction X by the spacer pusher 32.
[0064] Subsequently, as Figure 9A and 9B shown in, the lifting element 22 moves from the lifting position to the clamping position in the outward direction T1. Specifically, the lifting element 22 moves in the outward direction T1 until each abutting member abuts against the inner edge portion 99 of the bead - apex strip 9 for centering the bead - apex strip 9. Optionally, while moving in the outward direction T1, the lifting element 22 can move away from the spacer 8 in the first direction X.
[0065] The following uses Figure 1A - 1E to describe a method for transferring the bead - apex strip 9 from the exchange area Z1 to the processing area Z3 using the bead - apex strip processing station 1 according to the present invention.
[0066] As Figure 1A shown in, two stacks of spacers 8 with bead - apex strips 9 stored thereon are provided at the first spacer position S1 and the second spacer position S2 in the exchange area Z1 respectively. The second door 62 is closed to prevent the outside from entering the exchange area Z1. The first door 61 is opened to allow the manipulator 7 to enter the exchange area Z1. Optionally, stacks of empty spacers 8 are arranged at the third spacer position S3. The stacks of empty spacers 8 at the third spacer position S3 can be, for example, the remaining ones from the previous execution process cycle of the method for transferring the bead - apex strip 9, as will be apparent from the following method steps.
[0067] The manipulator 7 operates in the first operation mode. In the first operation mode, the manipulator 7 is configured to transfer the top - most spacer 8 of the stack at the first spacer position S1 to the third spacer position S3 and to transfer the bead - apex strip 9 stored on the top - most spacer 8 to the processing area Z3. Preferably, the bead - apex strip 9 is removed from the spacer 8 in the manner described above. The bead - apex strip 9 can be removed from the spacer 8, for example, at the first spacer position S1, at the third spacer position S3, or while transferring the spacer 8 from the first spacer position S1 to the third spacer position S3.
[0068] Figure 1B Shows the bead - apex strip handling station 1 in the first buffer mode. In the first buffer mode, the manipulator 7 is configured to transfer the top spacer 8 with the bead - apex strip 9 stored thereon from the first spacer position S1 to the fourth spacer position S4. Preferably, the manipulator 7 is arranged to transfer two or more spacers 8 stacked in sub - stacks with the bead - apex strip 9 stored thereon from the first spacer position S1 to the fourth spacer position S4. Preferably, in the buffer configuration, the manipulator 7 is configured to transfer an even number of spacers 8 from the first spacer position S1 to the fourth spacer position S4 simultaneously and / or continuously.
[0069] Generally, the manipulator 7 is configured to transfer two bead - apex strips 9 continuously or sequentially to a pair of bead setters (not shown) in the processing zone Z3 during the first operating mode. Alternatively, for example, two different bead handling stations 1 or two different manipulators 7 can be provided, each for transferring a single bead - apex strip 9 to the bead setter. The bead - apex strip 9 at the bead setter can then be transferred to a tire building drum, such as a building drum, for assembling and / or forming a green tire or an unvulcanized tire. Preferably, the manipulator is configured to operate in the first buffer mode when the bead setter cannot accept the bead - apex strip 9, for example, when the bead - apex strip 9 is transferred by the bead setter to the tire building drum.
[0070] The manipulator 7 is configured to cycle between the first operating mode and the first buffer mode until the stacked spacers 8 at the first position S1 are emptied or exhausted. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the first operating mode and the first buffer mode until the stacked spacers 8 at the first position S1 are emptied or exhausted.
[0071] Figure 1C Shows the bead - apex strip handling station 1 in the second operating mode. In the second operating mode, the manipulator 7 is configured to transfer the top spacer 8 of the stack at the second spacer position S2 to the first spacer position S1 and transfer the bead - apex strip 9 stored on the top spacer 8 to the processing zone Z3 in a manner similar to the first operating mode.
[0072] Thus, the manipulator 7 is also configured to operate in a second buffer mode (not shown). In the second buffer mode 7, the manipulator is configured to transfer the top spacer 8 with the bead - apex strip 9 stored thereon, or two or more spacers 8 stacked in sub - stacks with the bead - apex strip 9 stored thereon, from the second spacer position S2 to the fourth spacer position S4 in a manner similar to the first buffer mode.
[0073] Optionally, the manipulator 7 may additionally or alternatively be configured to operate in a first empty mode. In the first empty mode, the manipulator 7 is configured to transfer the topmost spacer 8 or two or more spacers 8 forming a sub-stack from the fourth spacer position S4 to the first spacer position S1.
[0074] The manipulator 7 is configured to cycle between a second operating mode, a second buffer mode, and an optional first empty mode until the stacked spacers 8 at the second position S2 are emptied or exhausted. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the second operating mode, and the second buffer mode and / or the first empty mode until the stacked spacers 8 at the second position S2 are emptied or exhausted.
[0075] Figure 1D The bead - apex processing station 1 in the third operating mode is shown. In the third operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the fourth spacer position S4 to the first spacer position S1, and to transfer the bead - apex 9 stored on the topmost spacer 8 to the processing area Z3 in a manner similar to the first operating mode and the second operating mode.
[0076] The manipulator 7 is configured to cycle between the third operating mode and the first empty mode until the stacked spacers 8 at the first position S1 reach a predetermined number of spacers 8 or a predetermined height. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the third operating mode and the first empty mode until a predetermined number of spacers 8 are stacked at the first spacer position S1.
[0077] Subsequently, the manipulator 7 is configured to cycle between a fourth operating mode and a second empty mode (not shown).
[0078] In the fourth operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the fourth spacer position S4 to the second spacer position S2.
[0079] And to transfer the bead - apex 9 stored on the topmost spacer 8 to the processing area Z3 in a manner similar to the third operating mode. In other words, the fourth operating mode differs from the third operating mode in that the spacers 8 are stacked at the second spacer position S2. In the second empty mode, the manipulator 7 is configured to transfer the topmost spacer 8 or two or more spacers 8 forming a sub - stack from the fourth spacer position S4 to the second spacer position S2. In other words, the second empty mode differs from the first empty mode in that the spacers 8 are stacked at the second spacer position S2.
[0080] The manipulator 7 is configured to cycle between a fourth operating mode and a second empty mode until a stacked number of spacers 8 at the second position S2 reaches a predetermined number of spacers 8 or a predetermined height. In other words, the manipulator 7 is configured to alternately and / or sequentially repeat the fourth operating mode and the second empty mode until a predetermined number of spacers 8 are stacked at the second spacer position S2. Alternatively, the manipulator 7 may be configured to cycle between the fourth operating mode and the second empty mode until the stacked spacers 8 at the third spacer position S3 are emptied or exhausted.
[0081] As Figure 1E shown, the manipulator 7 is also configured to operate in a fifth operating mode. In the fifth operating mode, the manipulator 7 is configured to transfer the topmost spacer 8 of the stack at the fourth spacer position S4 to the third spacer position S3, and to transfer the bead - apex strip 9 stored on the topmost spacer 8 to the processing zone Z3 in a manner similar to the first, second, third, and fourth operating modes.
[0082] As Figure 1E also shown, during or before the fifth operating mode, the first door 61 is closed to prevent entry between the exchange zone Z1 and the processing zone Z2. Subsequently, the second door 62 is opened to allow the outside to enter the exchange zone Z1. Thus, the stacked spacer 8 at the first spacer position S1 and the second spacer position S2 can be removed from the exchange zone Z1. Subsequently, a new stacked spacer 8 with the bead - apex strip 9 stored thereon can be provided to the exchange zone Z1. In other words, the stacked empty spacers 8 and the stacked spacers 8 with the bead - apex strip 9 stored thereon are exchanged or swapped.
[0083] The manipulator 7 is configured to repeat the fifth operating mode until the stacked spacers 8 at the fourth spacer position S4 are emptied or exhausted. Additionally or alternatively, the manipulator 7 may be arranged to repeat the fifth operating mode until new stacked spacers 8 with the bead - apex strip 9 stored thereon are provided at the respective first spacer position S1 and second spacer position S2, the second door 62 is closed, and the first door 61 is opened.
[0084] Preferably, the method is repeated when new stacked spacers 8 with the bead - apex strip 9 stored thereon are provided at the respective first spacer position S1 and second spacer position S2.
[0085] Optionally, as Figure 1B shown, the method further includes: transferring the spacer 8 with the bead - apex strip 9 stored thereon or the bead - apex strip 9 without the spacer 8 to the inspection zone Z4 for inspection by an operator. The spacer 8 is transferred to the inspection zone Z4 by the manipulator 7. AsFigure 1C As shown, after the spacer 8 is transferred to the inspection area Z4, the fourth door 64 is closed. Subsequently, as Figure 1D shown, the third door 63 is opened to allow the operator to inspect the bead - apex strip 9 in the inspection area Z4. When the operator detects any defect in the bead - apex strip 9, the operator can reject the bead - apex strip 9 and can remove the bead - apex strip 9 from the inspection area Z4.
[0086] In summary, the method for processing the bead - apex strip 9 includes the following steps:
[0087] a) Position the lifting element 22 at a set position, in which the lifting element 22 is arranged below the bead - apex strip 9 in the first direction X, and at least one of the lifting elements 22 is arranged to be spaced apart from the inner edge portion 99 of the bead - apex strip 9 by a distance in the radial direction R in the first direction X;
[0088] b) Lift the bead - apex strip 9 from the spacer 8 on the lifting element 22; and subsequently
[0089] c) Move each lifting element 22 in the outward direction T1 away from the gripper axis A to center the bead - apex strip 9 relative to the gripper axis A.
[0090] It is to be understood that the above description is for the purpose of illustrating the operation of the preferred embodiment and is not intended to limit the scope of the present invention. From the above discussion, many variations will be apparent to those skilled in the art, and these variations are also included within the scope of the present invention.
[0091] List of Reference Numerals
[0092] 1 Bead - apex strip processing station
[0093] 2 Gripper
[0094] 20 Gripping head
[0095] 21 Arm
[0096] 22 Lifting element
[0097] 23 Support member
[0098] 230 Support surface
[0099] 24 Adjacent member
[0100] 31 Spacer gripper
[0101] 32 Spacer pusher
[0102] 33 Height sensor
[0103] 34 RFID sensors
[0104] 5 Control units
[0105] 6 Fences
[0106] 60 Barriers
[0107] 61 First door
[0108] 62 Second door
[0109] 63 Third door
[0110] 64 Fourth door
[0111] 7 Manipulators
[0112] 70 Bases
[0113] 71 Robot arms
[0114] 8 Spacers
[0115] 80 Spacer bodies
[0116] 81 Mounting surfaces
[0117] 82 Inner edge parts
[0118] 84 Grooves
[0119] 89 Carriers
[0120] 9 Bead - chafer
[0121] 90 Bead holes
[0122] 91 Beads
[0123] 92 Chafers
[0124] 95 RFID tags
[0125] 99 Inner edge parts
[0126] 1002 Grippers
[0127] 1020 Gripping heads
[0128] 1021 Arms
[0129] 1022 Lifting elements
[0130] 1023 Support members
[0131] 1024 Contacting members
[0132] 1008 Spacers
[0133] A Gripper axis
[0134] Axis of the B spacer
[0135] Circumferential direction C
[0136] Support distance L
[0137] Outward direction T1
[0138] Inward direction T2
[0139] Radial direction R
[0140] First spacer position S1
[0141] Second spacer position S2
[0142] Third spacer position S3
[0143] Fourth spacer position S4
[0144] First direction X
[0145] Swap area Z1
[0146] Processing area Z2
[0147] Machining area Z3
[0148] Inspection area Z4
Claims
1. A clamp for handling tire bead-apex rubber strips, characterized in that: The clamp includes a clamp head extending along the clamp axis, wherein the clamp also includes a plurality of lifting elements distributed in a circumferential direction around the clamp axis, wherein the lifting elements can move away from the clamp axis in an outward direction and toward the clamp axis in an inward direction opposite to the outward direction, wherein each of the lifting elements is provided with a supporting member for supporting the tire bead-apex rubber strip in a first direction parallel to the clamp axis, and is provided with an abutment member extending transversely to the supporting member for abutting the inner edge of the tire bead-apex rubber strip, wherein the supporting member protrudes from the abutment member by a supporting distance of at least four centimeters.
2. The clamp according to claim 1, characterized in that The support distance is between four centimeters and ten centimeters, or between five centimeters and eight centimeters.
3. The clamp according to claim 1, characterized in that Each supporting member comprises a supporting surface for supporting the bead-apex thereon, wherein the supporting surface extends parallel to the outward direction or the inward direction.
4. The holder according to claim 1, characterized in that The clamp further comprises three or more height sensors for detecting the distance between the clamp and the spacer, wherein the three or more height sensors are distributed in a circumferential direction around the clamp axis.
5. The holder according to claim 1, characterized in that For each of the lifting elements, the gripper comprises a lifting drive for driving movement of the lifting element in the outward direction and in the inward direction.
6. The holder according to claim 1, characterized in that The holder also includes an RFID reader for detecting or reading an RFID chip in the bead-apex strip.
7. A bead-apex strip processing station for processing bead-apex strips, wherein: The bead-apex processing station comprises a gripper according to claim 1 and a manipulator for moving the gripper to one or more spacer positions.
8. The bead-apex strip processing station according to claim 7, characterized in that: The gripper head is rotatable relative to the manipulator about the gripper axis.