Installation and method for manufacturing green tyres

Abstract

The invention relates to an installation for manufacturing (10) green tyres, comprising a rotatably movable drum (16) for manufacturing green tyres, a platform (21) that is disposed upstream of the drum (16) and comprises a flat surface (21a) for receiving one end of an elastomeric element, at least one robotic arm (18) that is configured to grip the end portion of the elastomeric element from above and comprises at least three rows of elements made of magnetic material and an ECU (40) configured to control the robotic arm (18), and at least one first 3D camera configured to acquire an image of the end portion of the elastomeric element on the platform (21).

Description

[0001]DESCRIPTION TITLE: Installation and method for manufacturing tire blanks The present invention relates to the field of tire manufacturing and more particularly relates to a method for manufacturing tire blanks and an installation allowing the implementation of such a method. A tire of a wheel of a motor vehicle generally comprises three distinct zones comprising a crown which comprises a crown reinforcement and a tread intended to come into contact with the ground, beads intended to ensure the attachment of the tire to a rim of a wheel and sidewalls intended to connect the crown to the bead. The tire further comprises a metal or textile fiber structure forming a carcass for reinforcing the structure of the tire and making it possible to connect the crown to the beads. To manufacture a tire blank, elements in the form of bead wires, strips orplies so as to form a cylindrical carcass reinforcement. The cylindrical carcass reinforcement is then transformed into a toroidal carcass reinforcement, during a step known as "shaping". During this step, the crown of the cylindrical carcass reinforcement is stretched so as to increase the diameter and the beads are axially brought towards each other. Finally, elements in the form of strips or plies are successively assembled on the crown of the carcass reinforcement so as to additionally form a crown reinforcement and a tread. The assembly and shaping steps are generally carried out on a cylindrical tire blank manufacturing drum, which can rotate around an axis of symmetry of revolution. The elements in the form of wires, strips or plies are placed circumferentially on the drum or on the tire blank beingmanufacturing. The installation steps are carried out manually or automatically. When the installation steps are carried out manually, an operator located in front of the drum grasps the end part of an element, for example, a ply wound on a reel, pulls it to the drum, positions it and secures it on the drum or the tire blank being manufactured. The drum is then rotated so as to complete a complete revolution. During the rotation of the drum, the operator guides the ply so that the winding of the ply forms a substantially straight cylinder. The operator then cuts the ply, and adjusts the junction between the two ends of the ply. However, performing the installation step manually has many disadvantages. The operator is limited in speed and precision. Approaching or exceeding these limits also leads to an increase in the arduousness of the operator's work and their cognitive load,which can lead to a reduction in the quality of the manufactured tire blanks, or even in the safety of the operator. In addition, the automation of the installation steps as carried out manually presents technical difficulties, in particular the design of a manufacturing machine capable of implementing said installation steps and, above all, the programming of said machine so that it is able to carry out said installation steps. We know tire blank manufacturing machines in which a drum is movable by means of a carriage or a robotic arm between several installation stations. Each installation station is adapted to install a particular element such as a bead or a strip. Since the rate of each station is not identical, the fastest installation stations are not fully used, which penalizes their efficiency. In addition, the design, manufacture and operation of such an assembly machine are verycomplex and expensive. We also know tire blank manufacturing machines with only two installation stations, each station being adapted to install a set of pre-assembled elements. Thus, two complete revolutions of the drum are sufficient to install a first assembly intended to constitute a carcass reinforcement and a second assembly intended to constitute a crown reinforcement and a tread. However, such a manufacturing machine requires that the architecture and composition of the tire blank themselves be adapted, which considerably constrains the tire design and industrialization process. We also know the document FR – B1- 3 116 227 which proposes the automatic installation of an elastomeric element on a blank manufacturing drum comprising a determined sequence of steps for gripping and pulling the elastomeric element towards the drum using a robotic arm comprising an effector.However, this document proposes a collaborative robotic arm, i.e. in collaboration with an operator who manually performs a step of a step of the sequence after an interruption step. Furthermore, this document does not describe how the laying step is carried out. Indeed, the mechanical reinforcement of an elastomeric element coupled with the fact that said element is wound around a reel generates an end surface which is not completely flat once unwound in order to be laid on the outer surface of the drum. In addition, the rigidity of the element can influence its transverse position of its unwound end on a flat surface. In other words, the transverse position of the tip of the unwound elastomeric element can be angularly offset relative to an axial axis perpendicular to the axis of rotation of the drum. Thus, there is a need to overcome the aforementioned drawbacks and to automate the machines for manufacturing blanks ofpneumatic while improving the installation of the elastomeric element and maintaining satisfactory reliability and productivity. The invention aims to improve the installation of the elastomeric element, and in particular the gripping of the elastomeric elevation upstream of the drum and the anchoring of said elastomeric element on said drum. The invention also aims to improve the cutting of the elastomeric element. The present invention relates to an installation for manufacturing tire blanks associated with a first orthogonal reference mark and comprising a drum for manufacturing tire blanks movable in rotation about an axis of rotation of the first reference mark, a platform arranged upstream of the drum, extending along a transverse axis of the first reference mark and comprising a flat surface for receiving an end portion of an elastomeric element or ply, at least one robotic arm and an electronic control unit, acronym ECU, configured tocontrol the robotic arm. The installation further comprises at least a first three-dimensional camera restoring a cloud of points of coordinates measured in a reference frame associated with said first camera and having a line of sight oriented towards the platform and configured to acquire an image of the end portion of the elastomeric element on the platform. The robotic arm comprises at least one gripper associated with a second orthogonal reference frame distinct from the first reference frame and configured to grip the end portion of the elastomeric element from above. Said gripper comprises at least three rows of elements made of magnetic material or magnets parallel to each other and regularly spaced from one another along an axis of extension of the second reference frame. The ECU comprises at least: - a module for gripping the end portion of the elastomeric element configured to determine a gripping point of the gripper as a function of the cloud of points restored by the firstcamera, and - a module for anchoring said end portion on the external surface of the drum configured to determine an anchoring point for each of the rows of elements made of magnetic material on the external surface of the drum. Consequently, the assembly installation is agile unlike the multi-station automatic assembly machines of the prior art for which each station is dedicated to the installation of a particular pre-assembled element or assembly. In addition, the robotic arm is more precise than an operator, while being faster, which allows the improvement of the quality of the manufactured tire blanks, and the increase in the operating time of the manufacturing installation. Useful time means the net time without taking into account the time related to the manufacture of tire blanks that are not satisfactory in terms of quality. Net time means the time during which the machine manufactures tire blanks,without taking into account the time linked to rate deviations and failures. The tip of the elastomeric element or sheet corresponds to the end of the end part, for example triangular, of the elastomeric element. In other words, the tip corresponds to the summit or peak of said end part. For example, said end part extends along the extension axis of the second reference mark angularly offset from the transverse axis of the first reference mark. The angular offset angle between the extension axis of the second reference mark and the transverse axis of the first reference mark is preferably non-zero. Advantageously, the gripping module comprises: - a module for acquiring the image of the end part of the elastomeric element on the platform by the first camera, - a module for cutting the image of the end part of the elastomeric element on the platform into three zones, and - a module for determining the position of the gripper and in particular the point ofgrip comprising a first image processing processor configured to determine an initial grip point in the point cloud of the image from the acquisition module and to correct said initial grip point by translating said initial grip point by a distance corresponding to the radius of the magnets of the gripper along the extension axis of the second reference frame and along a second longitudinal axis of the second reference frame perpendicular to said extension axis and to determine the grip point transmitted to the robotic arm by a transmission module. Such a translation makes it possible to increase the magnetization surface of the gripper with the end portion of the elastomeric element. The three zones of the end portion visible on the platform comprise a first zone corresponding to the zone located between the tip or peak of the end portion and a second zone, the second zone is located between the first zone and a third zone and the third zone islocated between the second zone and the edge of the platform. The total length of the end portion of the elastomeric element corresponds to the distance between the tip of said end portion and the edge of the platform. Preferably, the first and third zones each correspond to 30% of the total length. Alternatively, the length of the first zone could be different from the length of the third zone. For example, the length of the first zone could be between 20% and 30% of the total length and the length of the third zone could be between 20% and 30% of the total length. According to one embodiment, the module for determining the position of the gripper is configured to determine a straight line passing through the lateral side of the second zone, the gripping point being axially offset from the tip of the end portion by a distance. According to one embodiment, the installation comprises a first vertical laser, fixedindicating the center of the drum, a second fixed horizontal laser indicating the laying azimuth of the elastomeric element and two variable vertical lateral lasers indicating the laying longitude, said lasers being integral with a fixed structure or gantry of the installation. The anchoring module comprises a module for projecting said lasers onto the external surface of the drum, and in particular onto a laying area of ​​the end of the elastomeric element. For example, the installation comprises a second three-dimensional camera restoring a cloud of points of coordinates measured in a reference frame associated with said second camera and having a line of sight oriented towards the drum and configured to acquire an image of a laying area on the external surface of the drum. The anchoring module comprises: - a module for acquiring an image of said laying area taken by said second camera, and - a module for processing the image of said laying area configured to detect thelasers and an intersection pixel at the intersection between the second horizontal laser and one of the lateral lasers, namely the right lateral laser if the end portion of the elastomeric element is oriented to the right or the left lateral laser if the end portion is oriented to the left and a middle pixel at the intersection of the first horizontal vertical laser and the second horizontal laser to estimate an intersection point and a middle point corresponding to the three-dimensional points of the intersection pixels and the middle of the drum. Advantageously, the anchoring module comprises: - a module configured to determine the anchoring point of each of the magnets relative to the intersection point in a normal plane where there is a fitted circle in the point cloud of one of the lateral lasers and as a function of a distance between two rows of magnets as well as the radius of a magnet, - a module for transmitting said anchoring points to a control module of thegripper, said control module being configured to separately control the rows of magnets of the gripper, and in particular the actuators of each magnet. For example, the ECU comprises a module for clamping the elastomeric element around the drum, a module for cutting the elastomeric element to the desired length and a module for welding the cut portion of the elastomeric element with the end portion anchored on the external surface of the drum. According to one embodiment, the gripper of the robotic arm comprises actuators each connected to a magnet, said actuators being controlled separately to successively release the third row of magnets, the second row of magnets and then the first row of magnets. When anchoring the end portion of the elastomeric element on the drum, it is preferable for the actuators to be deactivated row by row to release the anchored areas of the elastomeric element. The anchoring module allowsto anchor a product of complex shape on a rounded shape, i.e. the drum, by determining three anchoring points belonging to the same circle. The magnetic material elements of the gripper of the robotic arm are preferably mounted on a support configured to be connected to the end portion of the robotic arm(s) in the case where there are two robotic arms. According to one embodiment, the first, second and third rows of magnetic material elements each comprise at least one magnetic material element. According to another embodiment, the first and second rows of magnetic material elements of the gripper of the robotic arm each comprise a single magnetic material element. For example, the third row comprises at least three magnetic material elements or magnets, one of the magnetic material elements of the third row being aligned along the extension axis with the magnetic elements of the firstand second rows. For example, all the magnetic elements are arranged to form a T. Generally, the shape of the gripper is symmetrical. Thanks to the symmetrical arrangement of the gripper, it is possible to use the same gripper to grip the end portion of a right-oriented elastomeric element or the end portion of a left-oriented elastomeric element. Alternatively, it could be provided that the gripper comprises a different number of elements made of magnetic material, for example greater than or equal to six. The elements made of magnetic material may have a circular or rectangular section or any other section. According to one embodiment, the installation comprises a second robotic arm. For the gripping and anchoring steps, only one robot arm is necessary. However, the presence of a second robotic arm makes it possible to grip the end portion of an elastomeric element oriented in the second direction.The second robotic arm is also used during the cutting step to hold the end portion against the drum. For example, the first 3D camera, for example, an RGB-D sensor, is fixed, and directed upstream towards the platform and fixed to the fixed structure or gantry. The first 3D camera is advantageously used for the laying and gripping steps. The first 3D camera makes it possible to avoid the necessary re-alignment when using a 2D camera. Indeed, the first 3D camera will immediately match the distance of the object and its perceived size, which makes it possible to measure the dimensions of the object without having to indicate the depth at which it is located relative to the camera. For example, the second 3D camera, for example, an RGB-D sensor, is fixed and directed towards the drum, in particular fixed to the fixed structure or gantry. The second 3D camera is advantageously used for the anchoring, cutting and welding steps. The camera3D camera of RGB-D type is advantageously calibrated or calibrated only with respect to the robotic arm, and not with the environment since said camera detects the environment in three dimensions and can allow the measurement and determination of the positions and orientations of the elements located in its field of vision, which allows the platform to be oriented according to different orientations. In other words, it is the 3D camera which will adapt to the orientation of the platform. In the case where there are two robotic arms, the two 3D cameras of RGB-D type are advantageously calibrated or calibrated only with respect to the two robotic arms. According to one embodiment, the platform comprises at least one plate or strip of magnetic or magnetized material extending along a longitudinal axis parallel to the axis of rotation and arranged on the receiving surface of the platform. The magnetic strip makes it possible to attract the threads of the elastomeric element with propertiesmagnetic and thus to press the end portion of said element onto the platform. Alternatively, it could be provided that the platform does not include such a magnetic strip. According to a second aspect, the invention relates to a method for automatically and successively laying elastomeric elements using a tire blank manufacturing installation associated with a first orthogonal reference frame and comprising a tire blank manufacturing drum movable in rotation about an axis, a platform arranged upstream of the drum, extending along a transverse axis of the first reference frame and comprising a flat surface for receiving one end of an elastomeric element, at least one robotic arm provided, and at least one first three-dimensional camera restoring a cloud of points of coordinates measured in a reference frame associated with said first camera and having a line of sight oriented towards the platform and configured to acquire an image of the end portion ofthe elastomeric element on the platform, in particular on the flat receiving surface. The robotic arm comprises at least one gripper associated with a second orthogonal reference mark distinct from the first reference mark and configured to grip the end portion of the elastomeric element from above. Said gripper comprises at least three rows of elements made of magnetic material or magnets parallel to each other and regularly spaced from one another along an axis of extension of the second reference mark. The method comprises at least one laying step comprising a sequence comprising at least: - a step of gripping the end portion of the elastomeric element, during which a gripping point of the gripper is determined as a function of the point cloud restored by the first camera; and - a step of anchoring said end on the external surface of the drum, during which an anchoring point of each of the rows of elements made of magnetic material on the surface is determinedexternal of the drum. Thus, during the anchoring step, contact pressure is applied and the parts of the end part anchored to the drum are gradually released. For example, said end part extends along an extension axis of the second reference mark angularly offset from the transverse axis of the first reference mark. Advantageously, the step of gripping the end part of the elastomeric element comprises a step of acquiring the image of the end part of the elastomeric element on the platform by the first camera, a step of dividing the image of the end part of the elastomeric element on the platform into three zones, a step of determining the position of the gripper, in particular an initial gripping point, in the point cloud of the image acquired in the acquisition step using a processing processor, a step of correcting the initial gripping point by translating the initial gripping point by a distancecorresponding to the radius of each of the magnets of the gripper along the extension axis of the second reference frame and along a second longitudinal axis of the second reference frame perpendicular to said extension axis parallel to the rotation axis and the transverse axis to obtain the gripping point and a step of transmitting said gripping point to the robotic arm for the purpose of gripping the end portion of the elastomeric element by the gripper. Advantageously, the anchoring step comprises a step of projecting lasers and a step of acquiring an image of a laying surface on the external surface of the drum taken by a second camera, for example an R-GBD sensor, restoring a cloud of points of coordinates measured in a reference frame associated with said second camera and having a sighting axis oriented towards the drum, said steps of projecting lasers and acquiring an image being carried out before the step of gripping the end portion of the elastomeric element by the gripper.The lasers comprise a first fixed vertical laser indicating the center of the drum, a second fixed horizontal laser indicating the azimuth of installation of the elastomeric elements and two variable vertical lateral lasers indicating the installation longitude, in order to anticipate the trajectory of the robotic arm and to know where to anchor said end. For example, the anchoring step further comprises: - a step of processing the image of the installation area, during which the lasers and a point cloud restored by the second camera are detected, the pixels associated with the lasers are isolated in the image acquired during the acquisition step and the intersection pixel is detected at the intersection between the second horizontal laser and one of the lateral lasers, - a step of determining the anchoring point of each of the rows of magnets relative to the intersection point in a normal plane where there is a circle fitted in the point cloud of one of the lateral lasers and as a function of a distancebetween two rows of magnets as well as the radius of a magnet of the gripper, and - a step of transmitting the anchoring points of each of the magnets to a control module of the gripper configured to separately control the rows of magnets of the gripper and in particular the actuators of each magnet. Advantageously, prior to the laying step, the method comprises a step of supplying the elastomeric element during which the end portion of the elastomeric element is placed on the surface of a platform of the installation. According to one embodiment, the sequence of the laying step further comprises a step of clamping the elastomeric element around the drum, a step of cutting the elastomeric element to the desired length and a step of welding the cut portion of the elastomeric element with the end portion anchored on the external surface of the drum. Other aims, characteristics and advantages of the invention will appear on readingof the following description, given solely as a non-limiting example, and made with reference to the appended drawings in which: [Fig 1] very schematically represents an overall view of an installation for manufacturing tire blanks implementing a method for manufacturing tire blanks according to the invention; [Fig 2A], [Fig 2B], [Fig 2C] illustrate in detail the position of the end portion of the elastomeric element on the platform of the installation of figure 1; [Fig 3A], [Fig 3B], [Fig 3C] they show different angular positions of the end portion of the elastomeric element relative to the transverse axis; [Fig 3D] represents a detail of figure 3B; [Fig 4] partially illustrates the gripper of the installation of figure 1; [Fig 5] illustrates the image processing steps by the image processor of the installation of Figure 1; [Fig 6] schematically illustrates a three-dimensional representation from thefirst RGB-D camera; [Fig 7] illustrates the translation of a gripping point of the end part of the elastomeric element of the radius of a magnet of a gripper; [Fig 8] schematically illustrates the image acquired of the external surface of the drum of the installation of figure 1 by the second camera; [Fig 9] illustrates the position of the anchoring points P1, P2, P3 of each of the magnets of the gripper relative to the intersection point P I in a plane Pi (π) of normal ^�^^^ ^^^^; [Fig 10A] illustrates the circle fitted in the laser point cloud; [Fig 10B] illustrates the anchor points of the gripper magnets; [Fig 11] illustrates an example of a pneumatic diagram for controlling the gripper magnet actuators; [Fig 12A], [Fig 12B] illustrates the elastomeric element wrapped around the drum over a 360° revolution; [Fig 13A], [Fig 13B], [Fig 13C], [Fig 13D] represent the successive stages of cutting the elastomeric element; [Fig 14A] illustrates the exit point P S of the cut when the elastomeric element is cut and its surface rolled on that of the drum; [Fig 14B] represents the position of the elastomeric element at the end of the anchoring of the end part of the elastomeric element on the drum; [Fig 14C] illustrates a region of interest ROI in which the incision point is brought during cutting; [Fig 15A], schematically shows the initial point of interest P I , i , and the final point of interest PF , i; [Fig 15B] is a detail of figure 15A; [Fig 15C] shows the rotation angle φ to effect the locking of the elastomeric element; [Fig 16] is a flowchart illustrating the certain steps of the method for manufacturing tire blanks according to the invention. In the remainder of the description, a first reference frame or orthonormal base X, Y, Z is considered, associated with the installation 10 for manufacturing tire blanks in which we find: - a longitudinal axis X, horizontal and extending from back to front in figure 1 and parallel to the axis of rotation X-X' of the drum 16; - a transverse axis Y, horizontal, perpendicular to the longitudinal axis X and extending from left to right in figure 1; and - a vertical axis Z, orthogonal to the longitudinal axes X and transverse axes Y and extending from bottom to top in figure 1.We also consider a second reference frame or orthonormal base X, Y, Z, associated with the tool, in particular with the gripper 25 used, in which we find: - a longitudinal axis X1, horizontal and extending from left to right in Figure 7; - an extension axis Y1, horizontal, perpendicular to the longitudinal axis X1 of the gripper reference frame and extending from bottom to top in Figure 7; and - a vertical axis Z1, orthogonal to the longitudinal axes X and extension Y1 and extending from back to front in Figure 7, said vertical axis Z1 being merged with the vertical axis Z of the reference frame associated with the installation. Figure 1 shows an installation 10 for manufacturing tire blanks comprising a station 12 for supplying elastomeric elements 13 and at least one station 14 for laying said elements.By "elastomeric element" is meant an elastomeric product possibly reinforced, calendered or extruded according to a given profile so as to form a continuous strip or sheet and, by extension, a set of pre-assembled elastomeric elements. An elastomeric element 13 is here wound on a reel 15. The installation station 14 comprises a drum 16 for manufacturing tire blanks (partially shown), a robotic arm 18 provided with an effector 20 or tool adapted to the step of manufacturing the blank and a platform 21 for presenting the product. By "installation station" is also meant the area in which the elastomers are installed. As illustrated, and in a non-limiting manner, the supply station 12 for elastomeric elements 13 comprises a multi-axis industrial robot 34 capable of handling a container supporting an elastomeric element. By "feeding station" is also meant the area in which the industrial robot 34 is located.The feed station 12 is adjacent to the laying station 14 and comprises a storage space 36 in which the containers are arranged. For example, the containers are in the form of reels 15, reels 38 comprising a reel 15 or roller tables supporting an elastomeric element unsuitable for being stored on a reel. The manufacturing installation 10 comprises an electronic control unit 40, acronym ECU, configured to control the feed station 12 and the laying station 14. The ECU 40 is capable, in particular, of controlling the automatic laying of the elastomeric elements 13 on the drum 16. The drum 16 has the shape of a cylinder, generally straight, with symmetry of revolution of central axis X-X'.The drum 16 is rotatable about the central axis X-X' relative to a support 24 fixed or movable in the horizontal plane by means, for example, of a carriage 23, or movable in several directions by means, for example, of a multi-axis industrial robot. The radially external surface 16a of the drum 16 constitutes a laying surface with which the first laid element(s) 13 are in contact. The second laid element(s) are in contact with the radially external surface of the first laid element(s). In a non-limiting manner, the robotic arm 18 may be of the six-axis type, and comprises a series of six parts of variable lengths, articulated together by six joints or pivots.By way of example, the robot comprises a base 18a mounted so as to pivot by a first articulation (not visible) on a fixed structure or gantry 28, a first segment or shoulder 18b so as to pivot by a second articulation 26 relative to the base 18a, a second segment or elbow 18c so as to pivot by a third articulation 26a relative to the first segment 18b and a wrist 18d so as to pivot along three distinct axes of rotation relative to the second segment 18c by three articulations (not visible). The base 18a and the wrist 18d can rotate on themselves. Each articulation or pivot is actuated by an electric motor (not shown). The gripper(s) 20 is mounted integrally with the wrist 18d. Depending on the tools used and the arrangement of the installation station 14, the robotic arm 18 can take various forms with more or fewer axes of mobility.The robotic arm 18 is configured to carry out the automatic and successive installation of an elastomeric element 13 on the drum 16. For the gripping and anchoring steps, only one robot arm is necessary. As explained below, the end portion 13a of the elastomeric element has a triangular shape oriented in one direction or another. Thus, the installation could comprise a second robotic arm identical and parallel to the first robotic arm. The presence of a second robotic arm makes it possible to grip the end portion 13a of an elastomeric element 13 oriented in the second direction. The second robot arm can, moreover, be used during the cutting step in order to hold the end portion against the drum. Generally, the installation could comprise one or two robotic arms 18.The tools 20 allowing the implementation of the automatic installation are chosen from the group comprising at least one gripper 25 and scissors. The gripper 25 will be described in detail with reference to FIGS. 4 and 7. The tools 20 may also comprise rollers for applying pressure to the element once placed on the external surface 16a of the drum 16 and pressing it against said external surface 16a. As illustrated, the installation 10 comprises a robotic arm 18 arranged overhanging relative to the drum 16, preferably more or less 0.5m from the central axis X-X' of the drum 16 in a horizontal direction. As illustrated in detail in FIG. 2A, the product presentation platform 21 is arranged upstream of the drum 16 and upstream of a mechanical guide GM.The platform 21 comprises a flat surface 21a for receiving one end 13a of the elastomeric element 13, and in particular the end portion 13a of said element 13 after partial unwinding of the reel 15. The mechanical reinforcement of an elastomeric element 13 coupled with the fact that said element is wound around the reel 15 generates a surface of the end portion 13a which is not completely flat once unwound on the platform 21 in order to be placed on the external surface 16a of the drum 16, as can be seen in FIG. 2B. The platform 21 may comprise, for this purpose, a plate or strip of magnetic or magnetized material element 21b extending along the longitudinal axis X and arranged on the surface 21a for receiving the elastomeric element 13. The magnet 21b makes it possible to attract the wires of the elastomeric element 13 with magnetic properties and thus to press the end part 13a of said element 13 onto the platform 21.Alternatively, it could be provided that the platform 21 does not comprise such a magnet 21b. The rigidity of the elastomeric element 13 may influence its position of its unwound end on the flat surface 21a of the platform 21. In other words, the longitudinal position of the end portion 13a of the unwound elastomeric element 13 may extend along an extension axis Y1 which may be angularly offset relative to the transverse axis Y perpendicular to the axis X-X' of rotation of the drum 16. Figure 3A illustrates the case where the end portion 13a of the unwound elastomeric element 13 extends along an extension axis Y1 which is not angularly offset relative to the transverse axis Y perpendicular to the axis of rotation X-X' of the drum 16. This case is particularly rare.Figure 3B illustrates the case where the end portion 13a of the unwound elastomeric element 13 extends along an extension axis Y1 which is angularly offset inwardly from the transverse axis Y and Figure 3C illustrates the case where the end portion 13a of the unwound elastomeric element 13 extends along an extension axis Y1 which is angularly offset outwardly from the transverse axis Y. The gripper 25, visible in detail in Figures 4 and 7, comprises three rows of elements made of magnetic material or magnets 25a, 25b, 25c, 25e, 25f parallel to each other and to the axis of rotation of the drum 16. The rows of elements made of magnetic material are regularly spaced from each other in the extension direction Y1. As illustrated, the first and second rows of magnetic material elements each comprise one magnetic material element 25a, 25b and the third row comprises three magnetic material elements 25c, 25e, 25f.One of the magnetic material elements 25c of the third row being aligned along the extension axis Y1' with the magnetic elements 25a, 25b of the first and second rows. All of the magnetic elements 25a, 25b, 25c, 25e, 25f are here arranged so as to form a T. Generally, the shape of the gripper is symmetrical. Thanks to the T-shaped arrangement of the magnets or a symmetrical arrangement of the gripper, it is possible to use the same gripper to grasp the end portion of a right-facing elastomeric element or the end portion of a left-facing elastomeric element. Alternatively, it could be provided that the third row comprises only one element of magnetic material. As illustrated, the gripper 25 comprises five magnetic elements. Alternatively, it could be provided that the gripper 25 comprises a different number of elements made of magnetic material, for example greater than or equal to six.The magnetic material elements 25a, 25b, 25c, 25e, 25f are mounted on a support 25d configured to be connected to the end portion of one of the robotic arms 18. The gripper 25 of the robotic arm 18 is configured to grasp the end portion 13a of the elastomeric element 13 from above. However, since the gripper 25 is rigid, it is not possible to align it with the end portion 13a of the elastomeric element 13 in the case where the latter extends along the extension axis Y1 angularly offset from the transverse axis Y as seen in FIG. 3B or FIG. 3C. The installation 10 comprises a first three-dimensional camera (not shown), such as an RGB-D sensor, restoring a cloud of points of coordinates measured in a reference frame associated with said first camera and having a line of sight oriented towards the platform 21 and configured to acquire an image of the end portion 13a of the elastomeric element 13 on the platform 21.This step corresponds to a step 151 of acquiring the image of the elastomeric element 13 on the platform 21. The first 3D camera is fixed to the gantry 28 and directed upstream towards the platform 21. The first 3D camera makes it possible to avoid the necessary recalibration when using a 2D camera. Indeed, the first 3D camera will immediately bring the distance of the object and its perceived size into coincidence, which makes it possible to measure the dimensions of the object without having to indicate the depth at which it is located relative to the camera. The electronic control unit UCE 40 comprises for this purpose a module 50 for gripping the end part 13a of the elastomeric element 13. The gripping module 50 comprises a module 51 for acquiring the image of the end part 13a of the elastomeric element 13 on the platform 21 by the first 3D camera.The gripping module 50 further comprises a module 52 for cutting the image of the end portion 13a of the elastomeric element 13 on the platform 21 into three zones Z1, Z2, Z3, visible in FIG. 3B. The first zone Z1 corresponds to the zone located between the tip P. p o of the end portion 13a, visible in Figure 3D, and the second zone Z2, the second zone Z2 is located between the first and third zones Z1, Z3 and the third zone Z3 is located between the second zone Z2 and the edge 21c of the platform 21. The total length L of the end portion 13a of the element 13 corresponds to the distance between the tip P p oof said end portion 13a and the edge 21c of the platform 21. Preferably, the first and third zones Z1, Z3 each correspond to 30% of the total length L. Alternatively, the length of the first zone Z1 could be different from the length of the third zone Z3. For example, the length of the first zone Z1 could be between 20% and 30% of the total length L and the length of the third zone Z3 could be between 20% and 30% of the total length L. The gripping module 50 further comprises a module 53 for determining the position of the gripper 25 and in particular a gripping point P p of the gripper 25. The module 53 for determining the position of the gripper 25 is configured to determine a straight line d1 passing through the lateral side of the second zone Z2. The gripping point P p is axially offset from the tip P po from the end part 13a by a distance d pThe module 53 for determining the position of the gripper 25 further comprises a first image processing processor configured to determine an initial position of the tip or initial gripping point P p i in the point cloud of the image from the acquisition module 51. The image processing processor comprises the following successive steps, illustrated with reference to Figure 5, with a u,v reference frame dedicated to the image. The processor detects in the image, the region of the platform 21, then a binary thresholding is carried out in this region. The binary thresholding can be carried out using a method known as Otsu. In the binary image obtained, the largest contour C is detected, from which extreme pixels are extracted respectively to the left, to the right and at the bottom of the contour P max , g , P max , d and P ma x ,b. These three pixels are then used to determine the orientation of the end portion 13a of the elastomeric element 13. A first distance is compared between the extreme left pixel P ma x , g and the bottom extreme pixel P ma x , b , with a second distance between the extreme right pixel P ma x ,d and the bottom extreme pixel P ma x , b , If the first distance is greater than the second distance, that is, if , then it is a left-oriented elastomeric element, otherwise it is a right-oriented elastomeric element. Finally, the pixels of the right side edge p d , i of the end part 13a and the pixels of the left side edge p g , iare detected by searching for the intersection between N vertical lines and the contour C of the second zone Z2 of the end portion 13a of the elastomeric element 13. The first camera, of the RGB-D type, also makes it possible to obtain a depth map, called a “depth frame” in English terms, superimposed with a color image, to recover depths of points of interest resulting from the image processing carried out on the color image and then calculate the three-dimensional coordinate of each of said points to obtain the three-dimensional image as illustrated in Figure 6. Thus, for each pixel of the acquired image, it is possible to recover its depth and then its coordinate in space. The first image processing processor is configured to estimate the 3D point of the tip P po from pixel P ma x ,b , as well as the left and right lateral 3D points P g , i and P d , i respectively from the pixels p g , i and p d , i .The first image processing processor is configured to estimate the lines d2, d3 passing through these points P g , i and P d , i , to calculate the angle θ NS T formed between these two lines d2, d3 and to obtain the initial grip point P p i by projection of point P po , itself projected into the pan defined by the two lines d2, d3. The projection distance between these points corresponds to the distance d p previously mentioned. The first image processing processor is then configured to translate the initial capture point P p i by a distance Ra along the longitudinal axis X1 and the extension axis Y1 of the second reference X1, Y1, Z1 associated with the gripper 25, i.e. to the left and to the rear in the case of an elastomeric element 13 oriented to the right or to the right and to the rear in the case of an elastomeric element 13 oriented to the left. Figure 7 illustrates the translation of the initial gripping point Pp i of the distance Ra to the left and to the rear in the case of an elastomeric element 13 oriented to the right to obtain the grip point P p ftransmitted to the robotic arm 18 by a transmission module 54. The distance Ra corresponds to the radius of the magnets 25a, 25b, 25c of the gripper 25. Such a translation of the distance Ra along the longitudinal axis X1 of the second reference X1, Y1, Z1 makes it possible to increase the magnetization surface of the gripper 25 with the end part 13a of the elastomeric element 13. Indeed, the gripper 25 is initially aligned with the line d1, we shift by the distance -Ra along the longitudinal axis X1 of the second reference when taking the end part 13a of the elastomeric element 13 and we shift by the distance +Ra along the longitudinal axis X1 when laying to cancel this shift. We proceed in a similar manner along the extension axis Y1 of the second reference X1, Y1, Z1. The electronic control unit UCE 40 further comprises a module 60 for anchoring said end 13a on the external surface 16a of the drum 16.Once the end portion 13a of the elastomeric element 13 has been gripped by the gripper 25, it is necessary to move it to the drum 16 and anchor it on the external surface 16a of said drum 16. To do this, the surface of the end portion 13a is rolled on the external surface 16a of the drum 16 by applying contact pressure and gradually releasing the anchored parts of the end portion 13a. Since the gripper 25 is rigid, the end portion 13a cannot be anchored on the drum 16 in a single pose. Since the gripper 25 comprises three rows of magnets 25a, 25b, 25c, 25e, 25f, the anchoring step is carried out in three successive poses R. T1 , R T2 and R T 3 , that is to say one installation per row of magnets 25a, 25b, 25c, 25e, 25f. To determine these installation instructions R T1 , R T 2 and R T 3, the anchoring module 60 comprises a laser projection module 61, namely a first fixed vertical red laser L1 indicating the center of the drum 16, a second fixed horizontal green laser L2 indicating the azimuth of installation of the elastomeric elements and two variable vertical green lateral lasers L3, L4, indicating the installation longitude, on the external surface 16a of the drum 16. The lasers L3, L4 with a wavelength corresponding to the color green are preferred because the green color is more distinguishable from the rubber of the tire. Indeed, the rubber tends to reflect red, which attenuates the contrast of the lasers. Alternatively, it could be provided that the lasers L3, L4 have a wavelength corresponding to the color red or another color. Similarly, the lasers L1 and L2 could have a wavelength corresponding to a color other than red, for example green or another color. The lasers are fixed on the gantry 28.The installation 10 further comprises a second three-dimensional camera (not shown) restoring a cloud of points of coordinates measured in a frame associated with said second camera and having a line of sight oriented towards the drum 16 and configured to acquire an image of a laying area on the external surface 16a of the drum 16. The second camera is, for example, an RGB-D sensor. The second camera is configured to highlight the different lasers L1, L2, L3, L4. By way of non-limiting example, the second camera can be configured to increase the exposure to capture the light from the lasers, to increase the saturation to highlight the dominant colors and to modify the white balance to highlight the green color.The anchoring module 60 comprises a module 62 for acquiring an image of the external surface 16a of the drum 16, in particular of the laying zone, taken by the second camera fixed on the gantry 28 and directed towards the drum 16. The acquired image of the external surface 16a of the drum 16 is visible in FIG. 8. The acquisition of the image of the laying zone on the external surface 16a of the drum 16 is carried out before the gripping of the end portion 13a of the elastomeric element 13 by the gripper 25 in order to anticipate the trajectory of the robotic arm 18 and to know where to anchor said end 13a. Carrying out this acquisition step upstream of the gripping of the end portion 13a of the elastomeric element 13 makes it possible to avoid the creeping of said end 13a.The anchoring module 60 further comprises a module 63 for processing the image of the installation area comprising a second image processing processor configured to detect the lasers L1, L2, L3, L4 and a 3D point cloud. Said image processing module 63 is further configured to isolate the pixels associated with the lasers in the acquired image using a color segmentation in the image, converted into a saturated image, called a hue saturation value, with the acronym TSV or Hue Saturation Value in English terms. Said module 63 is configured to detect an intersection pixel p. i at the intersection between the second horizontal laser L2 and one of the lateral lasers L3, L4, namely the right lateral laser L3 if the end part 13a of the elastomeric element 13 is oriented to the right or the left lateral laser L4 if the end part 13a is oriented to the left. The axis X-X' of the drum 16 is defined by the vector between the intersection pixel p Iand a pixel from the middle of the drum p m detected at the intersection between the first vertical laser L1 and the second horizontal laser L2. Using the depth information from the camera, it is possible to estimate an intersection point P I and a midpoint P m corresponding to the three-dimensional points of the intersection pixels p I and from the middle of the drum p m The anchoring module 60 comprises a module 64 configured to determine the anchoring point P1, P2, P3 of each of the magnets 25a, 25b, 25c relative to the intersection point P I in a plane Pi (π) of normal ^�^^^ ^^^^ where there is a fitted circle C in the point cloud of one of the lateral lasers L3, L4 of figure 8 and as a function of a distance d r between two rows of magnets 25a, 25b, 25c, 25e, 25f as well as the radius R aof a magnet 25a, 25b, 25c, 25e, 25f. Figure 9 illustrates how the anchor points P1, P2, P3 of each of the rows of magnets 25a, 25b, 25c, 25e, 25f are positioned relative to the intersection point P I in a plane Pi (π) of normal ^�^^^ ^^^^ . To determine the position of the first anchor point of the first row of magnets 25a on the fitted circle C, the intersection point PI is rotated around the axis of the circle by an angle θ I 1 according to the following equation: [Eq. 1] ^^^^ ^^^^1 = ^^^^ ^^^^ / ^^^^ With R, the measured radius of the drum 16. Respectively, the position of the second and third anchor points P2, P3 of the second and third rows of magnets 25b, 25c on the fitted circle C are defined as follows by pivoting the intersection point P I is rotated around the axis of the circle respectively by an angle θ I 2 and θ I3 according to the following equations: [Eq. 2] ^^^^ ^^^^2 = ( ^^^^ ^^^^ + ^^^^^^^^ ) / ^^^^ [Eq. 3] ^^^^ ^^^^3 = ( ^^^^ ^^^^ + 2 ^^^^ ^^^^ ) / ^^^^), The adjusted circle C with center P c and radius R is determined based on the drum axis, the drum radius and the center of the circle. The drum axis is determined using the vector � ^^ � ^ � ^ ^ � ^^ � ^ ^ � ^ � ^ � ^^ � ^^^ and the radius can be obtained in two ways: by measurement with a rangefinder or by estimation of the diameter. To determine the circle with center P c , said module 64 is configured to perform a circle adjustment in the 3D point cloud of one of the lateral lasers L3, L4. The equation we are looking for comes from that of a great circle C in ℝ 3, that is, a circle drawn on a sphere having the same center as the sphere. In other words, it is the intersection between a sphere of the same radius as the drum 16 and a plane passing through the center of this sphere which has the axis of the drum as its normal. Let P i any point of the sphere, we obtain the first relation: [ Eq.4] Let the plane π be normal ^�^^^ ^^^^ in which the great circle lies, we have for any point P i the following relation: [Eq.5] By expanding, we obtain the following equation: [Eq.6] By fixing the radius R and the normal ^�^^^ ^^^^ ,, we finally look for point P c such that, for any intersection point P I , the following equation is solved numerically: [ Eq.7] Once the circle C is defined, it is necessary to work in a two-dimensional space to perform the various rotations around the circle. Figure 10A shows the adjusted circle C fitted in the laser point cloud. The projection of the intersection point P I on the fitted circle C, P I / C , is rotated around the center of the circle to find the anchor points P1, P2, P3 of each of the magnets 25a, 25b, 25c. This projection is necessary to ensure that all points are on the fitted circle C. The vectors ^^^^ ^^^^ , ^^^^ ^^^^ And anchor points P1, P2, P3 are determined using the following relations: ^^^^ ^^^^ = ^�^^^ ^^^^ ; and ^^^^ ^^^^ = � ^^ � ^ � ^^^ � ^^ � ^ � ^ � ^ ^^^^^ So, the vector ^^^^ ^^^^is defined as the vector product of these vectors, i.e. ^^^^ ^^^^ = ^^^^ ^^^^ ∧ ^^^^ ^^^^ . The second anchor point P 2 , T CP of the second row of magnets 25b is determined by translating the second intersection point P2 by a distance d r along the ^^^^2 axis, as illustrated in Figure 10B. Similarly, the third anchor point P 3 , T C P of the third row of magnets 25c, 25e, 25f is determined by translating the third intersection point P2 by a distance 2d r along the axis ^^^^3. The gripper 25 therefore follows the trajectory of the markers , ℛ2, ^^^^ ^^^^ ^^^^, then ℛ1, ^^^^ ^^^^ ^^^^ in this order to anchor the end portion 13 of the elastomeric element 13 to the third point P3, then to the second point P2 and finally to the first point P1. Figure 10B shows the offsets to obtain the marks ℛ 2, ^^^^ ^^^^ ^^^^ and ℛ 3, ^^^^ ^^^^ ^^^^ . To pass markers ℛ 3, ^^^^ ^^^^ ^^^^ to ℛ 2, ^^^^ ^^^^ ^^^^then of ℛ 2, ^^^^ ^^^^ ^^^^ to ℛ 1, ^^^^ ^^^^ ^^^^ , the robotic arm 18 should ideally follow a circular involute trajectory to roll the surface of the end portion 13a of the elastomeric element 13 onto the surface 16a of the drum 16 by applying contact pressure. However, given the flexibility of the end portion 13a of the elastomeric element 13 and the short distances between the different anchoring points, we assume that an approximation of these involutes is sufficient. In short, the robotic arm 18 follows a linear trajectory between each anchoring point and only the three calculated anchoring points are transmitted to it by said arm 18. The module 64 for determining the anchoring points is configured to take into account the offsets of p and R a previously determined when gripping the end part 13a of the elastomeric element 13. The three anchoring points P 1 , T C P , P 2 , TC P , P3 , T CP are thus shifted by the radius -R a along the longitudinal axis X to compensate for the translation of the entire gripper 25 and the first anchor point P 1 , T C P is shifted by the distance d palong the longitudinal axis X to compensate for the offset relative to the tip of the end portion 13a and finally obtain the anchoring points P1, P2, P3 of each of the magnets 25a, 25b, 25c. The anchoring points P1, P2, P3 of each of the rows of magnets 25a, 25b, 25c, 25e, 25f are then transmitted to a control module 65 of the gripper 25. The control module 65 of the gripper is configured to separately control the magnets 25a, 25b, 25c of the gripper 25 and in particular the actuators (not shown) of each magnet. Indeed, when anchoring the end portion 13a of the elastomeric element 13 on the drum 16, the actuators must be deactivated row by row to release the anchored areas of the elastomeric element 13. Figure 11 illustrates an example of a pneumatic diagram for controlling the actuators of the rows of magnets 25a, 25b, 25c, 25e, 25f of the gripper 25.The second and third actuators are each connected to a secondary pneumatic distributor 26a, 26b, for example of the 5 / 2 type, connected to a main pneumatic distributor 26c, for example of the 5 / 3 type. The first actuator of the first magnet 26a is connected directly to the main pneumatic distributor 26c. The anchoring module 60 makes it possible to anchor a product of complex shape on a rounded shape, i.e. the drum, by determining three anchoring points belonging to the same circle. The ECU 40 further comprises a lashing module 70 configured to wind the elastomeric element 13 around the drum 16 on a 360° revolution once the end portion 13a of said element 13 is anchored on the external surface 16a of the drum 16, as can be seen in FIGS. 12A and 12B. The ECU also comprises a cutting module 80 configured to cut said elastomeric element 13 wound around the drum 16 to the desired length.The cutting of the elastomeric elements 13 reinforced with metal fibers must be carried out between and along two metal fibers. The cutting module 80 is configured to transmit instructions to one of the robotic arms 18 to insert the cutting tool between two metal wires at an incision point P. in c , to cut to an exit point P S , to return to the incision point P i n c , then cut the remainder of the elastomeric element 13 up to a final point P F as seen in Figures 13A, 13B, 13C and 13D. Cutting the remainder of the elastomeric element 13 to an end point P F is achieved by synchronizing the robotic arm 18 with the rotation of the drum 16. The cutting module 80 comprises a cutting preparation module 81 configured to determine the incision point P in c . Determination of the incision point P in cis carried out upstream of the anchoring. When the elastomeric element 13 is cut and its surface rolled onto that of the drum 16, the exit point P S of the cutout is confused with an initial point of interest P I , ias shown in Figure 14A. This point of interest is located at the other end of the hypotenuse of the right triangle formed by the tip of the end portion 13a of the elastomeric element 13. At the end of the anchoring of the end portion 13a of the elastomeric element 13 on the drum 16, the elastomeric element 13 is in the position visible in Figure 14B. The cutting preparation module 81 is configured to bring the incision point into a manually defined region of interest ROI. Said region of interest ROI is chosen between the mechanical guidance GM downstream of the platform 21 and the top of the drum 16 so that the cutting tool has sufficient space to incise the elastomeric element 13. In FIG. 14C, the region of interest ROI is located at the level of the known azimuth A1, itself being at an angle β from the azimuth A2 of the horizontal laser L2 where the elastomeric element 13 was anchored during the anchoring step.The target distance between the initial point of interest P. I , i and the limit of the guidance is noted ∆ g . Let l N S T the width of the elastomeric element 13, L the length of the side adjacent to the angle θ N S T and R the radius of the drum 16, to bring the initial point of interest P I , i at azimuth A2 of laser L2, you have to turn the drum by an angle ^^^^ ^^^^ = ^^^^⁄ ^^^^ . To bring initial interest P I , i in the region of interest ROI, it is therefore necessary to rotate the drum 16 by an angle ^^^^ = ^^^^ / ^^^^ − ^^^^. To detect the initial point of interest P I , iin the localization area, grazing lighting is used to distinguish the elastomeric element 13 from the lower layer on the drum 16. This then creates a shadow along the edge of the elastomeric element 13 which defines an outline in the image. The cutting preparation module 81 comprises an image processing processor 82 configured to determine the initial point of interest P I , i The inputs to the algorithm are the 3D image from the second camera directed towards the drum 16, the depth map and a mask whose white pixels represent the region of interest ROI where the initial point of interest P I , iwas brought. To detect the contours, the image processing processor 82 uses a Sobel filter (not shown) configured to detect horizontal and then vertical intensity variations by convolution. By combining the results, a gradient at each point is obtained. In our case, we are looking only for diagonal contours, so the image processing processor 82 applies the Sobel filter both times with a 3×3 diagonal convolution matrix. For a left-oriented elastomeric element 13, this matrix is ​​written as follows: For a right-oriented elastomeric element 13, this matrix is ​​written as follows: Using a diagonal array is optimal for elastomeric elements whose end portion 13a forms an angle of 45° with the transverse axis Y. Another angle of the end portion 13a could be provided. Then, the image processing processor 82 is configured to use a binary thresholding method to obtain a black and white image of the results and configured to focus in the region of interest ROI to detect the largest contour of the image in order to isolate it in a black and white image. For each line of the image that contains at least one white pixel, only the rightmost pixel (for a left-oriented elastomeric element 13) is kept in order to refine the contour as close as possible to the elastomeric element 13. Then, the contour is dilated to the right only using a dilation function with a convolution vector ^^^^ = [1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0].The image processing processor 82 is then configured to perform a new contour search and search for the convex hull of this contour to obtain a polygon with vertices represented by pixels. This step makes it possible to reduce the number of pixels in the contour to work only with the vertices of the convex hull. Thus, a pixel p is determined. I as the lowest vertex among the two leftmost vertices. During the cutting movement, the cutting tool must not hit either the mechanical guide or the drum 16. Therefore, it is necessary that the point of interest P I is at a distance ∆ g ±^ of the GM mechanical guidance. To measure this distance ∆ g ± ^ , the image processing processor 82 uses a pixel p di r which is the highest peak among the two leftmost peaks. The right of N S T is the line in the 2D image defined by two pixels p I and pg . The pixel p g corresponds to the right intersection of d N S T and a straight line g in the manually defined image and representing the limit of the mechanical guidance. The distance between the points P I , i and P g , from the pixels p I and p g , is compared with the distance ∆g. If the initial point of interest P I , i is too close to the mechanical guidance GM, then the effector 20 risks being blocked by it, and if the initial point of interest P I , i is too far away, the effector 20 risks being blocked by the drum 16. The image processing processor 82 carries out an offset of the elastomeric element 13 so that the initial point of interest P I , i from pixel p Ieither at a distance ∆g, ideal for the incision movement. This shift is carried out by a rotation of the drum 16 whose direction of rotation depends on the sign of the shift to be carried out. For example, ∆g=0.055m and ^=0.01. After having detected the initial point of interest P I , i and checked the distance ∆g between this point and the mechanical guide GM, the elastomeric element 13 is loaded by the loading module 70 before carrying out the cutting operation, i.e. winding the elastomeric element 13 around the drum 16. This operation is carried out by synchronizing the rotation of the drum 16 with the rotation of the reel 15. Once the elastomeric element 13 is loaded, we can see in figure 15A, the initial point of interest P I , i , determined before the docking and the final point of interest P F , iwhich is the physical point of interest belonging to the elastomeric element 13 and which has therefore rotated around the drum 16 with it. The cutting module 80 comprises a module 83 for determining the incision point P in c depending on the initial point of interest P I , i and a constant distance between the said incision point P i n c and the exit point P S necessary for the cutting phases shown in Figures 13A, 13B, 13C. The constant distance ho ffse test predetermined during preliminary steps which will not be described. The incision point Pi nc is located at an axial offset ^^^^ ^^^^ ^^^^ ^^^^ ^^^^ ^^^^ ^^^^ =sin ^^^^ ^^^^ ^^^^ ^^^^ ⋅ ℎ ^^^^ ^^^^ ^^^^ ^^^^ ^^^^ ^^^^ from the initial point of interest PI , i along the X-X' axis of the drum16, as in Figure 15B. The length lo ffse tries the exit point P S and initial point of interest P I , i is written as follows: As shown in Figure 15C, the rotation angle φ for carrying out the locking of the elastomeric element 13 is therefore not 2π but is equal So the exit point P S merges with the final point of interest P F , i once the elastomeric element 13 is bonded to the drum 16. The cutting module 80 further comprises a module 84 for heating the cutting tool (not shown). The cutting module 80 further comprises a module 85 for analyzing the axial forces F x and transverse F y of the robotic arm 18 generated during the cutting operation configured to acquire said force by a force sensor mounted on the robotic arm 18, to determine the exit point P Scutting and to correct in real time the angle of the cutting tools during the cutting operation. Finally, the ECU 40 comprises a welding module 90 configured to press the elastomeric element 13 as close as possible to the cut and to control a multi-profile pressure roller capable of rolling in all directions and accompanying the elastomeric element 13 as the cutting progresses. The welding module 90 is also configured to control a welding tool, called a zipper in English terms, configured to bring the cut ends of the elastomeric element 13 together in a first direction and in a second direction along the weld. The flowchart illustrated in Figure 16 illustrates certain manufacturing steps of a method 100 for manufacturing tire blanks. The method 100 comprises a step 140 of successively laying elastomeric elements 13 using the manufacturing installation 10.To this end, the method 100 comprises, prior to the laying step 140, a step 110 of feeding the laying station 14 with elastomeric element 13, using the feeding station 12, the element to be laid taking the form of a continuous strip or sheet. The feeding step 110 comprises a step 111 of gripping a container, such as a reel 15, a reel 38 comprising a reel 15 or a roller table, by a multi-axis industrial robot 34 or an autonomous trolley. Each container comprises an elastomeric element to be laid. The feeding step 110 further comprises a step 112 of positioning the container so that the elastomeric element is in a condition to be placed and of unwinding the elastomeric element 13 until its end 13a is placed on the surface 21a of a platform 21 of the installation 10. The placing step 140 is controlled automatically by the ECU 40.One of the robotic arms 18, equipped with the gripper 25, automatically places the elastomeric element 13 on the drum 16 for manufacturing tire blanks according to the following sequence. The placing step 140 comprises a sequence comprising a step 150 of gripping the end portion 13a of the elastomeric element 13, a step 160 of anchoring said end 13a on the external surface 16a of the drum, a step 170 of clamping the elastomeric element 13 around the drum, a step 180 of cutting the elastomeric element 13 to the desired length and a step 190 of welding the cut portion of the elastomeric element with the anchored end portion 13a. The step 150 of gripping the end portion 13a of the elastomeric element 13 comprises a step 151 of acquiring the image of the end portion 13a of the elastomeric element 13 on the platform 21 by the first RGB-D camera.The gripping step 150 further comprises a step 152 of cutting the image of the end portion 13a of the elastomeric element 13 on the platform 21 into three zones Z1, Z2, Z3 as described previously with reference to the module 52 for cutting the image of the end portion 13a. The gripping step 150 comprises a step 153 of determining the position of the gripper 25 and in particular a gripping point P. p using an image processing processor as described previously with reference to the module 53 for determining the position of the gripper 25. The gripping step 150 comprises a step 154 ​​for correcting the initial gripping point P p i by translation of said initial grip point P pi of a distance Ra along the longitudinal axis X1 and the extension axis Y1 of the gripper reference point 25 to obtain the gripping point P p fusing the image processing processor as described previously with reference to the module 53 for determining the position of the gripper 25. The gripping point P p f is then transmitted, during a transmission step 155, to the robotic arm 18 .During the step 160 of anchoring said end 13a on the external surface 16a of the drum 16, a contact pressure is applied and the anchored parts of the end part 13a are gradually released. The anchoring step 160 comprises a step 161 of laser projection and a step 162 of acquiring an image of the external surface 16a of the drum 16 taken by a second RGB-D camera directed towards the drum 16. The steps 161 and 162 are carried out before the step 155 of gripping the end part 13a of the elastomeric element 13 by the gripper 25 in order to anticipate the trajectory of the robotic arm 18 and to know where to anchor said end 13a. The lasers comprise a first vertical laser L1, for example red, fixed indicating the center of the drum 16, a second horizontal laser L2, for example green, fixed indicating the azimuth of installation of the elastomeric elements and two variable vertical lateral lasers L3, L4, for example green, indicating the installation longitude.The anchoring step 160 further comprises a step 163 of processing the image of the installation zone during which the lasers L1, L2, L3, L4 and a 3D point cloud are detected, the pixels associated with the lasers in the acquired image are isolated and the intersection pixel p is detected. i at the intersection between the second horizontal laser L2 and one of the lateral lasers L3, L4, namely the right lateral laser L3 if the end portion 13a of the elastomeric element 13 is oriented to the right or the left lateral laser L4 if the end portion 13a is oriented to the left. The image processing step 163 is carried out using the image processing module 63 previously described. The anchoring step 160 further comprises a step 164 determining the anchoring point P1, P2, P3 of each of the rows of magnets 25a, 25b, 25c, 25e, 25f relative to the intersection point P i in a plane Pi (π) of normal ^�^^^ ^^^^where there is a fitted circle C in the point cloud of one of the lateral lasers L3, L4 and as a function of a distance d r between two rows of magnets 25a, 25b, 25c as well as the radius R aof a magnet 25a, 25b, 25c. The anchoring point P1, P2, P3 of each of the rows of magnets 25a, 25b, 25c, 25e, 25f is determined with reference to the module 64 for determining the anchoring points as described previously. The anchoring step 160 further comprises a step 165 of transmitting the anchoring points P1, P2, P3 of each of the rows of magnets 25a, 25b, 25c, 25e, 25f to a module 65 for controlling the gripper 25 configured to separately control the rows of magnets 25a, 25b, 25c, 25e, 25f of the gripper 25 and in particular the actuators of each row of magnets. During step 170 of securing the elastomeric element 13 around the drum, the elastomeric element 13 is wound around the drum 16 through a 360° revolution once the end portion 13a of said element 13 is anchored on the external surface 16a of the drum 16.The step 180 of cutting the elastomeric element 13 to the desired length comprises a step 181 of preparation for cutting during which an incision point P is determined. in c corresponding to the insertion point of the cutting tool between two metal wires, using the cutting preparation module 81 as described previously. The cutting preparation step 181 is carried out upstream of the docking step 170. During the cutting preparation step 181, a region of interest ROI and an initial point of interest P are determined. I , i as previously described with reference to the cutting preparation module 81 and the image processing processor 82. The cutting step 180 further comprises a step 183 of determining the incision point P in c depending on the initial point of interest P I , i and a constant distance between the said incision point P i n c and the exit point P Snecessary for the cutting phases shown in figures 13A, 13B, 13C, as previously described with reference to module 83 for determining the incision point P in c The cutting step 180 further comprises a step 184 of heating the cutting tool during the cutting operation 186 and a step 185 of analyzing the axial forces F x and transverse F y of the robotic arm 18 generated during the cutting operation 186 configured to acquire said force by a force sensor mounted on the robotic arm 18, to determine the exit point P Scutting and to correct in real time the angle of the cutting tools during the cutting operation 1586. During the step 190 of welding the cut part of the elastomeric element with the anchored end part 13a, the elastomeric element 13 is pressed as close as possible to the cut and a multi-profile pressure roller is controlled capable of rolling in all directions and accompanying the elastomeric element 13 as the cutting 186 progresses. During the welding step 190, a welding tool, called a zipper in Anglo-Saxon terms, is controlled, configured to bring the cut ends of the elastomeric element 13 together in a first direction and in a second direction along the weld. The installation system and method according to the invention is designed to adapt to both existing manual installations and new installations.

Claims

CLAIMS 1. Installation (10) for manufacturing tire blanks associated with a first orthogonal reference frame (X, Y, Z) and comprising a drum (16) for manufacturing tire blanks movable in rotation about an axis of rotation (X-X') of the first reference frame, a platform (21) arranged upstream of the drum (16), extending along a transverse axis (Y) of the first reference frame and comprising a flat surface (21a) for receiving one end (13a) of an elastomeric element (13), at least one robotic arm (18), an electronic control unit (40) configured to control the robotic arm (18), and at least one first three-dimensional camera restoring a cloud of points of coordinates measured in a reference frame associated with said first camera and having a viewing axis oriented towards the platform (21) and configured to acquire an image of the end portion (13a) of the elastomeric element (13) on the platform (21),characterized in that the robotic arm (18) comprises at least one gripper (25) associated with a second orthogonal reference mark (X1, Y1, Z1) distinct from the first reference mark (X, Y, Z) and configured to grip the end portion (13a) of the elastomeric element (13) from above and comprising at least three rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) parallel to each other and regularly spaced from each other along an extension axis (Y1) of the second reference mark (X1, Y1, Z1), and in that the electronic control unit (40) comprises at least: - a module (50) for gripping the end portion (13a) of the elastomeric element (13) configured to determine a gripping point (P, p) of the gripper (25) as a function of the point cloud restored by the first camera, and - a module (60) for anchoring said end (13a) on the external surface (16a) of the drum (16) configured to determine an anchoring point (P1, P2, P3) of each of the rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) on the external surface (16a) of the drum (16).

2. Installation (10) according to claim 1, in which the end portion (13a) extends along the extension axis (Y1) of the second reference mark (X1, Y1, Z1) angularly offset from the transverse axis (Y) of the first reference mark (X, Y, Z).

3. Installation (10) according to claim 1 or 2, in which the gripping module (50) comprises: - a module (51) for acquiring the image of the end portion (13a) of the elastomeric element (13) on the platform (21) by the first camera, - a module (52) for cutting the image of the end portion (13a) of the elastomeric element (13) on the platform (21) into three zones (Z1, Z2, Z3),and - a module (53) for determining the gripping point (Pp) comprises a first image processing processor configured to determine an initial gripping point (Pp i) in the point cloud of the image from the acquisition module (51) and to correct said initial gripping point (Pp i) by translating said initial gripping point (Pp i) by a distance (Ra) corresponding to the radius of the magnetic elements (25a, 25b, 25c, 25e, 25f) of the gripper (25) along the extension axis (Y1) of the second reference frame (X1, Y1, Z1) and along a second longitudinal axis (X1) of the second reference frame perpendicular to said extension axis (Y1) and to determine the gripping point (Pp f) transmitted to the robotic arm (18) by a transmission module (54).

4. Installation (10) according to any one of the preceding claims, comprising a first vertical, fixed laser (L1) indicating the center of the drum (16),a second fixed horizontal laser (L2) indicating the laying azimuth of the elastomeric element and two variable vertical lateral lasers (L3, L4) indicating the laying longitude, said lasers being integral with a fixed structure (28) of the installation, and in which the anchoring module (60) comprises a module (61) for projecting said lasers (L1, L2, L3, L4) onto the external surface (16a) of the drum (16).

5. Installation (10) according to claim 4, comprising a second three-dimensional camera restoring a point cloud of, coordinates measured in a frame associated with said second camera and having a line of sight oriented towards the drum (16) and configured to acquire an image of a laying area on the external surface (16a) of the drum (16), and wherein the anchoring module (60) comprises: - a module (62) for acquiring an image of said laying area, and - a module (63) for processing the image of said laying area comprising a second image processing processor configured to detect the lasers (L1, L2, L3, L4) and an intersection pixel (pI) at the intersection between the second horizontal laser (L2) and one of the lateral lasers (L3, L4) and to estimate an intersection point (PI) and a middle point (Pm) corresponding to the three-dimensional points of the intersection pixels (pI) and the middle of the drum (pm). 6.Installation (10) according to any one of the preceding claims, in which the electronic control unit (40) further comprises a module (170) for clamping the elastomeric element (13) around the drum (16), a module (180) for cutting the elastomeric element (13) to the desired length and a module (190) for welding the cut part of the elastomeric element (13) with the anchored end part (13a) on the external surface (16a) of the drum (16).

7. Installation (10) according to any one of the preceding claims, in which the gripper (25) of the robotic arm (18) comprises actuators each connected to an element made of magnetic material (25a, 25b, 25c, 25e, 25f), said actuators being controlled separately to successively release the third row of elements made of magnetic material (25c, 25e, 25f), the second row of elements made of magnetic material (25b) then the first row of elements made of magnetic material (25a). 8.Installation (10) according to any one of the preceding claims, in which the magnetic material elements (25a, 25b, 25c, 25e, 25f) of the gripper (25) of the robotic arm (18) are mounted on a support (25d) configured to be connected to the end portion of the robotic arm (18).

9. Installation (10) according to any one of the preceding claims, wherein the first, second and third rows of magnetic material elements of the gripper of the robotic arm each comprise at least one magnetic material element.

10. Installation (10) according to claim 8, wherein the first and second rows of magnetic material elements of the gripper of the robotic arm each comprise a single magnetic material element and in the third row comprises at least three magnetic material elements (25c, 25e, 25f), one of the magnetic material elements (25c) of the third row being aligned along the extension axis (Y1) of the second reference mark (X1, Y1, Z1) with the magnetic elements (25a, 25b) of the first and second rows.

11. Installation (10) according to any one of the preceding claims, comprising a second robot arm. 12.Installation (10) according to any one of the preceding claims, in which the platform (21) comprises at least one magnetic strip (21b) extending along a longitudinal axis (X) parallel to the axis of rotation (X-X') of the drum (16) and arranged on the receiving surface (21a) of the platform (21). 13.Method for automatically and successively fitting elastomeric elements (13) using a tire blank manufacturing installation (10) associated with a first reference frame (X, Y, Z) and comprising a tire blank manufacturing drum (16) rotatable about an axis of rotation (X-X'), a platform (21) arranged upstream of the drum (16), extending along a transverse axis (Y) of the first orthogonal reference frame (X, Y, Z) and comprising a flat surface (21a) for receiving one end (13a) of an elastomeric element (13), at least one robotic arm (18), and at least one first three-dimensional camera reproducing a cloud of points of coordinates measured in a reference frame associated with said first camera and having a sighting axis oriented towards the platform (21) and configured to acquire an image of the end portion (13a) of the elastomeric element (13) on the platform (21), the robotic arm (18). comprising at least one gripper (25) associated with a second orthogonal reference mark (X1, Y1, Z1) distinct from the first reference mark (X, Y, Z) and configured to grip the end portion (13a) of the elastomeric element (13) from above, and comprising at least three rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) parallel to each other and regularly spaced from each other along an extension axis (Y1) of the second reference mark (X1, Y1, Z1), characterized in that it comprises at least: - a laying step (140) comprising a sequence comprising at least one step (150) of gripping the end portion (13a) of the elastomeric element (13), during which a gripping point (Pp) of the gripper (25) is determined as a function of the cloud of points restored by the first camera; and - a step (160) of anchoring said end (13a) on the external surface (16a) of the drum, during which an anchoring point (P1, P2,P3) of each of the rows of magnetic material elements (25a, 25b, 25c) on the external surface (16a) of the drum (16).

14. Method (100) according to claim 13, wherein said end portion (13a) extends along an extension axis (Y1) of the second reference mark (X1, Y1, Z1) angularly offset from the transverse axis (Y) of the first reference mark (X, Y, Z) and wherein the step (150) of gripping the end portion (13a) of the elastomeric element (13) comprises a step (151) of acquiring the image of the end portion (13a) of the elastomeric element (13) on the platform (21) by the first camera, a step (152) of cutting the image of the end portion (13a) of the elastomeric element (13) on the platform (21) into three zones (Z1, Z2, Z3), a step (153) of determining the position of a point of initial capture (Ppi) of the gripper (25) in the point cloud of the image acquired in the acquisition step (151) using a processing processor,a step (154) of correcting the initial gripping point (Ppi) by translating the initial gripping point (Pp i) by a distance (Ra) corresponding to the radius of each of the magnetic material elements (25a, 25b, 25c) of the gripper (25) along the extension axis (Y1) of the second reference mark (X1, Y1, Z1) and along a second longitudinal axis (X1) of the second reference point perpendicular to said extension axis (Y1) to obtain the gripping point (Pp f) and a step (155) of transmitting said gripping point (Pp f) to the robotic arm (18) with a view to gripping the end part (13a) of the elastomeric element (13) by the gripper (25). 15.Method (100) according to claim 14, wherein the anchoring step (160) comprises a step (161) of projecting lasers (L1, L2, L3, L4) and a step (162) of acquiring an image of a laying area on the external surface (16a) of the drum (16) taken by a second three-dimensional camera restoring a cloud of points of coordinates measured in a reference frame associated with said second camera and having a line of sight oriented towards the drum (16), said steps of projecting lasers and acquiring an image (161, 162) are carried out before the step (155) of taking the end portion (13a) of the elastomeric element (13) by the gripper (25), the lasers (L1, L2, L3, L4) comprising a first vertical, fixed laser (L1) indicating the center of the drum (16), a second laser (L2) fixed horizontal indicating the azimuth of installation of the elastomeric elements and two variable vertical lateral lasers (L3, L4) indicating the installation longitude. 16.Method (100) according to claim 15, wherein the anchoring step (160) further comprises: - a step (163) of processing the image of the laying area, during which the lasers (L1, L2, L3, L4) and the point cloud restored by the second camera are detected, the pixels associated with the lasers (L1, L2, L3, L4) are isolated in the image acquired during the acquisition step (162) and the intersection pixel (pI) is detected at the intersection between the second horizontal laser (L2) and one of the lateral lasers (L3, L4), - a step (164) of determining the anchoring point (P1, P2, P3) of each of the rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) relative to the intersection point (PI) in a plane (Pi (π)) of normal ( ^�^^^. ^^^^ ) where there is a fitted circle (C) in the point cloud of one of the side lasers (L3, L4) and as a function of a distance (dr) between two rows of elements made of magnetic material (25a, 25b, 25c) as well than the radius (Ra) of an element made of magnetic material (25a, 25b, 25c) of the gripper (25), and - a step (165) of transmitting the anchoring points (P1, P2, P3) of each of the rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) to a module (65) for controlling the gripper (25) configured to separately control the rows of elements made of magnetic material (25a, 25b, 25c, 25e, 25f) of the gripper (25).

17. Method (100) according to any one of claims 13 to 16, comprising, prior to the laying step (140), a step (110) of supplying elastomeric element during which the end portion (13a) of the elastomeric element (13) is laid on the surface (21a) of a platform (21) of the installation (10). 18.Method (100) according to any one of claims 13 to 17, wherein the sequence of the laying step (140) further comprises a step (170) of clamping the elastomeric element (13) around the drum, a step (180) of cutting the elastomeric element (13) to the desired length and a step (190) of welding the cut portion of the elastomeric element (13) with the end portion (13a) anchored on the external surface (16a) of the drum (16).

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