Method, gripper and handling station for handling a bead-apex

Abstract

The invention relates to a method for handling a bead-apex, wherein the method comprises providing a gripper comprising at least two lifting elements that are distributed in a circumferential direction about a gripper axis that extends in a first direction, wherein the method comprises the steps of: a) positioning the lifting elements in a setting position in which the lifting elements are arranged below the bead-apex in the first direction and in which at least one of the lifting elements is arranged at a distance spaced apart from the inner rim of the bead-apex in the radial direction; b) lifting the bead-apex from the spacer on the respective lifting elements; and subsequently c) moving each lifting element in an outward direction away from the gripper axis for centering the bead-apex with respect to the gripper axis.

Description

[0001] Method, gripper and handling station for handling a beadapex

[0002] BACKGROUND

[0003] The invention relates to a method, a gripper and a handling station for handling a bead-apex .

[0004] A known gripper 1002 for lifting a bead-apex 9 from a spacer 1008 is shown in figures 2A-4A and 2B-4B during steps of a known method for li fting said bead-apex 9. The gripper 1002 comprise a gripper head 1020 with radially extending arms 1021 . The gripper 1002 further comprises lifting elements 1022 that are radially movable relative to the arms 1021 . Said li fting elements 1022 each comprise a support member 1023 to be inserted between the bead- apex 9 and the spacer 1008 upon a movement of the lifting elements 1022 in a radial outward direction, and an abutment member 1024 for abutting a radial inner rim 99 of the bead-apex 9. The support members 1023 , have a wedge shape, tapering radially outward .

[0005] A corresponding method for lifting the bead-apex 9 from the spacer 1008 comprises step of positioning the lifting elements 1022 radially within the inner rim 99 of the bead- apex 9 as is shown in figures 2A and 2B . The lifting elements 1022 are consecutively displaced in a radially outward direction along the spacer 1008 . As is shown in figures 3A and 3B the wedge shaped support member 1023 partially lifts the bead-apex 9 from the spacer 1008 when moving in the radially outward direction . SUMMARY OF THE INVENTION

[0006] As is shown in figures 4A and 4B, the lifting elements 1022 are subsequently moved further in the radially outward direction to center the bead-apex 9 relative to the gripper head 1020 .

[0007] A disadvantage of the known gripper is that, when centering the bead-apex 9 before or while li fting said bead-apex 9 from the spacer 1008 , a part of the apex 9 may remain adhered to or sticking to the spacer 1008 . This may especially be the case when handling bead-apexes 9 with relatively large apexes 92 , which are for example used in building truck tires . Accordingly, a shi fting of the beadapex 9 caused by centering said bead-apex 9 , may deform, tear 900 or otherwise damage the apex 92 as is for example illustrated in figures 4A and 4B .

[0008] Moreover, the release of the apex from the spacer may be unpredictable . The unpredictable release of the apex may cause the bead-apex to be shifted or displaced relative to the gripper after centering said bead-apex .

[0009] It is an obj ect of the present invention to provide a method, a gripper and a handling station for handling bead-apexes wherein the damage to the apex 92 can be prevented and / or wherein bead-apex can be handled more precisely and / or more reliably .

[0010] According to a first aspect , the present invention relates to a Method for handling a bead-apex, in particular for gripping a bead-apex from a spacer, wherein the method comprises providing a gripper comprising at least two lifting elements that are distributed in a circumferential direction about a gripper axis that extends in a first direction, wherein the lifting elements are movable away from the gripper axis in an outward direction and towards the gripper axis in an inward direction opposite to the outward direction, wherein the li fting elements each comprise a support member that proj ects from the gripper axis for supporting the bead-apex in the first direction, wherein the li fting elements further each comprises an abutment member that extends transverse to the support member for abutting an inner rim of the bead-apex, wherein the method comprises the steps of : a) positioning the lifting elements into a setting position in which the support members are arranged below the bead-apex in the first direction and in which at least one of the abutment members is arranged at a distance spaced apart from the inner rim of the bead-apex in the inward direction; b) subsequently moving the lifting elements relative to the spacer in the first direction from the setting position into a lifting position to lift the beadapex from the spacer on the respective support members ; and c) subsequently moving each lifting element away from the gripper axis in the outward direction from the lifting position into a gripping position in which the abutment member abuts the bead-apex for centering the beadapex with respect to the gripper axis .

[0011] In other words , the centering of the bead-apex relative to the gripper is performed after lifting said bead- apex from the spacer . Hence , frictional damage to the apex due to shifting the apex along the mounting surface of the spacer can be minimized or ultimately prevented . Accordingly, the bead-apex can be handled more reliably .

[0012] In an embodiment thereof , the method comprises prior to step a) , the step of : al ) moving the lifting elements in the outward direction until the abutment member of at least one of the lifting elements abuts the inner rim of the bead- apex . In other words , the movement of the lifting elements in the outward direction is halted or ceased when at least one of the lifting elements abuts the inner rim of the bead- apex . Hence, undesired or unintentional movement of the bead-apex relative to the spacer can be prevented .

[0013] In a further embodiment thereof , the method comprises , following step al ) , the step of : a2 ) moving the lifting elements in the inward direction over a predetermined stroke length . Hence, when lifting the bead-apex the rim can be allowed to slightly move relative to the lifting elements . Accordingly, undesired or unintended stresses in the apex can be reduced .

[0014] In a preferred embodiment thereof , the predetermined stroke length is between one and twenty millimeters , preferably between one and ten millimeters , more preferably between one and five millimeters .

[0015] In a further embodiment , each support member extends away from the respective abutment member over a support distance , and wherein the predetermined stroke length is smaller than the support distance, preferably, wherein the predetermined stroke length is less than eighty percent of the support distance more preferably, wherein the predetermined stroke length is less then fifty percent of the support distance . Hence, a sufficiently large portion of the support member can still support the beadapex when lifting said bead-apex .

[0016] In a further preferred embodiment the method comprises , prior to step a ) , the step of aligning the gripper axis with a spacer axis of the spacer . Preferably, the gripper comprises one or more conical elements that are configured to center the gripper upon insertion of said elements in a central aperture of the spacer .

[0017] In a further embodiment, the bead-apex comprises a splice , wherein, prior to step a) , the method further comprises the step of scanning at least a part of the beadapex in a circumferential direction about the gripper axis to detect a location of said splice in said circumferential direction . Additionally or alternatively, the bead-apex comprises an identi fier, preferably an RFID chip, wherein, prior to step a ) , the method further comprises the step of scanning at least a part of the bead-apex in a circumferential direction about the gripper axis to detect a location of said identi fier in the circumferential direction . The location or position of the splice or identi fier relative to the gripper can be monitored while transferring the bead-apex to a consecutive tire building device , e . g . a bead setter or a tire building drum . Accordingly, the bead-apex can be trans ferred to said consecutive tire building device in a predetermined orientation with respect to said consecutive tire building device .

[0018] In a further embodiment thereof , the method comprise rotating the gripper relative to the spacer about the gripper axis or rotating the spacer relative to the gripper about the gripper axis into a predetermined mutual orientation based on the detected location of the splice or identi fier . The gripper can for example rotate into the predetermined orientation prior to li fting the bead-apex from the spacer . Accordingly, the bead- apex can have a predetermined orientation relative to the gripper .

[0019] In a further embodiment, the spacer comprises a spacer body that extends circumferentially about a spacer axis , wherein the spacer comprises a plurality of slots that extend in a radial direction transverse or perpendicular to the spacer axis , wherein the slots are configured for receiving the support members , wherein step a) comprises positioning each one of the support members in a corresponding one of the slots . Preferably, in the setting position, the support surface of each of the support members is arranged below the mounting surface , flush with the mounting surface or parallel flush with the mounting surface of the spacer . Hence, the lifting elements can be moved up to the inner rim of the bead-apex in the outward direction without interfering with the bead-apex .

[0020] In a further embodiment, the gripper comprises three or more height sensors for detecting a mutual distance between the gripper and a reference surface of the spacer, wherein the three or more height sensors are distributed about the gripper axis , wherein the method comprises the step of determining an inclination of the spacer relative to the gripper based on the detected mutual distances between the respective height sensors and the reference surface . Preferably, the height sensors are distributed equally about the gripper axis . The height sensors may for example be configured to detect an inner rim or the mounting surface of the spacer . Additionally or alternatively, the spacer may comprise a distinct reference surface . Preferably, the method further comprises the step of adapting the inclination of the gripper to match the inclination of the spacer . Accordingly, the gripper can more precisely and / or more accurately be positioned relative to the spacer . Hence, the bead- apex can be li fted from the spacer more accurately and / or reliably .

[0021] In a further embodiment , step b) further comprises pushing the spacer away from the bead-apex in the first direction . Preferably, the method comprises pushing away the spacer from the gripper while retaining the beadapex on said gripper . Hence , the spacer and the bead-apex can be separated in the first direction effectively and / or reliably .

[0022] According to a second aspect, the invention relates to a gripper for carrying out the method according to the first aspect of the invention, wherein the gripper comprises a gripper head that extends along a gripper axis , wherein the gripper further comprises a plurality of lifting elements that are distributed in a circumferential direction about the gripper axis , wherein the lifting elements are movable away from the gripper axis in an outward direction and towards the gripper axis in an inward direction opposite to the outward direction, wherein each of the lifting elements is provided with a support member, for supporting the bead-apex in a first direction parallel to the gripper axis , and an abutment member extending transverse to the support member for abutting an inner rim of the bead-apex, wherein the support member proj ects from the abutment member over a support distance of at least four centimeters .

[0023] Typically, the lifting elements are driven synchronously in the outward direction and / or the inward direction . The support distance of four centimeters can enable the gripper to support the bead-apex in the first direction during the steps of the method of the first aspect . More particularly, the support distance can enable the gripper to support the bead-apex in the first direction during the steps of the method of the first aspect when the bead-apex is arranged off-center with respect to the spacer . Accordingly, the gripper has the same advantages as mentioned above .

[0024] In a preferred embodiment thereof , the support distance is between four and ten centimeters , preferably between five and eight centimeters .

[0025] In a further embodiment , each support member comprises a support surface for supporting the bead-apex thereon, wherein the support surface extends parallel to the outward direction or the inward direction . Hence, the support members can be moved in the outward direction without lifting the bead-apex in the first direction . Preferably, the spacer comprises slots for receiving the support members such that the support surface extends below the mounting surface of the spacer in the first direction, or flush or substantially flush with said mounting surface . Accordingly, frictional contact between the support surface and the bead-apex can be minimized when moving the support members in the outward direction .

[0026] In a further embodiment , the gripper further comprises three or more height sensors for detecting a distance between the gripper and the spacer, wherein the three or more height sensors are distributed in the circumferential direction about the gripper axis . The height sensors can be connected to a control unit for determining an inclination of the spacer relative to the gripper .

[0027] In a further embodiment, the gripper comprises for each li fting element a lifter drive for driving a movement of the lifting elements in the outward direction and the inward direction . Preferably, said lifer drives are synchronized, i . e . the li fting elements are synchronously movable in the outward direction .

[0028] In a further embodiment , the gripper further comprises an RFID-reader for detecting and / or reading an RFID chip in the bead-apex . Said RFID chip may for example be embedded in the apex material . The RFID chip may for example contain stored data with respect to the configuration of the bead- apex .

[0029] According to a third aspect, the invention relates to a bead-apex handling station for handling beadapexes , wherein station comprises the gripper according to second aspect of the invention and a manipulator for moving the gripper to one or more spacer positions .

[0030] The bead-apex handling station comprises the gripper according to the second aspect of the invention . Hence, the bead-apex handling station has the same advantages as mentioned above .

[0031] In an embodiment thereof , the gripper head is rotatable relative to the manipulator about the gripper axis . Hence, the gripper may be rotated relative to a spacer about gripper axis for scanning a bead-apex on said spacer . Accordingly, the gripper may be rotated about the gripper axis into a predetermined orientation relative to the spacer and / or the bead- apex . Said mutual orientation can be retained while transporting the bead-apex on the gripper . Hence , the bead-apex can be more accurately and or reliably transferred . Moreover, an intermediate device for orientating the bead-apex can be omitted .

[0032] The various aspects and features described and shown in the speci fication can be applied, individually, wherever possible . These individual aspects , in particular the aspects and features described in the attached dependent claims , can be made subj ect of divisional patent applications . BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The invention will be elucidated on the basis of an exemplary embodiment shown in the attached schematic drawings , in which :

[0034] Figures 1A-1E show a bead-apex handling station according to an embodiment of the present invention;

[0035] Figures 2A, 3A and 4A show a known gripper during steps of gripping a bead-apex from a spacer ;

[0036] Figures 2B, 3B and 4B show section views according to the lines I IB-I IB, I I IB-I I IB and IVB-IVB in figures 2A, 3A and 4A, respectively;

[0037] Figures 5A-9A show a bead-apex gripper according to an embodiment of the present invention during exemplary steps of gripping a bead-apex from a spacer ; and

[0038] Figures 5B- 9B show section views according to the lines VB-VB, VIB-VIB, VI IB-VI IB, VI I IB-VI I IB and IXB- IXB, respectively, in figures 5A-9A.

[0039] DETAILED DESCRIPTION OF THE INVENTION

[0040] Figure 1 shows a bead-apex handling station 1 for handling bead-apexes 9 for tire building according to an embodiment of the present invention . In particular, the bead-apex handling station 1 is configured for receiving stacks of carriers or spacers 8 with bead-apexes 9 stored thereon and for removing the bead-apex 9 from said spacers 8 .

[0041] As is shown in figures 1A- 1E , the bead-apex handling station 1 defines a swapping zone Z1 for receiving stacks of spacers 8 with bead-apexes 9 stored thereon . In this particular embodiment, the swapping zone Z1 defines a first spacer position SI and second spacer position S2 . The first spacer position S I and the second spacer position S2 are each arranged for receiving a respective stack of spacers 8 . Said stack of spacers 8 may for example be provided on a carriage or carrier 89.

[0042] The bead-apex handling station 1 defines a handling zone Z2 for handling the bead-apexes 9 and spacers 8 . The second handling zone Z2 defines a third spacer position S3 and a fourth spacer position S4 . The thirds spacer position S3 and the fourth spacer position S4 are arranged for intermediate and / or temporal storage of the spacers 8 .

[0043] Optionally, the bead-apex handling station 1 further define a processing zone Z3 for receiving beadapexes from the handling zone Z2 . The processing zone Z3 may for example comprise a tire building drum and / or one or more bead-setters for receiving the bead-apexes 9.

[0044] The bead-apex handling station 1 comprises a gripper 2 for handling the spacers 8 and the bead-apexes 9 and a manipulator 7 for moving the gripper 2 between the spacer positions S1-S4 . The manipulator 7 comprises a base 70 and an arm 71 for moving the gripper 2 relative to the base 70 . Alternatively, the manipulator 7 may for example comprises a gantry (not shown) for moving the gripper 2 relative to the base 70 . In the embodiment as shown, the base 70 of the manipulator 7 is arranged within the handling zone Z2 .

[0045] The manipulator 7 is configured for transferring spacers 8 between the spacer positions S 1-S4 . The manipulator 7 is further configured to trans fer bead-apexes 9 from the spacer positions S1-S4 to the processing zone Z3 .

[0046] As is further shown in figures 1A- 1E , the beadapex handling station 1 comprises a barrier or fencing 6 for at least partially enclosing the swapping zone Zl , the handling zone Z2 and the processing zone Z3 . The fencing 6 is arranged for limiting outside access to the swapping zone Zl , the handling zone Z2 and the processing zone Z3 to improve worker safety .

[0047] The fencing 6 comprises a fence 60 that is arranged around at least a part of the swapping zone Zl and the handling zone Z2 . The fencing 6 further comprises a first door 61 between the swapping zone Z 1 and the handling zone Z2 and a second door 62 to selectively enable access to the swapping zone Zl . Preferably, the first door 61 and the second door 62 are functionally coupled . In particular, the first door 61 is configured to be opened only when the second door 62 is closed . Accordingly, the second door 62 is configured to be opened only when the first door 61 is closed .

[0048] In the schematic drawings of figures 1A-1E, the first door 61 and the second door 62 are drawn as vertical doors . Alternatively, the first door 61 may for example comprise a lid on top of the swapping zone Z l to selectively allow the manipulator 7 to access the swapping zone Z l from above .

[0049] Optionally, the bead-apex handling station 1 further defines an inspection zone Z4 for inspection of a bead- apex 9 by an operator . The fencing 6 comprises a third door 63 to allow outside access to the inspection zone Z4 . The fencing 6 further comprises a fourth door 64 between the inspection zone Z4 and the handling zone Z2 to selectively allow access between the handling zone Z2 and the inspection zone 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 .

[0050] As is best shown in figures 5A-9A and 5B-9B, the bead-apexes 9 each comprise a bead core, bead ring or bead 91 and a filler, apex filler or apex 92 that is arranged around the bead 91 . Preferably, the apex 92 tapers in a radial direction R with respect to and / or away from the bead 91 . The bead-apexes 9 are further provided with a circular or substantially circular inner rim 99 having an inner diameter or rim diameter . The inner rim 99 defines a bead opening or bead aperture 90 . In other words , the inner rim 99 extends circumferentially about the bead aperture 90 .

[0051] The apex 92 has been spliced together at a splice line or splice 93 . In the embodiment as shown, the splice 93 extends in or substantially in the radial direction R . Alternatively, the splice 93 may for example extend at an oblique angle with respect to the radial direction R .

[0052] The bead-apex 9 further comprises a marking, identi fier or chip for identification . In the embodiment as shown, the identifier is an RFID chip 95. The RFID chip 95 has been integrated or embedded within the apex 92 . Preferably, the RFID chip 95 has been embedded in the apex 92 at a location opposite to the splice 93 in the radial direction R . In other words , the RFID chip 95 is displaced relative to the splice 93 over one-hundred-and-eighty degrees or approximately one-hundred-and-eighty degrees in the circumferential direction C .

[0053] The spacers 8 each comprise a spacer body 80 . The spacer body 80 extends in circumferentially about a spacer axis B . The body forms a mounting surface 81 for supporting a bead- apex 9 thereon . In the embodiment as shown, the mounting surface 81 is f rustoconical or substantially f rustoconical . Alternatively, the mounting surface 81 may for example be a flat surface , i . e . the mounting surface 81 may extend within a support plane .

[0054] The spacers 8 comprise inner rim 82 that extends circumferentially about the spacer axis B . The inner rim 82 defines a central aperture extending through the spacer body 8 in a direction parallel to the spacer axis B .

[0055] The gripper 2 is shown in more detail in figures 5A- 9A and 5B-9B . The gripper 2 comprises a gripper head 20 that is mountable to or connectable to the manipulator 7 .

[0056] The gripper head 20 extends along a gripper axis A that extends in a first direction X . Preferably, the gripper head 20 is rotatable relative to the manipulator 7 about said gripper axis (A) .

[0057] The gripper 2 further comprises arms 21 that extend from the gripper head 20 in a direction away from the gripper axis A. The gripper 2 comprises lifting elements 22 that are movable along the arms 21 in an outward direction T1 and an inward direction T2 opposite to the outward direction T1 . Preferably, said outward direction T1 and inward direction T2 comprise at least a vector component in a radial direction perpendicular to the gripper axis A.

[0058] Preferably, the arms 21 extend from the gripper head 20 in a direction transverse or perpendicular to said gripper axis A. In the embodiment as shown, the gripper 2 comprises four arms 21 . Optionally, the gripper may comprise at least two arms 21 , three arms 21 or more than four arms 21 . The arms 21 are distributed in a circumferential direction C about the gripper axis A. Preferably, the arms 21 are evenly distributed about the gripper axis A.

[0059] The gripper 2 comprises for each lifting element

[0060] 22 a lifter drive (not shown) for driving a movement of said lifting element in the outward direction T1 and the inward direction T2 . Preferably, the lifting drives of the lifting elements 22 are synchroni zed . The li fting drives may for example be mechanically coupled .

[0061] The lifting elements 22 are each provided with a support member 23 for supporting the bead-apex 9 in the first direction X and an abutment member 24 extending transverse to the support member 23 for abutting the inner rim 99 of the bead- apex 9. Preferably, the support member

[0062] 23 extends in or substantially in the outward direction Tl .

[0063] The spacer 8 further comprises a plurality of slots 84 . The slots 84 are configured for receiving the lifting elements 22 of the gripper 2 . The slots 84 extends through the mounting surface 81 in a direction parallel to the spacer axis B . The slots 84 extend away from the inner rim 82 of the spacer 8 in a radial direction R transverse or perpendicular to the spacer axis B . Additionally or alternatively, the spacer 8 may comprise a plurality of recesses (not shown) that extend in the radial direction R for receiving and / or accommodating at least the support members 23 of the lifting elements 22 . The support member 23 comprises a support surface 230 for supporting the bead- apex 9 thereon . Preferably, said support surface 230 extends parallel to the outward direction T1 or the inward direction T2 .

[0064] The support member 23 , in particular the support surface 230 , proj ects from the abutment member 24 over a support distance L of at least four centimeters . More particularly, the support member 23 proj ects from the abutment member 24 in the outward direction T2 . Preferably, the support distance L is between four and ten centimeters . More preferably the support distance L is between five and eight centimeters .

[0065] As is further shown in figures 5A- 9A and 5B-9B, the gripper 2 comprises a spacer gripper 31 for retaining 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 embodiment as shown, the spacer gripper 31 comprises centering elements that taper in the first direction X for centering the gripper head 20 relative to the central aperture of the spacer 8 . Alternatively the gripper 2 may for example be provided with separate centering elements for centering the gripper head 20 .

[0066] The gripper 2 further comprises four height sensors 33 for detecting a distance between the gripper 2 and the spacer 8 . The height sensors 33 are distributed in the circumferential direction C about the gripper axis A. The gripper 2 is provided with four spacer pushers 32 for separating the bead-apex 9 and the spacer 8 by pushing the spacer 8 away from the gripper 2 .

[0067] 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 9.

[0068] A method for handling a bead-apex 9 , in particular a method for lifting, removing or gripping a bead-apex 9 from a spacer 8 is described below using figures 5A- 9A and 5B-9B .

[0069] As is shown in figures 5A and 5B the bead-apex 9 has been arranged of f-center with respect to the spacer 8 . In other words , a center of the inner rim 99 of the beadapex 9 is offset with respect to the spacer axis B .

[0070] The gripper 2 has been positioned over a spacer 8 in a pick-up position . The gripper head 20 and the spacer 8 have been centered relative to one another by insertion of the spacer grippers 31 in said spacer aperture . In other words , the gripper axis A and the spacer axis B have been aligned . The gripper 2 has been moved relative to the spacer in the first direction X until the height sensors 32 detect a predetermined distance between the gripper head 20 and the inner rim 82 of the spacer 8 .

[0071] The spacer grippers 31 have engaged the spacer 8 to hold the spacer 8 stationary with respect to the gripper 2 . The support members 23 have been positioned in the corresponding slots 84 of the spacer 8 . Preferably, the support surface 230 of the support members 23 is arranged flush or substantially flush with the mounting surface 81 of the spacer 8 . The support members 23 have been positioned radially R inward with respect to the inner rim 99 of the bead-apex 9.

[0072] As is shown in figures 6A and 6B the lifting elements 22 have been moved in the outward direction T1 into a sensing position . In particular, the lifting elements 22 have been moved in the outward direction T1 until one of the abutment members 24 abuts the inner rim 99 of the bead-apex 9.

[0073] Subsequently, as is shown in figures 7A and 7B, the lifting elements 22 are moved in the inward direction T2 over a predetermined stroke length . Preferably, said predetermined stroke length is between one and twenty millimeters . More preferably the predetermined stroke length is between one and ten millimeters . Most preferably the predetermined stroke length is between one and five millimeters . Optionally, the predetermined stroke length is smaller than the support distance L of the support members 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 then fifty percent of the support distance L .

[0074] Subsequently, as is shown in figures 8A and 8B, the bead-apex 9 has been li fted from the spacer 8 in the first direction X . Preferably, the spacer lifter 31 has disengaged the spacer 8 . The lifting elements 22 have been moved relative to the spacer 8 in the first direction X from the setting position into a li fting position to li ft the bead-apex 9 from the spacer 8 on the support members 23 . The spacer 8 has been pushed away from the bead-apex 9 in the first direction X by the spacer pushers 32 .

[0075] Subsequently, as is shown in figures 9A and 9B, the lifting elements 22 have been moved in the outward direction T1 from the lifting position into a gripping position . In particular, the lifting elements 22 have been moved in the outward direction T1 until each abutment member abuts the inner rim 99 of the bead-apex 9 for centering said bead-apex 9. Optionally, the lifting elements 22 may be moved further away from the spacer 8 in the first direction X while moving in the outward direction T1 .

[0076] A method for trans ferring bead-apexes 9 from the swapping zone Z1 to the processing zone Z3 using the beadapex handling station 1 according to the present invention is described below using figures 1A-1E .

[0077] As is shown in figure 1A, two stacks of spacers 8 with bead-apexes 9 stored thereon have been provided at the first spacer position SI and the second spacer position S2 , respectively, in the swapping zone Zl . The second door 62 has been closed to prevent outside access to said swapping zone Z l . The first door 61 has been opened to allow the manipulator 7 to access the swapping zone Z l . Optionally, a stack of empty spacers 8 is arranged at the third spacer position S3 . Said stack of empty spacers 8 at the third spacer position S3 may for example be remaining from a previously executed process cycle of the method for transferring bead-apexes 9 as will be apparent from the method steps below .

[0078] The manipulator 7 is operating in a first operational mode . In said first operational mode, the manipulator 7 is configured for transferring the top most spacer 8 of the stack at the first spacer position SI to the third spacer position S3 and for transferring the beadapex 9 stored on said top most spacer 8 to the processing zone Z3 . Preferably, the bead- apex 9 is removed from the spacer 8 in a manner as described above . The bead- apex 9 may for example be removed from the spacer 8 at the first spacer position SI , at the third spacer position S3 or while transferring the spacer 8 from the first spacer position SI to the third spacer position S3 .

[0079] Figure IB shows the bead-apex handling station 1 in a first buffering mode . In said first buf fering mode , the manipulator 7 is configured for trans ferring the top most spacer 8 with the bead-apex 9 stored thereon from the first spacer position S I to the fourth spacer position S4 . Preferably, the manipulator 7 is arranged for trans ferring a sub-stack of two or more spacers 8 with bead-apexes 9 stored thereon from the first spacer position SI to the fourth spacer position S4 . Preferably, in the buf fering configuration, the manipulator 7 is configured to simultaneously and / or successively transfer an even number of spacers 8 from the first spacer position S I to the fourth spacer position S4 .

[0080] Typically, the manipulator 7 is configured to consecutively or successively transfer two bead-apexes 9 to a pair of bead setters (not shown) in the processing zone Z3 during the first operating mode . Alternatively, for example two distinct bead handling stations 1 or two distinct manipulators 7 may be provided for each transferring a single bead-apex 9 to a bead-setter . The bead-apexes 9 at the bead setters may subsequently be transferred to a tire building drum, e . g . a shaping drum, for assembling and / or forming a green or unvulcanized tire . Preferably, the manipulator is configured to operate in the first buffering mode while the bead setters are unable to receive the bead- apexes 9 , e . g . when the bead- apexes 9 are being transferred by the bead setters to the tire building drum.

[0081] The manipulator 7 is configured to cycle through the first operational mode and the fist buffering mode until the stack of spacers 8 at the first position S I has been emptied or depleted . In other words , the manipulator 7 is configured to alternately and / or sequentially repeat the first operational mode and the first buf fering mode until the stack of spacers 8 at the first position SI has been emptied or depleted .

[0082] Figure 1C shows the bead-apex handling station 1 in a second operational mode . In said second operational mode, the manipulator 7 is configured for transferring the top most spacer 8 of the stack at the second spacer position S2 to the first spacer position S I and for transferring the bead-apex 9 stored on said top most spacer 8 to the processing zone Z3 in a manner similar to the first operational mode .

[0083] Accordingly, the manipulator 7 is further configured to operate in a second buf fering mode (not shown) . In said second buffering mode 7 , the manipulator is configured to transfer the top most spacer 8 with the beadapex 9 stored thereon or a sub-stack of two or more spacers 8 with bead-apexes 9 stored thereon from the second spacer position S2 to the fourth spacer position S4 , in a manner similar to the first buf fering mode .

[0084] Optionally, the manipulator 7 may be additionally or alternatively configured to operate in a first empty mode . In said first empty mode , the manipulator 7 is configured to trans fer the top most spacer 8 or sub-stack of two or more spacers 8 from the fourth spacer position S4 to the first spacer position S I .

[0085] The manipulator 7 is configured to cycle through the second operational mode, the second buffering mode and, optionally, the first empty mode until the stack of spacers 8 at the second position S2 has been emptied or depleted . In other words , the manipulator 7 is configured to alternately and / or sequentially repeat the second operational mode , and the second buffering mode and / or the first empty mode until the stack of spacers 8 at the second position S2 has been emptied or depleted .

[0086] Figure ID shows the bead-apex handling station 1 in a third operational mode . In said third operational mode, the manipulator 7 is configured for transferring the top most spacer 8 of the stack at the fourth spacer position S4 to the first spacer position S I and for transferring the bead-apex 9 stored on said top most spacer 8 to the processing zone Z3 in a manner similar to the first operational mode and the second operational mode .

[0087] The manipulator 7 is configured to cycle through the third operational mode and the first empty mode until the stack of spacers 8 at the first position SI has reached 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 operational mode and the first empty mode until a predetermined number of spacers 8 has been stacked at the first spacer position SI .

[0088] Subsequently, the manipulator 7 is configured to cycle through a fourth operational mode and a second empty mode (not shown) .

[0089] In the fourth operational mode, the manipulator 7 is configured to for trans ferring the top most spacer 8 of the stack at the fourth spacer position S4 to the second spacer position SI and for transferring the bead-apex 9 stored on said top most spacer 8 to the processing zone Z3 in a manner similar to the third operational mode . In other words , the fourth operational mode differs from the third operational mode in that the empty spacers 8 are stacked at the second spacer position S2 . In the second empty mode , the manipulator 7 is configured to trans fer the top most spacer 8 or sub-stack of two or more spacers 8 from the fourth spacer position S4 to the second spacer position S2 . In other words , the second empty mode di ffers from the first empty mode in that the empty spacers 8 are stacked on the second spacer position S2 .

[0090] The manipulator 7 is configured to cycle through the fourth operational mode and the second empty mode until the stack of spacers 8 at the second position S2 has reached 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 operational mode and the second empty mode until a predetermined number of spacers 8 has been stacked at the second spacer position S2 . Alternatively, the manipulator 7 may be configured to cycle through the fourth operational mode and the second empty mode until the stack of spacers 8 at the third spacer position S3 has been emptied or depleted .

[0091] As is shown in figure IE, the manipulator 7 is further configured to operate in a fifth operational mode . In said fifth operational mode, the manipulator 7 is configured for transferring the top most spacer 8 of the stack at the fourth spacer position S4 to the third spacer position S3 and for trans ferring the bead-apex 9 stored on said top most spacer 8 to the processing zone Z3 in a manner similar to the first, second, third and fourth operational modes .

[0092] As is further shown in figure IE, during or prior to the fi fth operational mode the first door 61 has been closed to prevent access between the swapping zone Z1 and the handling zone Z2 . Subsequently, the second door 62 has been opened to allow outside access to the swapping zone Zl . Accordingly, the stacks of empty spacers 8 at the first spacer position SI and the second spacer position S2 may be removed from the swapping zone Z l . Subsequently, new stacks of spacers 8 with bead-apexes 9 stored thereon may be provided to the swapping zone Zl . In other words , the stacks of empty spacers 8 and stacks of spacers 8 with bead-apexes 9 stored thereon are swapped or exchanged .

[0093] The manipulator 7 is configured for repeating the fifth operational mode until the stack of spacers 8 at the fourth spacer position S4 has been emptied or depleted . Additionally or alternatively, the manipulator 7 may be arranged for repeating the fifth operational mode until the new stacks of spacers 8 with bead-apexes 9 stored thereon have been provided at the respective first and second spacer positions S I , S2 , the second door 62 has been closed and the first door has been opened 61 .

[0094] Preferably, when the new stacks of spacers 8 with bead-apexes 9 stored thereon have been provided at the respective first and second spacer positions SI , S2 , the method is repeated .

[0095] Optionally, as is shown in figure IB, the method may comprise transferring a spacer 8 with a bead-apex 9 stored thereon or a bead-apex 9 without a spacer 8 to the inspection zone Z4 for inspection by an operator . The spacer 8 has been transferred to the inspection zone Z4 by the manipulator 7 . As is shown in figure 1C, after the spacer 8 has been transferred to the inspection zone Z4 , the fourth door 64 is closed . Subsequently, as is shown in figure ID, the third door 63 is opened to allow the operator to inspect the bead-apex 9 in the inspection zone Z4 . When the operator detects any defects in the bead-apex 9, the operator may rej ect the bead-apex 9 and may remove the bead-apex 9 from the inspection zone Z4 .

[0096] In summary, the method for handling the bead-apex 9 comprises the steps of : a) positioning the lifting elements 22 in a setting position in which the lifting elements 22 are arranged below the bead-apex 9 in the first direction X and in which at least one of the lifting elements 22 is arranged at a distance spaced apart from the inner rim 99 of the bead-apex 9 in the radial direction R; b) li fting the bead-apex 9 from the spacer 8 on the li fting elements 22 ; and subsequently c) moving each li fting element 22 in an outward direction T1 away from the gripper axis A for centering the bead-apex 9 with respect to the gripper axis A.

[0097] It is to be understood that the above description is included to illustrate the operation of the preferred embodiments and is not meant to limit the scope of the invention . From the above discussion, many variations will be apparent to one skilled in the art that would yet be encompassed by the scope of the present invention .

[0098] REFERENCE NUMERALS

[0099] 1 bead-apex handling station

[0100] 2 gripper

[0101] 20 gripper head

[0102] 21 arm

[0103] 22 lifting element

[0104] 23 support member

[0105] 230 support surface

[0106] 24 abutment member

[0107] 31 spacer gripper

[0108] 32 spacer pusher

[0109] 33 height sensor

[0110] 34 RFID sensor

[0111] 5 control unit

[0112] 6 fencing

[0113] 60 fence

[0114] 61 first door

[0115] 62 second door

[0116] 63 third door

[0117] 64 fourth door

[0118] 7 manipulator

[0119] 70 base

[0120] 71 robot arm 8 spacer

[0121] 80 spacer body

[0122] 81 mounting surface

[0123] 82 inner rim

[0124] 84 slot

[0125] 89 carrier

[0126] 9 bead-apex

[0127] 90 bead aperture

[0128] 91 bead

[0129] 92 apex

[0130] 95 RFID tag

[0131] 99 inner rim

[0132] 1002 gripper

[0133] 1020 gripper head

[0134] 1021 arm

[0135] 1022 lifting element

[0136] 1023 support member

[0137] 1024 abutment member

[0138] 1008 spacer

[0139] A gripper axis

[0140] B spacer axis

[0141] C circumferential direction

[0142] L support distance

[0143] T1 outward direction

[0144] T2 inward direction

[0145] R radial direction

[0146] 51 first spacer position

[0147] 52 second spacer position

[0148] 53 third spacer position

[0149] 54 fourth spacer position

[0150] X first direction Z1 swapping zone

[0151] Z2 handling zone

[0152] Z3 processing zone

[0153] Z4 inspection zone

Claims

C L A I M S1 . Method for handling a bead- apex, in particular for gripping a bead-apex from a spacer, wherein the method comprises providing a gripper comprising at least two lifting elements that are distributed in a circumferential direction about a gripper axis that extends in a first direction, wherein the lifting elements are movable away from the gripper axis in an outward direction and towards the gripper axis in an inward direction opposite to the outward direction, wherein the li fting elements each comprise a support member that proj ects from the gripper axis for supporting the bead-apex in the first direction, wherein the li fting elements further each comprises an abutment member that extends transverse to the support member for abutting an inner rim of the bead-apex, wherein the method comprises the steps of : a) positioning the lifting elements into a setting position in which the support members are arranged below the bead-apex in the first direction and in which at least one of the abutment members is arranged at a distance spaced apart from the inner rim of the bead-apex in the inward direction; b) subsequently moving the lifting elements relative to the spacer in the first direction from the setting position into a lifting position to lift the beadapex from the spacer on the respective support members ; and c) subsequently moving each lifting element away from the gripper axis in the outward direction from the lifting position into a gripping position in which the abutment member abuts the bead-apex for centering the beadapex with respect to the gripper axis .2 . Method according to claim 1 , wherein the method, prior to step a) , comprises the step of : al ) moving the lifting elements in the outward direction until the abutment member of at least one of the lifting elements abuts the inner rim of the bead-apex .3 . Method according to claim 2 , wherein, following step al ) , the method comprises the step of : a2 ) moving the lifting elements in the inward direction over a predetermined stroke length .4 . Method according to claim 3 , wherein the predetermined stroke length is between one and twenty millimeters , preferably between one and ten millimeters , more preferably between one and five millimeters .

5. Method according to claim 3 or 4 , wherein each support member extends away from the respective abutment member over a support distance , and wherein the predetermined stroke length is smaller than the support distance , preferably, wherein the predetermined stroke length is less than eighty percent of the support distance, more preferably, wherein the predetermined stroke length is less then fifty percent of the support distance .

6. Method according to any one of the preceding claims , wherein the spacer extends circumferentially about a spacer axis and wherein, prior to step a) , the method comprises the step of aligning the gripper axis with said spacer axis of the spacer .7 . Method according to any one of the preceding claims , wherein the bead-apex comprises a splice , wherein, prior to step a ) , the method further comprises the step of scanning at least a part of the bead-apex in a circumferential direction about the gripper axis to detect a location of said splice in said circumferential direction .8 . Method according to any one of the preceding claims , wherein the bead-apex comprises an identifier, preferably an RFID chip, wherein, prior to step a ) , the method further comprises the step of scanning at least a part of the bead-apex in a circumferential direction about the gripper axis to detect a location of said identifier in the circumferential direction .

9. Method according to claim 7 or 8 , wherein, prior to step a) , the method comprises rotating the gripperrelative to the spacer about the gripper axis or rotating the spacer relative to the gripper about the gripper axis into a predetermined mutual orientation based on the detected location of the splice or identifier .10 . Method according to any one of the preceding claims , wherein the spacer comprises a spacer body that extends circumferentially about a spacer axis , wherein the spacer comprises a plurality of slots that extend in a radial direction transverse or perpendicular to the spacer axis , wherein the slots are configured for receiving the support members of the li fting elements , and wherein step a) comprises positioning each one of the support members in a corresponding one of the slots .11 . Method according to any one of the preceding claims , wherein the gripper comprises three or more height sensors for detecting a mutual distance between the gripper and a reference surface of the spacer, wherein the three or more height sensors are distributed about the gripper axis , wherein the method comprises the step of determining an inclination of the spacer relative to the gripper based on the detected mutual distances between the respective height sensors and the reference surface .12 . Method according to any one of the preceding claims , wherein step b ) further comprises pushing the spacer away from the bead-apex in the first direction .13 . Gripper for carrying out the method according to any one of the preceding claims , wherein the gripper comprises a gripper head that extends along a gripper axis , wherein the gripper further comprises a plurality of lifting elements that are distributed in a circumferential direction about the gripper axis , wherein the lifting elements are movable away from the gripper axis in an outward direction and towards the gripper axis in an inward direction opposite to the outward direction, wherein each of the lifting elements is provided with a support member, for supporting the bead-apex in a first direction parallel to the gripper axis , and an abutment member extendingtransverse to the support member for abutting an inner rim of the bead-apex, wherein the support member proj ects from the abutment member over a support distance of at least four centimeters .14 . Gripper according to claim 13 , wherein the support distance is between four and ten centimeters , preferably between five and eight centimeters .

15. Gripper according to claim 13 or 14 , wherein each support member comprises a support surface for supporting the bead-apex thereon, wherein the support surface extends parallel to the outward direction or the inward direction .

16. Gripper according to any one of the claims 13- 15, wherein the gripper further comprises three or more height sensors for detecting a distance between the gripper and the spacer, wherein the three or more height sensors are distributed in the circumferential direction about the gripper axis .17 . Gripper according to any one of the claims 13- 16, wherein the gripper comprises for each lifting element a li fter drive for driving a movement of the lifting elements in the outward direction and the inward direction .18 . Gripper according to any one of the claims 13- 17 , wherein the gripper further comprises an RFID-reader for detecting and / or reading an RFID chip in the bead- apex .

19. Bead-apex handling station for handling beadapexes , wherein the bead-apex handling station comprises the gripper according to any one of the claims 13- 18 and a manipulator for moving the gripper to one or more spacer positions .20 . Bead-apex handling station according to claim 19, wherein the gripper head is rotatable relative to the manipulator about the gripper axis .-o-o-o-o-o- o-o-o-GH / RM

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