Systems and methods for effector to load and unload tire from hub

Abstract

A method of loading a tire on a hub includes positioning an effector including a first arm and a second arm within an opening defined by the tire, engaging the first arm and the second arm with a bead area of the tire, positioning the first arm and the second arm and the tire engaged therewith at a first position relative to the hub including hub arms such that the hub arms extend within the opening, rotating the first arm and the second arm and the tire engaged therewith to a second position, and removing the first arm and the second arm from the opening such that the tire is supported by the hub arms.

Description

SYSTEMS AND METHODS FOR EFFECTOR TO LOAD AND UNLOAD TIRE FROM HUBCROSS-REFERENCE TO RELATED PATENT APPLICATION|0001| This application claims the benefit of and priority to U.S. Patent Application No. 63 / 678,237, filed on August 1, 2024, the entire disclosure of which is hereby incorporated by reference herein.TECHNICAL FIELD(0002] The present disclosure relates to transporting tires. More specifically, the present disclosure relates to transporting tires during a retreading or manufacturing process.BACKGROUND

[0003] When a tire undergoes processing such as repairs, retreading, or other operations, the tire is manually transported by a user to be loaded onto a mandrel or stored and manually guided by the operator to be loaded on the mandrel.SUMMARY

[0004] One embodiment relates to a method of loading a tire on a hub. The method includes positioning an effector including a first arm and a second arm within an opening defined by the tire, engaging the first arm and the second arm with a bead area of the tire, positioning the first arm and the second arm and the tire engaged therewith at a first position relative to the hub including hub arms such that the hub arms extend within the opening, rotating the first arm and the second arm and the tire engaged therewith to a second position, and removing the first arm and the second arm from the opening such that the tire is supported by the hub arms.

[0005] Another embodiment relates to a tire repair system. The tire repair system includes a non-transitory computer-readable medium having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to position an effector including a first arm and a second arm within an opening defined by a tire, engage the first arm and the second arm with a bead area of the tire, position the first arm and the second arm and the tire engagedtherewith at a first position relative to a hub including hub arms such that the hub arms extend within the opening, rotate the first arm and the second arm and the tire engaged therewith to a second position, and remove the first arm and the second arm from the opening such that the tire is supported by the hub arms.10006 Still another embodiment relates to a tire repair system. The tire repair system includes an effector including a first arm and a second arm, a hub including hub arms, the hub being expandable between a compressed state and an expanded state, and a control system. The control system is configured to position the first arm and the second arm of the effector within an opening defined by a tire, engage the first arm and the second arm with a bead area of the tire, position the first arm and the second arm and the tire engaged therewith at a first position relative to the hub when the hub is in the compressed state such that (i) the hub arms extend within the opening and (ii) a clearance is provided within the opening between the tire and a top portion of the hub, rotate the first arm and the second arm and the tire engaged therewith to a second position, remove the first arm and the second arm from the opening such that the tire is supported by the hub arms, and transition the hub to the expanded state.

[0007] These and other features, together with the organization and manner of operation thereof, will become apparent from the following detailed description when taken in conjunction with the accompanying drawings. This summary is illustrative only and should not be regarded as limiting.BRIEF DESCRIPTION OF THE FIGURES

[0008] The foregoing and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings are not to be considered limiting of the scope of the disclosure, the disclosure will be described with additional specificity and detail through use of the accompanying drawings. The drawings constitute a part of this specification, illustrate an embodiment, and, together with the specification, describe the subject matter of the disclosure.

[0009] FIG. 1 is a front, cross-sectional view of a tire casing, according to an exemplary embodiment,

[0010] FIG. 2 is a front, cross-sectional view of a retread element, according to an exemplary embodiment,[001.1] FIG. 3 is a front, cross-sectional view of a retreaded tire having the tire casing of FIG.1 and the retread element of FIG. 2, according to an exemplary embodiment,

[0012] FIG. 4 is a block diagram of a tire repair system, according to an exemplary embodiment,

[0013] FIG. 5 is a perspective view of the tire repair system including an arm having an effector and a hub, according to an exemplary embodiment,

[0014] FIG. 6 is a front perspective view of a tire supported by a hook, according to an exemplary embodiment,

[0015] FIG. 7 is a front view of the effector of FIG. 5 engaging with the tire, according to an exemplary embodiment,

[0016] FIG. 8 is a front view of the effector of FIG. 5 in a first position relative to the hub, according to an exemplary embodiment,

[0017] FIG. 9 is a front view of the effector of FIG. 5 in a second position relative to the hub, according to an exemplary embodiment,

[0018] FIG. 10 is a front view of the tire loaded on the hub of FIG. 5 in a compressed state, according to an exemplary embodiment,

[0019] FIG. 11 is a front view of the tire loaded on the hub of FIG. 5 in an expanded state, according to an exemplary embodiment, and

[0020] FIG. 12 is a block diagram of a method of loading the tire on the hub of FIG. 5, according to an exemplary embodiment.DETAILED DESCRIPTION[00211 Before turning to the figures, which illustrate certain illustrative embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting.OverviewThe techniques of the present disclosure allow for a repeatable and stable transportation of a tire. The techniques of the present disclosure use a robotic arm having an effector configured to engage with the tire and facilitate repositioning the tire. By way of example, the arm and effector can facilitate transporting the tire between steps of the retreading or manufacturing process. In particular, the tire may be stored and supported by a hook, such as a hook shaped so as to generally resemble the letter “J,” i.e., a J-hook. The effector includes a first arm and a second arm configured to extend within an opening of the tire and engage with a portion of the tire proximate bead areas of the tire. The first arm and the second arm facilitate a stable transportation of the tire by limiting rotation and movement of the tire when engaged therewith. Additionally, the effector of the present disclosure facilitates transportation of the tire without contacting or otherwise engaging with an outer surface of the tire (e.g., a mounting surface, a crown, etc.). By not contacting the outer surface of the tire (e.g., by maintaining a clearance between the effector and the outer surface), potential adverse effects on the tire due to such contact can be avoided. Further, by maintaining such a clearance, adverse or unwanted effects on the processes performed on the outer surface of the tire can be avoided (e.g., the effector does not inadvertently contact an applied retread element which, if contacted, may warrant repair or replacement).Terms[0022 As used herein, the term “precured” refers to a material that is cured. Conversely, “uncured” refers to materials that are in their raw form and have not been cured. By way of example, curing an uncured material results in a cured or precured material.

[0023] As used herein, the term “precured tire tread” refers to a tire tread or build-up (e.g., precured product having no tread pattern thereon; blank; slick) that is separate from (e.g., not cured to) a tire casing. After a precured tire tread has been cured to a tire casing, the precured tire tread becomes a tire tread, and the combination of the precured tread cured to the tire casing forms a tire. The precured tire tread may take the form of a strip, oval, circle, ring, or similar shape.

[0024] As used herein, the term “retread element” may refer to a precured tire tread or a precured tire tread including materials and features such as, but not limited to, studs, reinforcing fabrics, Kevlar, nylon, cords, and similar features and materials.

[0025] As used herein, the term “retreaded tire assembly” refers to a precured tire assembly applied to a tire casing with an uncured adhesive interposed between the mating surfaces. The retreaded tire assembly may be ready to be positioned within an envelope for curing. After a retreaded tire assembly has been cured, it becomes a tire.

[0026] As described herein, the terms “axial” and “axially” refers to the direction parallel the axis of rotation of the tire.

[0027] As described herein, the terms “circumferential” and “circumferentially” refer to the direction extending along the perimeter of the surface of the tire perpendicular to an axial direction.

[0028] As described herein, the terms “radial” and “radially” refer to the direction toward or away from the axis of rotation of the tire.Overview of a Retread Operation

[0029] Referring to FIG. 1, a front, cross-sectional view of a tire casing 100 (e.g., tire carcass, etc.) is shown, according to an exemplary embodiment. After the tire tread of a tire wears beyond a certain limit, the tire is either discarded, re-grooved, or retreaded before it is used on a vehicle. In some embodiments, during a retread operation, what remains of the tire tread is removed from the tire casing 100 by a buffing machine through a buffing operation. During the buffing operation, the tire tread is ground away from the tire casing 100, leaving a buffed tread mounting surface, shown as mounting surface 102 (e.g., mounting surface, mating surface, bonding surface, curing surface, etc.), on the tire casing 100. The mounting surface 102 extends circumferentially aboutthe tire casing 100 and extends axially across a crown 108 until it terminates at shoulder areas 104. The mounting surface 102 exhibits a curvature between the shoulder areas 104. In some embodiments, the mounting surface 102 is buffed to a slightly rounded (e.g., toroidal) radius extending between the shoulder areas 104. By way of example, the mounting surface 102 may define a diameter, shown as casing diameter D, where the casing diameter D is greater proximate a center line C of the mounting surface 102 when compared to the casing diameter D proximate the shoulder areas 104. The tire casing 100 may be a radial tire or a bias ply tire.

[0030] The tire casing 100 includes a pair of sidewalls 106 bounded by a generally radial crown 108 (e.g., outer wall, etc.) that extends between the sidewalls 106. Each of the sidewalls 106 extend radially inward from the crown 108 and terminate at a bead area 110 structured for mounting on a tire rim. The bead area 110 may be designed in a variety of configurations depending on, By way of example, tire type, tire size, or rim configuration. The bead area 110 includes a bead 112 that has metal strands or wires to improve the strength of the bead area 110.

[0031] The sidewalls 106 may include multiple layers, such as a rubber layer, a radial ply, and an inner liner, which cooperate to provide strong and flexible sidewalls 106. The sidewalls 106 are joined to the crown 108 and a tire tread 113 (e.g., the retread element 120 after a retreading and curing operation, the tread of a retread tire, the tread of a newly manufactured tire) through a pair of shoulder areas 104. The shoulder areas 104 are contiguous with the sidewalls 106 and the crown 108. In some embodiments, the shoulder areas 104 are contiguous with the tire tread 113.10032] The tire casing 100 defines a width, shown as casing width W. The casing width W may be defined by an axial distance from an outer surface of a left sidewall 106a (e.g., an outer surface of the vehicular exterior side sidewall 106, an outer surface of an axially outward sidewall 106, an outer surface of a first sidewall, left as viewed from FIGS. 1 and 3, etc.) to an outer surface of a right sidewall 106b (e.g., an outer surface of the vehicular interior side sidewall 106, an outer surface of an axially inward sidewall 106, an outer surface of a second sidewall, right as viewed from FIGS. 1 and 3, etc.). When the tire casing 100 is fully inflated (e.g., pneumatically inflated), the sidewalls 106 define a slightly rounded (e.g., toroidal) radius or profile extending vertically between the mounting surface 102 and the bead area 110. By way of example, the casing widthW is smaller within an area proximate the bead area 110 when compared to the casing width W proximate a vertical midpoint (e.g., center point, center region, a point at which the casing width W is at a maximum, etc.) of the tire casing 100.

[0033] In some embodiments, a portion of the tire tread is left behind on the tire casing 100, such as if the user would like to increase a thickness of the crown 108 before applying a retread element, as described herein, to the tire casing 100. When the tire tread has been removed, the mounting surface 102 is left behind (e.g., exposed, revealed, etc.). After the tire tread is removed and the mounting surface 102 is exposed, a process called skiving and filling may be performed on the tire casing 100. Skiving and filling is the removal of and filling of anomalies or other portions for which a physical transformation is desired (e.g., damaged material, deformities, worn material, undesired material, scuffs, scratches, holes, nicks, punctures, tears, etc.) present in the tire casing 100 prior to making a repair or performing a retread operation. Often, the tire casing 100 accumulates anomalies due to bits or other sharp objects the tire comes in contact with during use. The anomalies are first ground smooth by an appropriate cutting tool (e.g., sidewall buffer, wire brush, etc.), and then filled with repair gum (e.g., uncured rubber material, etc.). The affected areas may be filled to the level of the mounting surface 102 (e.g., such that the mounting surface 102 remains smooth) to avoid air pockets between the mounting surface 102 and the later applied retread element.

[0034] After the buffing, skiving, and filling operations, a retread element 120 (e.g., precured tire tread, etc.) is coupled to the tire casing 100. Referring to FIG. 2, a front, cross-sectional view of the retread element 120 is shown. The retread element 120 (e.g., tread band, etc.) may be formed from rubber, natural rubber, synthetic rubber, and various polymers and compounding ingredients, such as carbon black, silica, anti-degradants, and zinc oxide. In some embodiments, the retread element 120 is otherwise formed of other suitable materials. The retread element 120 may be formed in a strip having a tread width 122 corresponding to a width of the mounting surface 102 between the shoulder areas 104. The tread width 122 is in a range of approximately (e.g., within 5% of being, etc.) 6 inches (in) and approximately 14 inches, inclusive (e.g., about 5.7 in., about6 in., about 7 in., about 8 in., about 9 in., about 10 in., about 11 in., about 12 in., about 13 in., about 14 in., about 14.7 in., etc.).

[0035] Additionally, the retread element 120 has a tread thickness 124 (e.g., element thickness or a tread span that is an extent of the retread element in a thickness direction). The tread thickness 124 is in a range of approximately .3 inches and approximately 2 inches, inclusive (e.g., about .285 in., about .3 in., about .5 in., about .75 in., about 1 in., about 1.25 in., about 1.5 in., about 1.75 in., about 2 in., about 2.1 in., etc.). In some embodiments, the retread element 120 (e.g., the tread width 122 and the tread thickness 124) is otherwise suitably dimensioned. The retread element 120 includes a retread element back side 126 (e.g., generally planar mounting surface, continuous surface, mating surface, binding surface, etc.). The retread element 120 includes a retread element front side 128 (e.g., generally planar opposing surface, road-contacting surface, tread surface, etc.), which is opposite of the retread element back side 126. The retread element front side 128 is configured to engage with a road surface and includes a plurality of tread grooves 130 configured to channel water and provide added traction during certain road and weather conditions. In some embodiments, the retread element front side 128 includes a tread pattern 132 (e.g., a tread design, a series of treads, a tread pattern repetition, etc.). The tread pattern 132 may include a plurality of lugs, grooves, cuts, sipes, sipe cuts, and similar features.

[0036] Referring now to FIG. 3, a front, cross-sectional view of a retreaded tire having the tire casing 100 is shown. The retread element 120 is coupled to the tire casing 100 using an adhesive 134 (e.g., cushion gum, uncured gum, uncured adhesive, polyurethane adhesive, rubber cement, liquid adhesive, etc.). The adhesive 134 is extruded freely on to the mounting surface 102 after the buffing, skiving, and filling operations. In some embodiments, the adhesive 134 is cushion gum. Specifically, after the tire is buffed, the adhesive 134 is extruded on to the mounting surface 102 and the retread element back side 126 is positioned on the adhesive 134 such that the retread element back side 126 extends between the shoulder areas 104 of the tire casing 100. Accordingly, a retreaded tire assembly is formed.

[0037] Following formation, the retreaded tire assembly is then placed in a pressure chamber and the adhesive 134 is cured. In some embodiments, the retreaded tire assembly is placed withina curing envelope and placed within a curing chamber (e.g., autoclave, pressure vessel, etc.). The temperature and / or pressure of the curing chamber is controlled such that the retread element 120 conforms to the tire casing 100. After the retreaded tire assembly is cured, a retreaded tire 140 is formed. The retreaded tire 140 includes sidewalls 106. Portions of the shoulder areas 104 are formed by the adhesive 134 and the retread element 120. In some embodiments, the sidewalls 106 extend from the retread element front side 128 to the bead area 110.

[0038] The retreaded tire 140 includes a first bondline 142. The first bondline 142 is interposed between the retread element 120 and the tire casing 100. More specifically, the first bondline 142 is interposed between the mounting surface 102 and the adhesive 134. Both sides of the retreaded tire 140 (e.g., the vehicular exterior side and the vehicular interior side) include the first bondline 142. The first bondline 142 is a boundary between the adhesive 134 and the mounting surface 102. The first bondline 142 extends across the crown 108 between the shoulder areas 104 and extends circumferentially about the retreaded tire 140. The first bondline edge 144 may be visible on the shoulder areas 104 after the adhesive 134 and the retread element 120 have been applied to the tire casing 100. As used herein, a “bondline edge” is the edge of a cylindrical border (e.g., the first bondline 142, the second bondline 146, etc.) that exists between two portions of the retreaded tire 140.

[0039] The retreaded tire 140 further includes a second bondline 146. The second bondline 146 is interposed between the retread element 120 and the tire casing 100. More specifically, the second bondline 146 is interposed between the adhesive 134 and the retread element 120. Both sides of the retreaded tire 140 (e.g., the vehicular exterior side and the vehicular interior side) may include the second bondline 146. The second bondline 146 is a boundary between the adhesive 134 and the retread element 120. The second bondline 146 extends circumferentially about the retreaded tire 140. The second bondline 146 includes a second bondline edge 148 that may be visible on the shoulder areas 104 after the adhesive 134 and the retread element 120 have been applied to the tire casing 100.

[0040] The retreading operation described above to form the retreaded tire 140 may be referred to as a precure retreading process (e.g., cold cure retreading), wherein the new tire tread 113 isformed from a precured (e.g., vulcanized) strip of tread (e.g., the retread element 120). In some embodiments, the retreaded tire 140 is formed from another type of retreading process. By way of example, the retreaded tire 140 may be formed from a mold cure retreading process (e.g., hot cure retreading), wherein the new tire tread 113 is formed by building up or otherwise applying raw rubber material (e.g., uncured rubber, un-vulcanized rubber, green tread rubber) to the mounting surface 102. The mold cure retreading process includes a buffing operation similar to or the same as the buffing operation described above with respect to the precure retreading process, in which case the description is incorporated herein.

[0041] After the buffing, skiving, and filling operations, uncured rubber is applied to the buffed mounting surface 102 of the tire casing 100. In some embodiments, two or more layers of the uncured rubber is applied to the mounting surface 102 of the tire casing 100. The uncured rubber may be applied such that the substantial entirety of the mounting surface 102 is covered with the uncured rubber. The tire casing 100 with the uncured rubber is then cured in a curing mold to shape the uncured rubber into a desired tread pattern and to adhere the new tire tread 113 to the tire casing 100. Accordingly, a retreaded tire assembly is formed. The retreaded tire 140 referred to herein may be formed by the mold cure retreading process, the precure retreading process, or any other suitable retreading process.Systems and Methods of Loading and Unloading a Tire from a Hub

[0042] Referring to FIG. 4, a block diagram of a tire repair system 400 is shown, according to an example embodiment. The tire repair system 400 may be used to complete a tire retreading process or a portion of a tire retreading process, such as repairing anomalies in a tire carcass, transporting the tire (e.g., the tire casing 100, the retreaded tire 140, etc.), and / or another step of the tire retreading process. In some embodiments, the tire repair system 400 may be used to repair tires independently of a tire retreading process. The tire repair system 400 may be used for repairing a variety of tires (e.g., summer tires, winter tires, heavy-duty tires, etc.) made from a variety of materials (e.g., synthetic rubber, natural rubber, fabric, wire, carbon black, etc.). In some embodiments, the tire repair system 400 is included (e.g., integrated) in a manufacturing plant or an assembly line.[0043| The tire repair system 400 includes a controller 402. The controller 402 controls the operation of the tire repair system 400. The components of the controller 402 are operably coupled to one another (e.g., interconnected, via a wired connection, via a wireless connection, etc.) such that the components of the controller 402 may send and receive signals to and from the other components of the controller 402. The controller 402 includes a processor 404, a memory 406, a network device 408, an input device 410, an output device 412, and a plurality of sensors 414. In some embodiments, the processor 404 includes one or more microprocessors, application specific integrated circuits (ASICs), field programmable gate array (FPGAs), other forms of processing circuits, or combinations thereof. The memory 406 stores data. By way of example, the memory 406 may include electrical, optical, magnetic, or any other storage or transmission device capable of providing the processor 404 with program instructions. The memory 406 may include storage devices, such as a magnetic disk, memory chip, ROM, RAM, EEPROM, EPROM, flash memory, optical media, or any other suitable memory from which the processor 404 can ready instructions and / or data. In some embodiments, the memory 406 includes an application (e.g., computer program designed to carry out specific task), through which the controller 402 can be managed.[0044| The controller 402 further includes the network device 408. The network device 408 facilitates communication between the controller 402 and an outside source (e.g., computer, server, mobile device, etc.). The network device 408 may include a communication interface that is configured to send and receive signals and data through a wired connection (e.g., local area network, etc.) or wirelessly (e.g., Wi-Fi, Bluetooth, etc.). The network device 408 allows for the controller 402 to send and receive signals or data from an outside source. By way of example, the operation of the network device 408 may include storing data on an external device (e.g., server, mobile device, etc.) or may include receiving instructions from an external device. In some embodiments, the controller 402 is only connected to an associated device and may operate with or without network connectivity.

[0045] The controller 402 further includes the input device 410. The input device 410 (e.g., an input interface or user interface) is configured to facilitate a user inputting instructions into the controller 402 and facilitate a user modifying the operation of the tire repair system 400. The inputdevice 410 is a device configured for entering commands into the controller 402, such as a keyboard, mouse, touchscreen, stylus, control panel, and similar input devices. In some embodiments, the input device 410 includes voice control. The controller 402 also includes the output device 412 configured for displaying or communicating information, such as a monitor, audio system, light array, and similar output devices. In some embodiments, the input device 410 and the output device 412 are the same device. By way of example, the input device 410 and the output device 412 may be a computer or computer tablet having integrated functionality to carry out both input and output operations.

[0046] The controller 402 further includes or is provided with the plurality of sensors 414. By way of example, the controller 402 may be configured to communicate with a sensor array including the plurality of sensors 414. The sensors 414 monitor the operation of the tire repair system 400. The sensors 414 may be optical sensors, temperature sensors, sound level meters, and the like. In some embodiments, the controller 402 is configured to alter the operation of the tire repair system 400 when one of the sensors 414 detects a non-compliant (e.g., out of compliance) condition, such as not meeting a predetermined standard. By way of example, the sensors 414 may be configured to monitor transportation of a tire between a stored position / location (e.g., hung on a hook) and a hub (e.g., hub 506, mandrel, rotatable hub, expandable hub, etc.) and transmit a signal indicative of the transportation of the tire to the controller 402. Responsive to a determination based on the signal, such as a determination of improper alignment of the tire on the hook / hub, the controller 402 may control operation of the tire repair system 400 to correct the alignment of the tire on the hook / hub.

[0047] The tire repair system 400 further includes manipulation componentry 416 (e.g., tire manipulation componentry, tire transportation componentry, etc.). The manipulation componentry 416 is operably coupled to the controller 402 and configured to receive operating commands from the controller 402. The controller 402 controls and monitors the function of the manipulation componentry 416. The manipulation componentry 416 may be configured as hardware utilized for transporting and manipulating a position or orientation of one or more tires. By way of example, the manipulation componentry 416 may include a robotic arm (e.g., arm 500),an effector (e.g., effector 502), and a hub (e.g., hub 506). In some embodiments, the manipulation componentry 416 includes further componentry.

[0048] Referring to FIGS. 5-11, example embodiments of the tire repair system 400 and components of the tire repair system 400 are shown. In some embodiments, the tire repair system 400 is reconfigured for different types of tires. In some embodiments, the components of the tire repair system 400 are replaced with similar components. In some embodiments, the components of the tire repair system 400 are used for additional processes outside of the scope of the tire repair process.

[0049] Referring to FIG. 5, the manipulation componentry 416 includes a robotic arm (e.g., a manipulator arm), shown as arm 500. In some embodiments, the arm 500 is used for several different processes or may be specialized to one process. In some embodiments, the tire repair system 400 includes more than one arm 500. In some embodiments, the arm 500 is an industrial robot that is configured to assume various positions. By way of example, the arm 500 may include an effector (e.g., head, manipulator, arms, extensions, bars, etc.), shown as effector 502, configured to be selectively positioned within an x, y, z coordinate space by one or more servomechanisms. The arm 500 is configured to position the effector 502 to engage with a tire (e.g., the tire casing 100, the retreaded tire 140, a tire carcass, a retreaded tire assembly, etc.), shown as tire 504, to position the tire 504 on a hub (e.g., mandrel, rotatable hub, expandable hub, expandable rim, etc.), shown as hub 506. Once the tire 504 is positioned on the hub 506, hub arms 508 of the hub 506 expand to couple the tire 504 to the hub 506. This process may be reversed to remove the tire 504 from the hub 506.

[0050] Referring to FIG. 6, the tire 504 is shown selectively coupled to a hook (e.g., a J-hook), shown as hook 600. The hook 600 is configured to extend through an opening 602 of the tire 504 and engage with the bead area 110 to support the tire 504 such that the tire 504 hangs from the hook 600 when engaged therewith. The point or section of the bead area 110 that engages with (e.g., contacts, interfaces, etc.) the hook 600 when the tire 504 is engaged therewith may be referred to hereinafter as the bead apex. The hook 600 may be positioned to suspend the tire 504 above a ground surface. In some embodiments, the hook 600 is located at a fixed position (e.g., a fixedposition relative to the manipulation componentry 416 (e.g., the arm 500 and the effector 502). In other embodiments, the hook 600 may be pivotally coupled with a support structure (e.g., a column, a ceiling, a hook track system, etc.) to manipulate the position of the hook 600 and / or the tire 504 coupled with the hook 600 relative to the manipulation componentry 416. In such embodiments, the hook 600 may be coupled to a hook track system configured to translate the hook 600 along a track (e.g., along an assembly line, to a subsequent step of the tire retreading or manufacturing process, etc.).

[0051] The tire 504 may be positioned (e.g., moved, transported, carried, etc.) to be supported by the hook 600 before and / or after one or more steps of the tire retreading process or a manufacturing process. By way of example, the tire 504 may be a tire carcass received (e.g., by a retreading facility) to be retreaded and may be placed on the hook 600 for storage or transportation prior to any step of the tire retreading process. By way of another example, after repairing (e.g., skiving, buffing, or otherwise preparing the tire 504 or a tire casing 100 thereof) the tire 504, the tire 504 may be placed on the hook 600 for storage or transportation before advancing to a subsequent step of the tire retreading or manufacturing process (e.g., applying and curing the tire tread 113 to the tire casing 100).

[0052] Referring to FIG. 7, the tire 504 is shown selectively coupled and engaged with the hook 600. As shown, the arm 500 includes the effector 502 and is configured to position the effector 502 to engage with tire 504 to transport and manipulate a position of the tire 504. The effector 502 includes a first effector arm (e.g., extension, bar, support member, etc.), shown as first effector arm 702, and a second effector arm (e.g., extension, bar, support member, etc.), shown as second effector arm 704. The first effector arm 702 and the second effector arm 704 are configured to extend from the arm 500 in a direction substantially parallel (e.g., within 5% of parallel) to each other. The first effector arm 702 and the second effector arm 704 are spaced apart from each other by a distance 706. The distance 706 between the first effector arm 702 and the second effector arm 704 may be suitably dimensioned to be greater than a width of the hook 600. The distance 706 between the first effector arm 702 and the second effector arm 704 may be a fixed distance. In some embodiments, to accommodate for varying sizes of tires, the distance 706 may beadjustable (e.g., by repositioning one or both of the first effector arm 702 and the second effector arm 704).

[0053] The first effector arm 702 and the second effector arm 704 have a curved (e.g., arced) profile defining a radius, shown as effector arm radius 708. The effector arm radius 708 may be substantially similar to (e.g., within 5%, complementary to, etc.) a radius (e.g., a rim radius) defined by the bead area 110 (e.g., portions of the bead area 1 10 facing the opening 602, an inner circumferential portion of the tire 504, the bead 112, etc.), shown as bead radius 710. By way of example, the curved profile of each of the first effector arm 702 and the second effector arm 704 is complementary to a curvature of the bead area 110. More generally, the effector arm radius 708 may substantially conform in contour to the radius defined by the bead area 110. In some embodiments, the bead radius 710 is about 22.5 inches (e.g., about 21 inches, about 22 inches, about 23 inches, about 24 inches, etc.). In such embodiments, the effector arm radius 708 may be about 22.5 inches. In other embodiments, the effector arm radius 708 and the bead radius 710 are otherwise suitable dimensioned. In some embodiments, the effector arm radius 708 and the bead radius 710 are dimensioned different than each other (e.g., the effector arm radius 708 is greater than the bead radius 710 or the effector arm radius 708 is less than the bead radius 710). In some embodiments, the first effector arm 702 and the second effector arm 704 have a profile that is otherwise shaped (e.g., cuboidal, cylindrical, conical, etc.).

[0054] In some embodiments, the effector 502 and the first effector arm 702 and the second effector arm 704 thereof are fixed relative to the arm 500. In other embodiments, the effector 502 and first effector arm 702 and the second effector arm 704 thereof are pivotally coupled to the arm 500 such that actuation of the effector 502 (e.g., using one or more servomechanisms) is independent of actuation of the arm 500. In such an embodiment, the first effector arm 702 and the second effector arm 704 are synchronously actuated (e.g., the first effector arm 702 and the second effector arm 704 are fixedly coupled to each other).

[0055] Referring still to FIG. 7, the arm 500 is configured to position the effector 502 such that the first and second effector arms 702, 704 of the effector 502 extend axially through the opening 602 of the tire 504 and engage with the bead area 110 (e.g., portions of the bead area 110facing the opening 602, an inner circumferential portion of the tire 504, etc.). The effector 502 may extend entirely through the opening 602 such that the first and second effector arms 702, 704 thereof engage with each of the left and the right bead areas 110 of the tire 504 (e.g., left and right bead areas 110 of the left and right sidewalls 106a and 106b as viewed from FIGS. 1 and 3). In other words, the first and second effector arms 702, 704 are configured to engage with axially opposing bead areas 110. By way of example, when the effector 502 is positioned to engage with the tire 504, (i) the first effector arm 702 contacts each of the left and the right bead areas 110 of the tire 504, and (ii) the second effector arm 704 contacts each of the left and the right bead areas 110 of the tire 504. In this manner, when the effector 502 is engaged with and supporting the tire 504, rotation, pivoting, swinging, or other movement of the tire 504 relative to the effector 502 is limited, thereby establishing a stable selective coupling therebetween. Further, having the effector arm radius 708 substantially similar to the bead radius 710 increases the area of contact between the effector 502 and the bead area 110 and helps to further stabilize the selective coupling between the effector 502 and the tire 504.

[0056] To pick the tire 504 up from and place the tire 504 on the hook 600, the arm 500 is configured to position the effector 502 such that the first and second effector arms 702, 704 of the effector 502 are positioned to the left and the right of the hook 600 (as viewed from FIG. 7). By way of example, the arm 500 is configured to position the effector 502 such that the hook 600 is positioned within a space 712 provided between the first and second effector arms 702, 704 and defined by the distance 706. In some embodiments, the arm 500 is configured to position the effector 502 such that the hook 600 is substantially centered within the space 712 between the first and second effector arms 702, 704. In other embodiments, the arm 500 is configured to otherwise position the effector 502 such that the hook 600 is received within the space 712.

[0057] The arm 500 is configured to actuate the effector 502 such that the first and second effector arms 702, 704 provide a force on the tire 504 in a vertically upward direction and lift the tire 504. Lifting the tire 504 selectively decouples the tire 504 from the hook 600 such that a weight of the tire 504 is supported by the effector 502 and the arm 500. This process may be reversed to engage the tire 504 with the hook 600. With the tire 504 supported by the effector 502and the arm 500, the arm 500 may actuate to selectively reposition and transport the tire 504 to a desired location (e.g., from the hook 600 to the hub 506, from the hub 506 to the hook 600, from a preceding step of the tire retreading or manufacturing process to a proceeding step in a series of steps, etc ).100581 Referring to FIGS. 8-10, a method of mounting the tire 504 on the hub 506 is shown, according to an example embodiment. After lifting the tire 504 from the hook 600, the arm 500 may transport the tire 504 to the hub 506 to be loaded thereon. As shown in FIGS. 8-10, the hub 506 is in a compressed state to provide a space, shown as clearance 800, to load the tire 504 onto the hub 506. By way of example, in the compressed state, the hub arms 508 are retracted such that a radius of the hub 506 (e.g., a radius defined by the hub arms 508) is less than the bead radius 710. As shown in FIG. 11, the hub 506 is in an expanded state to couple the tire 504 with the hub 506. By way of example, in the expanded state, the hub arms 508 expand to remove the clearance 800 between the hub arms 508 and the tire 504 loaded thereon such that a radius of the hub 506 is greater than or equal to the bead radius 710.|0059| As shown in FIG. 8, the arm 500 is configured to transport the tire 504 to the hub 506 to be loaded thereon. The arm 500 is configured to position the tire 504 such that the hub arms 508 extend, at least partially, through the opening 602 defined by the tire 504. In the compressed state, the clearance 800 is provided between the hub arms 508 and the bead areas 110 for the first and second effector arms 702, 704 to extend through the opening 602 and support the tire 504. By way of example, the clearance 800 is sufficiently sized such that each of (i) the hub arms 508 and (ii) the first and second effector arms 702, 704 can concurrently extend through the opening 602. As shown in FIG. 8, when the arm 500 initially transports the tire 504 to load the tire 504 onto the hub 506, the arm 500 positions the effector 502 (e.g., and the tire 504 when engaged therewith) at a first position 802 such that the clearance 800 between the tire 504 and the hub arms 508 is located, at least partially, vertically above the hub arms 508.[0060| As shown in FIG. 9, after positioning the effector 502 such that the hub arms 508 are received within the opening 602 of the tire 504, the arm 500 is configured to actuate the effector 502 (e.g., and the tire 504 when engaged therewith) to a second position 804. In the secondposition 804, the clearance 800 between the tire 504 and the hub arms 508 is located, at least partially, vertically below the hub arms 508. The first and second effector arms 702, 704 are configured to remain engaged with the bead areas 110 of the tire 504 as the arm 500 transitions the effector 502 and the tire 504 from the first position 802 to the second position 804. By way of example, the first and second effector arms 702, 704 may be located at substantially the same position relative to the tire 504 in both the first position 802 and the second position 804. In such an example, effector 502 and the tire 504 rotate about 180 degrees (e.g., about 175 degrees, about 185 degrees, etc.) about an axis of the hub 506.

[0061] As shown in FIG. 10, after transitioning to the second position 804 (shown in FIGS. 9 and 10), the arm 500 can actuate the effector 502 to remove the first and second effector arms 702, 704 from extending through the opening 602. In such embodiments, the hub arms 508 support the tire 504 after the first and second effector arms 702, 704 are no longer engaged with the bead areas 110 of the tire 504. By way of example, the hub arms 508 support the weight of the tire 504 after the tire is loaded thereon and the first and second effector arms 702, 704 are removed from the opening 602.

[0062] As shown in FIG. 11, the hub 506 is configured to expand to the expanded state to couple the tire 504 with the hub 506. By way of example, in the expanded state, the hub arms 508 expand to remove the clearance 800 between the hub arms 508 and the tire 504 loaded thereon. With the tire 504 coupled with the hub 506, one or more steps of the tire retreading process or tire manufacturing process are performed on the tire 504.[0063| After completing the one or more steps of the tire retreading process or tire manufacturing process on the tire 504, the steps discussed above with reference to FIGS. 8-11 may be reversed to remove the tire 504 from the hub 506. By way of example, after performing the one or more operations on the tire 504, the hub 506 may transition from the expanded state (shown in FIG. 11) to the compressed state (shown in FIG. 10) such that the weight of the tire 504 is supported by the hub arms 508 and the clearance 800 is provided within the opening 602 between the tire 504 and a bottom portion of the hub 506. As shown in FIG. 9, the arm 500 may actuate the effector 502 to position the first and second effector arms 702, 704 within the clearance 800such that the first and second effector arms 702, 704 are engaged with the bead areas 110 of the tire 504. The arm 500 actuates to rotate the first and second effector arms 702, 704 and the tire 504 engaged therewith from the second position 804 to the first position 802 such that the clearance 800 is provided within the opening 602 between the tire 504 and a top portion of the hub 506. In the first position 802, the first and second effector arms 702, 704 may support the weight of the tire 504. The arm 500 may then actuate the effector 502 to remove (e.g., unload) the tire 504 from the hub 506 and transport the tire 504 to be supported by the hook 600.

[0064] Referring to FIG. 12, a method 1200 of loading a tire (e.g., the tire 504) on a hub (e.g., the hub 506) is shown including steps 1202-1210, according to an example embodiment. At step 1202, an effector (e.g., the effector 502) including a first arm (e.g., the first effector arm 702) and a second arm (e.g., the second effector arm 704) is positioned within an opening (e.g., the opening 602) defined by the tire. The effector may be coupled to an arm (e.g., arm 500) configured to selectively position within an x, y, z coordinate space by one or more servomechanisms.

[0065] At step 1204, the first arm and the second arm are positioned (e.g., by the arm) to engage with a bead area of the tire. The first arm and the second arm may engage with the tire to remove the tire from an engagement with a hook. By way of example, the tire may be supported by the hook to transport the tire and / or store the tire. The first arm and the second arm are configured to extend from the arm in a direction substantially parallel to each other, and are spaced apart from each other by a distance to define a space therebetween. The arm is configured to position the effector such that the hook is positioned within space provided between the first and second arms. In some embodiments, the arm is configured to position the effector such that the hook is substantially centered within the space between the first and second arms.

[0066] At step 1206, the first arm and the second arm and the tire engaged therewith are positioned at a first position (e.g. first position 802) relative to the hub. The hub includes hub arms (e.g., hub arms 508) such that, in the first position, the hub arms extend within the opening defined by the tire. In the first position, the first and second arms may support the weight of the tire within a clearance (e.g., clearance 800) provided within the opening between the tire and a top portion of the hub.[0067| At step 1208, the first arm and the second arm and the tire engaged therewith are rotated to a second position (e.g., second position 804) relative to the hub. In the second position, the clearance is provided within the opening between the tire and a bottom portion of the hub. The first and second arms are configured to remain engaged with the bead areas of the tire as the arm transitions the effector and the tire from the first position to the second position. By way of example, the first and second arms may be located at substantially the same position relative to the tire in both the first position and the second position. In such an example, effector and the tire rotate about 180 degrees about an axis of the hub.

[0068] At step 1210, the first arm and the second arm are removed from the opening such that the tire is supported by the hub arms. After removing the first arm and the second arm from the opening, the hub is configured to expand to the expanded state to couple the tire with the hub. By way of example, in the expanded state, the hub arms expand to remove the clearance between the hub arms and the tire loaded thereon. With the tire coupled with the hub, one or more steps of the tire retreading process or tire manufacturing process are performed on the tire. After completing the one or more steps of the tire retreading process or tire manufacturing process on the tire, the steps 1202-1210 discussed above may be reversed to remove or otherwise unload the tire from the hub and engage the tire with the hook.

[0069] As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean + / - 10% of the disclosed values. When the terms “approximately,” “about,” “substantially,” and similar terms are applied to a structural feature (e.g., to describe its shape, size, orientation, direction, etc.), these terms are meant to cover minor variations in structure that may result from, By way of example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims.[0070| It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples).[00711 The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical or electrical.

[0072] References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.[0073| The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, orstate machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and / or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein.

[0074] The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, by way of example, instructions and data which cause a general purposecomputer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

[0075] Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, by way of example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps.]0076| It is important to note that the construction and arrangement of tire repair system 400, the arm 500, the effector 502, and the systems and components thereof as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.

Claims

CLAIMSWHAT IS CLAIMED IS:

1. A method of loading a tire on a hub, the method comprising: positioning an effector including a first arm and a second arm within an opening defined by the tire; engaging the first arm and the second arm with a bead area of the tire; positioning the first arm and the second arm and the tire engaged therewith at a first position relative to the hub including hub arms such that the hub arms extend within the opening; rotating the first arm and the second arm and the tire engaged therewith to a second position; and removing the first arm and the second arm from the opening such that the tire is supported by the hub arms.

2. The method of claim 1, wherein the first arm and the second arm are spaced apart from each other and define a space therebetween.

3. The method of claim 2, wherein the first arm and the second are fixed relative to each other.

4. The method of claim 3, wherein the first arm and the second arm each define a curved profile, and wherein the curved profile is complementary to a curvature of the bead area.

5. The method of claim 2, wherein prior to positioning the first arm and the second arm within the opening, the tire is supported by a hook, and wherein engaging the first arm and the second arm with the bead area of the tire includes positioning the hook within the space between the first arm and the second arm.

6. The method of claim 1, wherein the effector is coupled with a robotic arm configured to manipulate a position and an orientation of the first arm and the second arm.

7. The method of claim 1, wherein the hub is expandable between a compressed state and an expanded state.

8. The method of claim 7, wherein the first arm and the second arm and the tire engaged therewith are positioned at the first position when the hub is in the compressed state such that a clearance is provided within the opening between the tire and a top portion of the hub.

9. The method of claim 8, wherein the clearance is provided within the opening between the tire and a bottom portion of the hub when the first arm and the second arm and the tire engaged therewith are rotated to the second position.

10. The method of claim 8, further comprising transitioning the hub to the expanded state after removing the first arm and the second arm from the opening.

11. A tire repair system comprising: a non-transitory computer-readable medium having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to: position an effector including a first arm and a second arm within an opening defined by a tire; engage the first arm and the second arm with a bead area of the tire; position the first arm and the second arm and the tire engaged therewith at a first position relative to a hub including hub arms such that the hub arms extend within the opening; rotate the first arm and the second arm and the tire engaged therewith to a second position; and remove the first arm and the second arm from the opening such that the tire is supported by the hub arms.

12. The tire repair system of claim 11, wherein the first arm and the second arm are spaced apart from each other and define a space therebetween, wherein prior to positioning the first arm and the second arm within the opening, the tire is supported by a hook, and wherein engaging the first arm and the second arm with the bead area of the tire includes positioning the hook within the space between the first arm and the second arm.

13. The tire repair system of claim 11, wherein the effector is coupled with a robotic arm, and wherein the one or more processors are configured to control the robotic arm to manipulate a position and an orientation of the first arm and the second arm.

14. The tire repair system of claim 11, wherein the hub is expandable between a compressed state and an expanded state.

15. The tire repair system of claim 14, wherein the one or more processors are configured to position the first arm and the second arm and the tire engaged therewith at the first position when the hub is in the compressed state such that a clearance is provided within the opening between the tire and a top portion of the hub.

16. The tire repair system of claim 15, wherein the clearance is provided within the opening between the tire and a bottom portion of the hub when the first arm and the second arm and the tire engaged therewith are rotated to the second position.

17. The tire repair system of claim 15, wherein the one or more processors are configured to transition the hub to the expanded state after removing the first arm and the second arm from the opening.

18. A tire repair system comprising: an effector including a first arm and a second arm;a hub including hub arms, the hub being expandable between a compressed state and an expanded state; and a control system configured to: position the first arm and the second arm of the effector within an opening defined by a tire; engage the first arm and the second arm with a bead area of the tire; position the first arm and the second arm and the tire engaged therewith at a first position relative to the hub when the hub is in the compressed state such that (i) the hub arms extend within the opening and (ii) a clearance is provided within the opening between the tire and a top portion of the hub; rotate the first arm and the second arm and the tire engaged therewith to a second position; remove the first arm and the second arm from the opening such that the tire is supported by the hub arms; and transition the hub to the expanded state.

19. The tire repair system of claim 18, wherein the effector is coupled with a robotic arm configured to manipulate a position and an orientation of the first arm and the second arm.

20. The tire repair system of claim 18, wherein the first arm and the second arm are spaced apart from each other and define a space therebetween, wherein prior to positioning the first arm and the second arm within the opening, the tire is supported by a hook, and wherein engaging the first arm and the second arm with the bead area of the tire includes positioning the hook within the space between the first arm and the second arm.

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