Tyre Laying Head Trajectory Control via Segmented Path Simplification
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Solution Overview
Problem
Existing methods for controlling the installation of tire components on a rotating core face challenges in achieving precise installation while managing data storage and processing limitations, especially for six-axis anthropomorphic robotic arms that cannot process Bézier curve instructions.
Innovation Solution
A method for defining a trajectory of a laying head that involves geometric and functional characterization of the core's profile, followed by meshing with equidistant virtual points, and simplification using selection criteria to reduce the trajectory table size while maintaining precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If Bézier curves are used to smooth the trajectory, then the trajectory continuity and smoothness are improved, but the computing power requirement increases and compatibility with six-axis robotic arms is lost
Solution Approach 1:
The patent divides the continuous Bézier curve trajectory into discrete linear segments, creating a segmented trajectory table that can be processed by six-axis robotic arms while maintaining the essential smoothness characteristics of the original curve
Solution Approach 2:
The patent uses simple linear interpolation between trajectory points instead of complex Bézier curve calculations, replacing computationally expensive continuous curve processing with cheaper discrete point-to-point movements that achieve similar practical results
2Manufacturing precision
If more trajectory points are used to define the installation path, then the installation precision is improved, but the data storage and processing capacity requirements increase
Solution Approach 1:
The patent applies different levels of trajectory point density to different sections of the installation path, using more points in complex geometric zones and fewer points in simple zones, optimizing both precision and data storage requirements
Solution Approach 2:
The patent uses a sufficient but not excessive number of trajectory points - enough to achieve the required installation precision for complex profile portions while avoiding the data storage burden of using too many points in all sections
Data Source
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AI summary
The invention relates to a method for defining a path of a laying head (1) for laying a tyre component on a core (4), the method comprising a step (a) of geometrically characterising the profile, in which step a first set of geometric points of interest (PP1, … PPn) representative of the shape of the profile (10) is provided, a step (b) of functionally characterising the profil, in which step a second set of functional points of interest (PF1, … PFm) is provided, which functional points of interest are linked to the laying laws which specify the laying conditions for the tyre component, and the points of interest are stored in a path table, a gridding step (c) in which a series of equidistant virtual points which are referred to as "potential guide points" (PG1,... PGp) and range from the first functional point of interest (PF1) to the last functional point of interest (PFm), are defined for the profile (10), and subsequently a simplification step (d) in which the size of the path table is reduced by applying, to the path table, one or more selection criteria in order to select one portion of the potential guide points (PGk) and the points of interest (PPi, PFj).