Patent ID: 11964444
Assignee: PIRELLI TYRE S.P.A.
Field: Other special machines (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method for building tyres, comprising:
providing an anthropomorphic robotized arm for rotatably moving an output end effector thereof;
associating a building drum with the output end effector, wherein the output end effector is configured to rotatably move the building drum about a geometric axis of the building drum;
feeding an elementary semifinished product, at a given linear speed, from a feeding apparatus;
depositing, on the building drum, the elementary semifinished product in form of side-by-side coils, to form at least one component of a tyre being processed;
activating a processor for determining a target speed, as a function of the given linear speed, for rotation of the building drum;
activating the processor for determining a non-integer target value, as a function of the target speed, for a speed parameter associated with the rotation of the building drum;
upon determination of the non-integer target value, activating the processor in order to execute the following operations:
determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for the output end effector;
calculating a first value, equal to an integer number immediately preceding the non-integer target value;
calculating a second value, equal to an integer number immediately following the non-integer target value;
calculating, in the drive interval, a pulse width modulation (PWM) profile for the speed parameter, the PWM profile having a minimum value equal to the first value and a maximum value equal to the second value; and
controlling the output end effector as a function of the PWM profile.