Patent ID: 12226970

DETAILED DESCRIPTION OF THE INVENTION

FIGS.1,2A and2Bshow a gripper1for gripping an annular tire component91,92.FIGS.3A-3Cshow the gripper1as part of a gripper station100, further comprising a manipulator4, for positioning the gripper1and an adjustment member8external to said gripper1for adjusting the configuration of the gripper1in a manner that will be discussed hereafter in more detail.

FIG.1shows the manipulator4in a simplified manner. The manipulator4comprises an arm40and a head41at the distal end of said arm41. The arm40and/or the head41may be about or along various axes. The manipulator4may for example be a multi-axis robot. The base of the manipulator4is not shown.

As shown inFIG.1, the gripper1is configured for engaging or gripper annular tire components91,92of different sizes, in particular different diameters D1, D2. The annular tire components91,92may be beads, bead rings, apexes or bead-apexes, used in tire manufacturing. The annular tire components91,92may be semi-finished products, or they may already be integrated or incorporated into a green or unvulcanized tire. Hence, by engaging the annular tire component91,92, the gripper1either engages said individual tire component91,92, or the green or unvulcanized tire as a whole.

As best seen inFIG.1, the gripper1comprises a plurality of gripper members2distributed in a circumferential direction C about a gripper axis A. The gripper members2are movable in a radial direction R perpendicular to the gripper axis A or with at least a vector component in said radial direction R. In particular, the gripper1is provided with a plurality of linear guides10for linearly guiding the gripper members2as they are moved in the radial direction R. Preferably, the linear guides10are mounted in a fixed relationship to the manipulator4so that they remain stationary relative to the head41thereof. Each gripper member2is provided with a gripper body20that is suitably shaped to contact the annular tire component91,92in a radially outward direction.

As shown inFIGS.2A and2B, the gripper members2are movable in the radial direction R across, along or over a main range M. The main range M is defined by or extends within a radially inner endpoint E1and a radially outer endpoint E2. The gripper1comprises a synchronization member3for synchronizing the movements of the gripper members2in the radial direction R. In other words, the synchronization member3ensures that all gripper members2are moved radially inwards and radially outwards simultaneously and/or to the same extent.

In this example, the synchronization member3comprises a spiral plate30with a plurality of spiral slots31circumferentially distributed about the gripper axis A. Each gripper member2comprises a cam-follower21received in a respective spiral slot31. The spiral plate30is rotatable about the gripper axis A to drive the gripper members2in the radial direction R through interaction between the respective cam-followers21and their respective spiral slots31.

The spiral plate30is rotatably mounted on the head41. In particular, the manipulator4comprises an adjustment drive42for rotating the spiral plate30relative to the head41. Note that the linear guides10which carry the gripper members2are configured to remain in a fixed orientation relative to the head41while the spiral plate30is being rotated. Hence, rotation of the spiral plate30causes the cam-followers21associated with said gripper members2to move through the spiral slots31, thereby forcing the respective gripper members2to move radially inwards or outwards, depending on the rotation direction of the spiral plate30.

The spiral slots31spiral relative to the gripper axis A at a relatively small angle or pitch, such that for each angle of rotation of the spiral plate30, the gripper members2are moved only slightly in the radial direction R. In this example, displacement of the gripper members2across the entire main range M requires a rotation of more than one-hundred-and-twenty degrees, in particular more than one-hundred-and-eighty degrees. The length of the spiral slots31defines the main range M of the gripper members2.

As shown inFIGS.2A and2B, the gripper3further comprises a limiter5that can be selectively coupled to and uncoupled from the gripper members2for limiting the movement of the gripper members2in the radial direction R to a subrange S within the main range M. In particular, the limiter5is configured or arranged for limiting the synchronization member3, more in particular for limiting the rotation of the spiral plate30about the gripper axis A to a limited angular displacement H, as shown inFIG.2B.

Preferably, the spiral slots31are shaped such that the ratio between angular displacement of the spiral plate30and radial displacement of the plurality of gripper members2is the same for any angular position of the spiral plate30within the main range M. Hence, the subrange S can have the same size, regardless of where said subrange S is positioned within the main range M.

In this example, the limiter5is configured for mechanically or physically limiting the movements of the gripper members2. Preferably, the limiter5comprises or is a drive member50for driving the synchronization member3. More specifically, the drive member50may have a drive stroke X, as shown inFIG.2B, that defines the subrange S. In this example, the drive member50comprises a cylinder51, preferably a pneumatic cylinder, that drives a plunger to move across the drive stroke X. The plunger is connected via a coupling element55to the synchronization member3, more specifically to the spiral plate30, to convert the linear motion of the plunger into a rotation of the spiral plate30about the gripper axis A.

It will be apparent to one skilled in the art that many variations on the drive member50are possible that would yet be encompassed by the scope of the present invention, such as any other type of linear drive, a rotary drive engaging directly onto the spiral plate30and/or gears, chains, belt or the like, mechanically imparting a torque onto the spiral plate30.

The coupling element55is switchable between a coupled state in which the drive member50can drive the synchronization member3within the subrange S and an uncoupled state in which the drive member50is free to move relative to the synchronization member3to adjust the position P of said subrange S. The subrange position P is to be interpreted as the position of the subrange S as a whole relative to the main range M. In this example, the subrange position P is schematically represented by the radial position of one of its endpoints.

As schematically shown inFIG.4, the coupling element55may be remotely or automatically controlled to switch between the coupled state and the uncoupled state, for example pneumatically or with a servo motor. Alternatively, the coupling element55may be configured to be operated manually, i.e. by pulling back on or pressing onto the knob.

In this exemplary embodiment, as best seen inFIGS.2A and2B, the synchronization member3comprises an index element35that defines a plurality of index positions P1, P2, . . . , Pn corresponding to different steps in the subrange position S, distributed in the circumferential direction C. The index positions P1, P2, . . . , Pn may for example correspond to common diameters D1, D2of the annular tire components91,92, as shown inFIG.1, for example common inch sizes.

In this example, the index element35is formed by a disc with a plurality of apertures, openings or recesses representing the plurality of index positions P1, P2, . . . , Pn. The index element35is coupled to or integral with the spiral plate30so as to rotate together about the gripper axis A. The coupling element55may be provided with a guide shoe56that engages a rim of the index element35to keep the coupling element55aligned with the index positions P1, P2, . . . , Pn as the drive member50is uncoupled from and free to rotate relative to the synchronization member3about the gripper axis A. The coupling element55, is configured to be coupled or connected to the synchronization member3in any of the index positions P1, P2, . . . , Pn. In other words, the drive member50is adjustable relative to the synchronization member3in steps. More specifically, the coupling element55may comprise a pin that is insertable in one of the index positions P1, P2, . . . , Pn, as schematically shown inFIG.4.

Alternatively, the coupling element may be of the clamping type (not shown) to clampingly engage the synchronization member3in any angular position. In such an embodiment, the drive member would be steplessly adjustable relative to the synchronization member3.

By moving the drive member50relative to the synchronization member3, or vice versa, the subrange S has an adjustable subrange position P relative to the main range M. In other words, the subrange position P may be located at or near the radially inner endpoint E1, at or near the radially outer endpoint E2, or at various intermediate positions along the main range M. For example,FIG.2Ashows the subrange S being arranged at a subrange position P corresponding to index position Pn such that the subrange S is at or near the radially outer endpoint E2.FIG.3Cshows the subrange S being adjusted to a subrange position P corresponding to one of the intermediate index positions such that the subrange S is spaced apart from said radially outer endpoint E2.

The subrange position P can be adjusted with the use of the aforementioned adjustment member8, as shown inFIGS.3A-3C. In this example, the adjustment member8is external to the gripper3, i.e. not part of the gripper3. Alternatively, an adjustment member (not shown) may be provided on the gripper3and/or the manipulator4, e.g. in the form of a position setting drive, to adjust the subrange position P without requiring external adjustment means.

As shown inFIGS.3A,3B and3C, the synchronization member3is provided with a first handling element71and a second handling element72which are engageable by the adjustment member8. In this example, the first handling element71is located in a first engagement position on the spiral plate30and protruding from said spiral plate30in a direction parallel or substantially parallel to the gripper axis A. The second handling element72is located in a second engagement position on the spiral plate30radially inside of the first engagement position and protruding from said spiral plate30in the direction parallel or substantially parallel to the gripper axis A.

The adjustment member8is located in an adjustment position. The manipulator4is configured, programmed and/or controlled to move the gripper1between an operational position in which the gripper1is spaced apart from the adjustment member8and the adjustment position in which the gripper1interacts with the adjustment member8for setting the subrange position P.

More in particular, the adjustment member8comprises an adjustment body80that defines a lock finger81, a catch finger82and a lock recess83between said lock finger81and said catch finger82. The catch finger82is longer than and/or extends beyond the lock finger81. As such, the catch finger82can be arranged in a path travelled by the first handling element71and/or the second handling element72when rotating the spiral plate30about the gripper axis A and when the gripper3is in the adjustment position, as shown inFIGS.3B and3C. In the case ofFIG.3B, when the catch finger82is only in the path of the second handling element72, the spiral plate30can still be rotated in one rotation direction.

However, when the gripper3is moved further into engagement with the adjustment member3, the lock finger81becomes situated in a path travelled by the first handling element71when rotating the spiral plate30about the gripper axis A, as shown inFIG.3C. The first handling element71is then locked in the lock recess83between both the lock finger81as well as the catch finger82and the rotation of the spiral plate30can be blocked in both rotation directions. The second handling element72normally remains out of reach of the lock finger81.

Optionally, the adjustment member8is configured to detect the interaction between the gripper3and the adjustment member8. The adjustment member8may for example be allowed to move over a small detection distance with the synchronization member3once engaged, to allow for detection of said movement, as schematically shown inFIG.3Bwith the positions of the adjustment member8prior to and after detection shown in dashed lines and solid lines, respectively.

Once engaged, the angular position of the synchronization member3can be fixed relative to the adjustment member8and the drive member50can be rotated relative to the fixed synchronization member3, provided that the drive member50is in the uncoupled state. The manipulator4or the arm40thereof may be rotated to effectively change the angular position of the drive member50relative to the synchronization member3. More in particular, with the coupling element55disengaged from the index element35, the drive member50can freely move over and/or relative to index element35until the coupling element55is aligned with a chosen index position P1, P2, . . . , Pn, at which point the coupling element55may be engaged with said chosen index position P1, P2, . . . , Pn. The coupling element55and/or the index element55may be provided with suitable chamfers, centering and/or guide surfaces to absorb minor misalignments between them.

Note that the linear guide10and the gripper members2supported thereon also move with the manipulator4and/or the drive member50to the same extent, thereby causing the cam-followers21associated with said gripper members2to move through the respective spiral slots31, thereby causing said gripper members2to change in radial position in accordance with the chosen subrange position P.

It will be apparent to one skilled in the art that instead of fixing the angular position of the synchronization member3and moving the drive member50relative to said synchronization member3, alternatively, the drive member50may be fixed and instead the synchronization member3may be moved.

As shown inFIGS.5A and5B, each gripper member2may optionally be provided with an retaining member61for retaining the tire component91,92on the gripper body20and/or with an ejection member65for ejecting the tire component91,92from the gripper body20. In particular, the retaining member61and the ejecting member65may be configured to cooperate such that the tire component91,92can not be ejected when the retaining member65is active.

As best seen inFIG.5A, the retaining member61comprises a retaining finger62that in a retaining position alongside the tire component91,92to prevent or block ejection of the tire component91,92from the gripper body20in an ejection direction C. In this example, the ejection direction C is parallel or substantially parallel to the gripper axis A, as shown inFIGS.1and4. The gripper member2is provided with a release slot63extending in the radial direction R and the retaining member61is slidably engaged with the release slot64, for example with the use of a guide pin64. Hence, the retaining member61can be pulled radially inwards in a release direction B from the retaining position as shown inFIG.5Ato a release position as shown inFIG.5B.

In this example, the ejection member65is formed as an ejection finger that is hingably supported relative to the gripper member2, for example by a hinge point66at or on the retaining member61. The gripper member2is further provided with an ejection actuator67, for example a cylinder, for generating a relative movement of the ejection member65with respect to the gripper member2with at least a component in the ejection direction C. The ejection member65is movable between a standby position, as shown inFIG.5A, and an ejection position, as shown inFIG.5B. When moving from the standby position towards the ejection position, the ejection member65is configured for contacting and pushing the tire component91,92from the gripper body20in the ejection direction E, preferably until the tire component91,92is no longer supported in the radial direction R by the gripper body20.

Note that inFIG.5A, the tire component91,92is locked in between the retaining finger62at one side and the ejection member65at the other side. As such, the retaining finger62and the ejection member65may cooperate, to some extent, to grip or clamp the tire component91,92in a direction parallel to the gripper axis A.

A method for gripping the annular tire components91,92ofFIG.1with the use of the aforementioned gripper1will now be briefly elucidated with reference toFIGS.1,2A,2B,3A-3C and4.

FIGS.2A and2Bshow the gripper1in the operational position with the gripper members3being controlled by the drive member50to move between the outer positions of the subrange S at a chosen subrange position P, i.e. for gripping a respective one of the annular tire component91,92ofFIG.1at a specific diameter D1, D2.

FIG.3Ashows the situation in which the gripper1has been moved into the adjustment position in which the catch finger82is in the path of the second handling element72. The drive member50has been switched into the uncoupled state, i.e. disengaging the coupling element55from the index element35.

FIG.3Bshows the situation in which the adjustment drive42of the manipulator4has rotated the synchronization member3about the gripper axis A until the second handling element72contacts the catch finger82of the adjustment member8and optionally triggers the detection that said second handling element72has been caught. The rotation of the spiral plate30has also caused the grippers2to move radially inwards towards the radially inner endpoint E1of the main range M. After the radially inner endpoint E1has been reached, the manipulator4moves the first handling element71of the gripper1into engagement with the lock recess83of the adjustment member8, as shown inFIG.3C, thereby locking the synchronization member3against rotation in both rotation directions.

FIG.3Cshows the situation after the manipulator4and/or the head41thereof has been rotated about the gripper axis A to move the drive member50relative to the synchronization member3, in order to adjust the subrange position P, in the manner previously discussed. In this example, the drive member50is rotated over approximately sixty degrees to a chosen index position corresponding to a central region of the main range M. The coupling element55can now be coupled or reconnected to the index element35, thereby setting the drive member50up for driving the synchronization member3in the newly chosen subrange position P, i.e. for a different diameter D1, D2of the annular tire components91,92. The manipulator4can now move the gripper3back into the operational position ofFIG.2A, thereby terminating the engagement between the gripper3and the adjustment member8.

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.

LIST OF REFERENCE NUMERALS

1gripper10guide2gripper member20gripper body21cam-follower3synchronization member30spiral plate31spiral slot35index element4manipulator40arm41head42adjustment drive5limiter50drive member51cylinder55coupling element56guide shoe61retaining member62retaining finger63release slot64guide pin65ejection member66ejection hinge67ejection actuator71first handling element72second handling element8adjustment member80adjustment body81lock finger82catch finger83lock recess91first annular tire component92second annular tire component100gripper stationA gripper axisB release directionC ejection directionD1first diameterD2second diameterE1radially inner endpointE2radially outer endpointH angular displacementM main rangeP subrange positionP1, P2, . . . , Pn index positionsR radial directionS subrangeX drive stroke