公开(公告)号：WO2019202482A1

公开(公告)日：2019-10-24

申请号：PCT/IB2019/053104

申请日：2019-04-16

Applicant: PIRELLI TYRE S.P.A.

Inventor： SCHIAVON, Emanuele Luca ,  CANTU', Marco ,  CALDERONI, Matteo ,  AVANZINI, Lorenzo

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/408

Abstract: Method for controlling a robotized arm (16), comprising: determining target coordinates (TC) for moving said robotized arm (16) in a working zone (WZ); retrieving from a memory area (M) a correction function (CF) associated with said robotized arm (16) and said working zone (WZ); modifying said target coordinates (TC) by means of said correction function (CF), thereby obtaining processed coordinates (PC); using said processed coordinates (PC) for sending movement commands (MC) to said robotized arm (16). A control system (300) for controlling a robotized arm is also described.

公开(公告)号：WO2020240487A1

公开(公告)日：2020-12-03

申请号：PCT/IB2020/055102

申请日：2020-05-29

Applicant: PIRELLI TYRE S.P.A.

Inventor： DE CANCELLIS, Pier Luigi ,  BALINI, Alfredo ,  MAZZOCCHI, Oscar ,  AVANZINI, Lorenzo ,  CONTI, Davide Lupo

IPC: B29D30/06 ,  B29D30/72

Abstract: In the production of tyres for vehicle wheels in which at least one colored label (200) is provided on at least one of the sidewalls of the tyre, a green tyre is arranged inside a vulcanization mold comprising a first half-shell (50), a second half-shell opposite to the first half-shell (50) and a crown of circumferential sectors configured to air-tightly couple with the first half-shell (50) and with the second half-shell when the vulcanization mold is closed. Each label (200) comprises a layer of colored cross-linkable elastomeric material. Each label (200) is arranged in a predetermined position on a first support surface (50a) defined in at least one of the aforementioned first and second half-shell. The green tyre is arranged inside the vulcanization mold so that one of the sidewalls of the green tyre rests on such a support surface (50a). The mold is then closed and the co-vulcanization of the green tyre and of the label(s) (200) inside the vulcanization mold starts, holding in position the labels (200) on the first support surface (50a) during at least one initial part of the vulcanization.

公开(公告)号：WO2020121349A1

公开(公告)日：2020-06-18

申请号：PCT/IT2019/050251

申请日：2019-12-02

Applicant: PIRELLI TYRE S.P.A.

Inventor： AVANZINI, Lorenzo ,  PUPPI, Cristiano ,  BERENGUER, Albert ,  ACCORRA', Matteo ,  VANIGLIA, Erika

IPC: B29D30/00

Abstract: Method and relative station (1) for applying a sensing device (2) to a tyre (3) comprising: - advancing a tape-shaped support (7), on which are removably fixed to the sensing device (2), for feeding in sequence the sensing devices (2), wherein a first angular relation between a characteristic direction (B) of each sensing device (2) and a feeding direction (100) is equal for all the sensing devices; - rigidly coupling said handling device (4) to a sensing device (2) maintaining at least a portion (10) of an adhesion surface (8) of the sensing device (2) removably fixed to the support (7), with a predetermined second angular relation between a characteristic direction (A) of the handling device (4) and the feeding direction (100) to achieve a predetermined third angular relation between the characteristic direction (A) of the handling device (4) and the characteristic direction (B) of the sensing device (2); - maintaining the third angular relation, completely separating the sensing device (2) from the support (7), taking the sensing device (2) away by the handling device (4) and applying the sensing device (2) to an inner surface (16) of a tyre (3) by the handling device (4) arranged in order to achieve a predetermined fourth angular relation between the characteristic direction (A) of the handling device (4) and the equatorial plane (400) of the tyre.

公开(公告)号：WO2019202483A1

公开(公告)日：2019-10-24

申请号：PCT/IB2019/053105

申请日：2019-04-16

Applicant: PIRELLI TYRE S.P.A.

Inventor： SCHIAVON, Emanuele Luca ,  CANTU', Marco ,  CALDERONI, Matteo ,  AVANZINI, Lorenzo

IPC: B25J9/16 ,  G05B19/401

Abstract: Calibration system comprising an anthropomorphic robotized arm (16) and a calibration device (100) for calibrating said anthropomorphic robotized arm (16). The calibration device (100) comprises: a base plate (110); a support (120) rotatably mounted on said base plate (110) to take a plurality of first positions relative to said base plate (110); a reference element (130) translatably mounted on said support (120) to take a plurality of second positions relative to said support (120). By combining said first positions and said second positions, said reference element (130) defines a plurality of known positions in space. The anthropomorphic robotized arm (16) can be moved in a manner such that said anthropomorphic robotized arm (16) will come to be, in succession, in determined positions, each one corresponding to a respective one of said known positions, for calibrating said anthropomorphic robotized arm (16). A method for calibrating an anthropomorphic robotized arm (16) is also described.

公开(公告)号：WO2019202481A1

公开(公告)日：2019-10-24

申请号：PCT/IB2019/053103

申请日：2019-04-16

Applicant: PIRELLI TYRE S.P.A.

Inventor： SCHIAVON, Emanuele Luca ,  CANTU', Marco ,  CALDERONI, Matteo ,  AVANZINI, Lorenzo

IPC: B29D30/20 ,  B29D30/24 ,  B29D30/26

Abstract: Method for building green tyres, comprising: providing a forming drum (3); providing at least one feeding apparatus (14) configured for feeding an elementary semifinished product (8); associating an anthropomorphic robotized arm (16) with said forming drum (3); sending movement commands (MC) to said anthropomorphic robotized arm (16) in order to move said forming drum (3) in a working zone (WZ), said working zone (WZ) being defined at an outlet area (OUT) where said elementary semifinished product (8) exits said feeding apparatus (14), said forming drum (3) being moved in said working zone (WZ) while said feeding apparatus (14) is feeding said elementary semifinished product (8), so that said elementary semifinished product (8) is laid on said forming drum (3) in coils arranged side by side or at least partially overlapping each other for making at least one component of a green tyre of a given tyre model. Sending said movement commands (MC) to said anthropomorphic robotized arm (16) comprises: determining target coordinates (TC), associated with said at least one component of said green tyre, for said anthropomorphic robotized arm (16) in order to move said forming drum (3) in said working zone (WZ); retrieving from a memory area (M) a correction function (CF) associated with said anthropomorphic robotized arm (16) and said working zone (WZ); modifying said target coordinates (TC) by means of said correction function (CF), thereby obtaining processed coordinates (PC); using said processed coordinates (PC) for said movement commands (MC). A working station (1) is also described, for deposition of elementary semifinished products for building green tyres, operating in accordance with said method.