公开(公告)号：WO2022118182A1

公开(公告)日：2022-06-09

申请号：PCT/IB2021/061099

申请日：2021-11-30

Applicant: PIRELLI TYRE S.P.A.

Inventor： AMURRI, Cesare Emanuele ,  CICOGNANI, Fabio ,  SCHIAVON, Emanuele Luca

IPC: B29C48/37 ,  B29C48/92 ,  B29L30/00

Abstract: The invention relates to a method for extruding a semi-finished product made of elastomeric material, wherein an elastomeric material is fed to an inlet channel (20a) of a gear pump (20) with an inlet pressure value and dispensed through an exit channel (20b) of the gear pump (20) with an exit pressure value greater than the inlet pressure value. The method comprises detecting the exit pressure value and adjusting the operation of said gear pump (20) so as to maintain a predetermined pressure difference between said exit pressure and said inlet pressure based on the detection of the exit pressure value. The aforementioned method is used in a process for building a tyre for vehicle wheels.

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：WO2020261054A1

公开(公告)日：2020-12-30

申请号：PCT/IB2020/055683

申请日：2020-06-18

Applicant: PIRELLI TYRE S.P.A.

Inventor： SCHIAVON, Emanuele Luca

IPC: B29D30/16 ,  B29D30/30 ,  B29D30/08

Abstract: Method for building tyres, comprising: providing an anthropomorphic robotized arm (16) for rotatably moving an output end effector (21) thereof; associating a building drum (3) with said output end effector (21), so that said output end effector (21) rotatably moves said building drum (3) about a geometric axis (X) of said building drum (3); feeding an elementary semifinished product (8), at a given linear speed (LS), from a feeding apparatus (14); depositing, on said building drum (14), said elementary semifinished product (8) in the form of side-by-side coils, so as to form at least one component of a tyre (T) being processed; activating a processor (100) for determining, as a function of said given linear speed (LS), a target speed (TS) for the rotation of said building drum (3); activating said processor (100) for determining, ad a function of said target speed (TS), a target value (TV) for a speed parameter (SP) associated with the rotation of said building drum (3); if said target value (TV) is not an integer number, activating said processor (100) in order to execute the following operations: determining a drive interval (DI) shorter than a settling time (ST) of an anthropomorphic robotized arm-building drum system for said output end effector (21); calculating a first value (VI), equal to the integer number immediately preceding said target value (TV); calculating a second value (V2), equal to the integer number immediately following said target value (TV); calculating, in said drive interval (DI), a PWM profile for said speed parameter (SP), said PWM profile having a minimum value (MIN) equal to said first value (VI) and a maximum value (MAX) equal to said second value (V2); controlling said output end effector (21) as a function of said PWM profile. A working station (1) for deposition of elementary semifinished products for building tyres is also described, which operates in accordance with said method.

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.