WO2018069065A1 - Dispositif de retournement d'un pli destiné à l'assemblage d'un pneumatique vert - Google Patents

Dispositif de retournement d'un pli destiné à l'assemblage d'un pneumatique vert Download PDF

Info

Publication number
WO2018069065A1
WO2018069065A1 PCT/EP2017/074756 EP2017074756W WO2018069065A1 WO 2018069065 A1 WO2018069065 A1 WO 2018069065A1 EP 2017074756 W EP2017074756 W EP 2017074756W WO 2018069065 A1 WO2018069065 A1 WO 2018069065A1
Authority
WO
WIPO (PCT)
Prior art keywords
ply
turning
arrival
receiving table
gripping device
Prior art date
Application number
PCT/EP2017/074756
Other languages
English (en)
Inventor
Jean-Marie Dettorre
Frédéric DRAGO
Original Assignee
Compagnie Generale Des Etablissements Michelin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Compagnie Generale Des Etablissements Michelin filed Critical Compagnie Generale Des Etablissements Michelin
Publication of WO2018069065A1 publication Critical patent/WO2018069065A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00—Producing pneumatic or solid tyres or parts thereof
    • B29D30/0016—Handling tyres or parts thereof, e.g. supplying, storing, conveying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00—Producing pneumatic or solid tyres or parts thereof
    • B29D30/0016—Handling tyres or parts thereof, e.g. supplying, storing, conveying
    • B29D2030/0038—Handling tyre parts or semi-finished parts, excluding beads, e.g., storing, transporting, transferring

Definitions

  • the invention falls within the field of tyres and more precisely within the field of the manufacture of the plies used in the manufacture of green tyres.
  • the invention relates to the manufacture of the carcass plies used for assembling green tyres.
  • Such carcass plies take the form of a fine rubber profiled element incorporating transverse reinforcements that give the future tyre a radial carcass.
  • a first profiled element incorporating the reinforcements in its length is produced first of all, notably by applying skims using calendaring.
  • this first profiled element is cut into lengths along its width. These lengths form plies which are turned over so that their upper and lower faces can be visually inspected.
  • the turned plies are then butted together to form a second profiled element incorporating the reinforcements in its width and from which lengths intended to form the carcass plies of future tyres will be taken.
  • the object of the present invention is to collaboratively automate the turning- over of a ply intended for assembling a green tyre in the vicinity of an operator.
  • one object of the invention is a device for turning a ply made from a rubber composition, the ply having a lower face and an upper face, the turning device comprising a first table on which a ply that is to be turned arrives, a second table on which a turned ply is received, and a handling device allowing a ply to be transferred automatically from the arrival table to the receiving table using a gripper device.
  • the receiving table is higher up than the arrival table so as to create a step that allows the turning device to turn the ply over quickly at the same time as it is being transferred from the arrival table to the receiving table, the ply resting on its upper face on the receiving table after it has been transferred.
  • the step present between the two tables makes it possible to simplify and shorten the movement performed by the gripper device to turn the ply over. As a result, the step allows the plies to be turned over quickly between the two tables.
  • the step makes it possible to ensure that the ply is turned over.
  • Figure 1 is a perspective view of a first alternative form of a gripping device according to the invention
  • Figure 2 is a perspective view of a first alternative form of a gripping device according to the invention, mounted on a robot arm,
  • Figure 3 is a perspective view of a second alternative form of a gripping device according to the invention.
  • Figure 4 is a perspective view of a third alternative form of a gripping device according to the invention.
  • Figure 5 is a perspective view of a ply turning device according to the invention.
  • Figures 6A to 6D illustrate the turning of a ply using a ply turning device according to the invention.
  • the invention relates to the gripping of an object using a gripping device 10.
  • this object may be a ply N made from a rubber composition and intended for the assembly of a green tyre for a vehicle wheel.
  • the gripping device 10 comprises at least one gripper element 12 for gripping this object.
  • This gripper element 12 may adopt various forms, but for the purposes of transporting a ply N intended for assembling a green tyre, the gripper element 12 preferably adopts the form of a suction cup 14.
  • a suction cup 14 comprises a flexible and deformable membrane 16 intended to be pressed against the object that is to be transported and then placed under suction so as to adhere to the object that is to be transported.
  • the gripping device 10 includes a connection base 18 for connection to an automated handling device 20 such as, for example, a robot arm like the one illustrated in Figure 2.
  • an automated handling device 20 such as, for example, a robot arm like the one illustrated in Figure 2.
  • Such a handling device 20 is capable of moving the gripping device 10, and therefore the object or load being transported, at least about and/or along a handling axis, and preferably about and/or along various handling axes.
  • the handling device 20 comprises a lower arm 22, an upper arm 24 and a mount 26.
  • the lower arm 22 is articulated with respect to the mount 26, the upper arm 24 is articulated with respect to the lower arm 22, and the gripping device 10 is articulated with respect to the upper arm 24.
  • the lower arm 22 is articulated for rotation with respect to the mount 26 about a vertical axis AV and about a horizontal axis AH
  • the upper arm 24 is articulated to rotate with respect to the lower arm 22 about an intermediate axis Al
  • the gripping device 10 is articulated to rotate with respect to the upper arm 24 about three mutually perpendicular axes A1 , A2, A3.
  • an electric motor 28 drives the lower arm 22 in rotation with respect to the mount 26 and about the vertical axis AV and another electric motor 30 drives the lower arm 22 in rotation with respect to the mount 26 and about the horizontal axis AH.
  • another electric motor 32 drives the upper arm 24 in rotation with respect to the lower arm 22 about the intermediate axis Al.
  • three other electric motors 34, 36, 38 drive the gripping device 10 in rotation with respect to the upper arm 24 about the three perpendicular axes A1 , A2 and A3 respectively.
  • the handling device 20 offers a six-axis architecture referred to as anthropomorphic. Of course, depending on the use made of the gripping device 10 and on the layout of the workstation, the handling device 20 may adopt other architectures with more or fewer axes of mobility. [017]
  • the gripping device 10 includes at least one structural element 40. In the various alternative forms of the gripping device 10, at least one structural element 40 is fixed to the connection base 18.
  • the gripping device 10 includes a single structural element 40 fixed to a connection base 18, and taking the form of a mounting plate 42.
  • the gripping device 10 includes two structural elements 40 fixed to a connection base 18 and taking the form of a mounting frame 44.
  • the two structural elements 40 run parallel to one another so as to allow the gripping device 10 to handle objects of a larger size, notably plies N of greater width.
  • the gripping device 10 includes a main structural element 40' fixed to a connection base 18 and adopting the form of a mounting plate 42, and a plurality of secondary structural elements 40" fixed to the main structural element 40'. Again with a view to allowing the gripping device 10 to handle objects of greater size, the secondary structural elements 40" extend at right angles to the main structural element 40'.
  • each structural element 40, 40', 40" takes the form of a bladder 50 inflated with at least one gas.
  • a bladder 50 may be inflated with air or with a specific gas, such as a gas that is lighter than air for example.
  • the rigidity of the bladder 50 is obtained only by the pressure of the air or of the gas contained within this bladder 50, and therefore without the use of a reinforcement, a core and/or reinforcements that are rigid
  • the pressure of the air or of the gas inside a bladder 50 is of the order of 0.2 to 0.4 bar. This low pressure is enough to transport objects or loads of a mass ranging up to 5 kg, and avoids making the bladder 50 too rigid and therefore dangerous in the event of its collision with an operator.
  • the bladder is preferably made of PVC (polyvinyl chloride) with a mass per unit area of 850 g/m 2 .
  • PVC polyvinyl chloride
  • This material also offers the advantage of deforming, allowing it both to withstand potential collisions with another object and making it possible to avoid injuring an operator in a collision.
  • a bladder 50 has rounded ends 52, 54. What the invention means by rounded is ends 52, 54 that are substantially hemispherical.
  • each bladder 50 is cylindrical.
  • each bladder 50 is of elongate shape.
  • a bladder 50 supports several gripper elements 12.
  • each bladder 50 is of elongate shape.
  • the first alternative form of the gripping device 10 comprising a single bladder 50 of elongate shape, is very well-suited to instances in which the object that is to be transported extends only lengthwise or in which the object that is to be transported extends both lengthwise and widthwise but needs to be grasped only by one of its longitudinal or transverse edges.
  • the second and third alternative forms of the gripping device 10 comprising several parallel bladders 50 are more suitable in instances in which the object that is to be transported extends both lengthwise and widthwise and in which this object needs to be grasped both on its length and on its width.
  • flexible collars 56 are used to fix a bladder 50 to the connection base 18 or to fix two bladders 50 to one another. These flexible collars 56 are also used to fix the gripper elements 12 to a bladder 50. These flexible collars 56 may be made of metal, of fabric, or of plastic.
  • the gripping device 10 carries an on-board device 60 for creating a vacuum from a source of compressed air.
  • the compressed air is supplied to the device 60 via the compressed-air circuit 62 usually present on industrial sites.
  • This device 60 is intended to be connected to each of the suction cups 14 to allow them to adhere to the object that is to be transported.
  • the device 60 is supported by the mounting plate 42 or the frame 44 of the connection base 18.
  • the device 60 enable the creation of suction of 0.2 to 0.5 bar.
  • the handling device 20 and/or the gripping device 10 may be equipped with means aimed at detecting, and potentially at anticipating, any impact or collision of an object or an operator with the handling device 20 and/or with the gripping device 10 in order to halt the movements of the handling device 20 and of the gripping device 10 as quickly as possible.
  • the handling device 20 may be equipped with means that measure the load supplied by its actuator or actuators, such as, for example, the torque supplied by the electric motors 28,30,32,34,36,38, and capable of detecting a sudden variation in this load which corresponds to an impact or a collision.
  • the handling device 20 and/or for preference the gripping device 10 may be fitted with means for detecting a collision with an object or with an operator.
  • These detection means preferably adopt the form of proximity sensors of capacitive type making it possible to detect non-metallic objects and, therefore, an operator.
  • At least one proximity sensor 90 of capacitive type is arranged on a structural element 40, 40', 40" adopting the form of a bladder 50.
  • a network of several proximity sensors 90 of capacitive type is installed on the structural element or elements 40, 40', 40" of the gripping device 10.
  • proximity sensors 90 of capacitive type are arranged on a structural element 40, 40', 40" adopting the form of a bladder 50 inflated with air or with gas, their operation, and notably their detection range, is improved.
  • the sensors are sufficiently distant from any metallic mass, from any electrical connection or from any electrical device such as a motor of the handling device 20 liable to perturb their operation, and more particularly, the electrical field that they emit.
  • the invention also relates to a device 70 for turning over a ply N made from a rubber composition and intended for the assembly of a green tyre for a vehicle wheel.
  • This turning device 70 is intended to work collaboratively in the vicinity of an operator O.
  • a ply N is a thin, substantially rectangular object that is made of a raw rubber mix, i.e., not cross-linked, that can incorporate reinforcements arranged parallel to one another and that are oriented lengthwise or widthwise in the ply, or inclined at a given angle with respect to the longitudinal and transverse directions of the ply.
  • a ply N has a thickness of around 1 mm, a width of several tens of centimetres, and a length that is greater than its width.
  • such a ply N essentially has a lower face Fl and an upper face FS.
  • the turning device 70 comprises a first table 72 on which a ply N that is to be turned arrives, a second table 74 on which a turned ply N is received, and a handling device 20 allowing a ply N to be transferred automatically from the arrival table to the receiving table using a gripping device 10.
  • the receiving table 74 is higher up than the arrival table so as to create a step 76 that allows the turning device 70 to turn the ply N over quickly at the same time as it is being transferred from the arrival table 72 to the receiving table 74.
  • the turned ply N rests on its upper face FS on the receiving table 74.
  • the step 76 forms a linear stop against which the ply N comes into abutment so that it can be turned over.
  • the turning device 70 offers a simplified design avoiding the use of a second gripping device to grasp hold of the lower face Fl of the ply N and complete the turning-over of the ply N.
  • the step 76 has a height H76 of between one-quarter and one-half of the width LN of the ply N that is to be turned. In the case of plies that are intended for the assembly of green tyres of the passenger vehicle type, the step 76 has a height H76 of around twenty-five centimetres.
  • the turning device 70 incorporates the first alternative form of the gripping device 10 in which form a single bladder 50 of elongate shape supports several aligned gripper elements 12.
  • the gripping device 10 allows the grasping of only one edge B of the ply N that is to be turned.
  • the edge B grasped is preferably a longitudinal edge BL because the turning of the ply N using the step 76 needs to be performed by a movement of the ply N performed chiefly in a horizontal direction DH parallel to the transverse direction of the ply N.
  • the gripping device 10 of the turning device 70 preferably comprises a plurality of ply-gripping elements 12.
  • each gripper element 12 of the turning device 70 allows the ply that is to be turned to be grasped locally, namely over a surface area measuring a few square centimetres.
  • each gripper element 12 of the turning device 70 takes the form of a suction cup 14, suction cups 14 offering the advantage of not puncturing or impairing the surface finish of the plies N transported.
  • the turning device 70 comprises an inclined surface 78 between the arrival table 72 and the receiving table 74. Inclined, for example, at 45°, this inclined surface 78 makes it possible to ensure that the ply N is not damaged as it is turned over.
  • the handling device 20 allows the gripping device 10 to be moved at least in a vertical direction DV perpendicular to the work surfaces P72 and P74 of the arrival table 72 and receiving table 74 and in a horizontal direction DH parallel to the work surfaces P72 and P74 of the arrival table 72 and receiving table 74.
  • the handling device 20 also allows the gripping device 10 to be made to pivot about a horizontal axis AH parallel to the work surfaces P72 and P74 of the arrival table 72 and receiving table 74 and perpendicular to the vertical direction DV perpendicular to the work surfaces P72 and P74 of the arrival table 72 and receiving table 74.
  • Figure 6A illustrates a first step of the turning in which step the gripping device 10 grasps hold of a longitudinal edge BL of the ply N with its gripper elements 12, namely four aligned suction cups 14 spaced apart and placed under suction.
  • the handling device 20 moves the gripping device 10 upwards in the vertical direction DV so as to lift the longitudinal edge BL of the ply N grasped by the gripper elements 12.
  • the handling device 20 moves the gripping device 10 in the horizontal direction DH and from the arrival table 72 towards the receiving table 74.
  • the handling device 20 causes the gripping device 10 to pivot through approximately 90° about the horizontal axis AH so as to prevent the ply N from folding over onto itself and so as to place the gripping device 10 into a position suitable for releasing the turned ply N on the receiving table 74.
  • the handling device 20 moves the gripping device 10 again in the horizontal direction DH and from the arrival table 72 towards the receiving table 74, and it also moves the gripping device 10 downwards in the vertical direction DV so as to bring the gripping device 10 and its gripper elements 12 as close as possible to the work surface P74 of the receiving table.
  • the turning device 70 Thanks to the turning device 70, the operator no longer has to perform the repetitive movements associated with manual turning.
  • the operator has more time to visually inspect the lower faces Fl and the upper faces FS of the plies N and to perform a later step of butting together and assembling the rear transverse edge BTR of a first ply N turned by the turning device 70 with the front transverse edge BTF of a second ply N turned by the turning device 70.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Tyre Moulding (AREA)

Abstract

L'invention concerne un dispositif (70) de retournement d'un pli (N) destiné à l'assemblage d'un pneumatique vert, le pli (N) présentant une face inférieure (Fl) et une face supérieure (FS), le dispositif de retournement comprenant une première table d'arrivée (72), une deuxième table de réception (74), et un dispositif de manipulation (20) permettant à un pli (N) d'être transféré automatiquement de la table d'arrivée à la table de réception à l'aide d'un dispositif de préhension (10). Selon l'invention, avec le pli (N) reposant sur sa face inférieure (Fl) sur la table d'arrivée (72), la table de réception (74) est plus haute que la table d'arrivée de manière à créer une marche (76) qui permet au dispositif de retournement (70) de retourner le pli (N) rapidement en même temps qu'il est transféré de la table d'arrivée (72) à la table de réception (74).
PCT/EP2017/074756 2016-10-10 2017-09-29 Dispositif de retournement d'un pli destiné à l'assemblage d'un pneumatique vert WO2018069065A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659734A FR3057200A1 (fr) 2016-10-10 2016-10-10 Dispositif de retournement d'une nappe destinee a l'assemblage d'une ebauche de pneumatique
FR1659734 2016-10-10

Publications (1)

Publication Number Publication Date
WO2018069065A1 true WO2018069065A1 (fr) 2018-04-19

Family

ID=57750176

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/074756 WO2018069065A1 (fr) 2016-10-10 2017-09-29 Dispositif de retournement d'un pli destiné à l'assemblage d'un pneumatique vert

Country Status (2)

Country Link
FR (1) FR3057200A1 (fr)
WO (1) WO2018069065A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3866774A (en) * 1972-10-20 1975-02-18 Uniroyal Ltd Mechanized thread booking method
US5758590A (en) * 1996-02-22 1998-06-02 Collier; Horace I. Stacking device for sheet material
WO1998031621A1 (fr) * 1997-01-17 1998-07-23 The Goodyear Tire And Rubber Company Procede et dispositif pour sortir des bandes de roulement de pneus d'une unite de stockage
WO2015147637A1 (fr) * 2014-03-27 2015-10-01 Vmi Holland B.V. Système de déchargement et procédé pour décharger un support de bande de roulement de pneu
WO2016108884A1 (fr) * 2014-12-31 2016-07-07 Compagnie Generale Des Etablissements Michelin Procédés et appareil de formation de boudins de mélange dans un système en boucle fermée

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3866774A (en) * 1972-10-20 1975-02-18 Uniroyal Ltd Mechanized thread booking method
US5758590A (en) * 1996-02-22 1998-06-02 Collier; Horace I. Stacking device for sheet material
WO1998031621A1 (fr) * 1997-01-17 1998-07-23 The Goodyear Tire And Rubber Company Procede et dispositif pour sortir des bandes de roulement de pneus d'une unite de stockage
WO2015147637A1 (fr) * 2014-03-27 2015-10-01 Vmi Holland B.V. Système de déchargement et procédé pour décharger un support de bande de roulement de pneu
WO2016108884A1 (fr) * 2014-12-31 2016-07-07 Compagnie Generale Des Etablissements Michelin Procédés et appareil de formation de boudins de mélange dans un système en boucle fermée

Also Published As

Publication number Publication date
FR3057200A1 (fr) 2018-04-13

Similar Documents

Publication Publication Date Title
CA2883728C (fr) Systeme et methode de fabrication d'assemblage
EP2934863B1 (fr) Dispositif de manipulation de tissu
WO2018069064A1 (fr) Dispositif de préhension gonflable
US20080080962A1 (en) Method and transport device for transporting objects
EP1905690B1 (fr) Plate-forme de transport mobile pour la manipulation de pièces aéronautiques
US4804173A (en) Method and apparatus for moving individual sheets from a stack of sheets
US10646992B2 (en) System and method for placing an object, which is to be processed, on a production apparatus in a precise position
CN104209950B (zh) 可重构机器人末端执行器组件
CN109955510B (zh) 用于将复合板层成形到成型工具表面上的方法和设备
CN101952161A (zh) 安装车辆仪表盘的装置和方法
CN109692992B (zh) 汽车钢板精剪自动化生产装置
EP2969399B1 (fr) Procédé et appareil pour positionner des systèmes de traitement automatisé
US11364584B2 (en) System and method for fast removal of cut parts from a processing system
WO2018069065A1 (fr) Dispositif de retournement d'un pli destiné à l'assemblage d'un pneumatique vert
US10926500B2 (en) Method and device for handling tires
CN211806786U (zh) 一种耐火砖自动化成型检测搬运装置
CN210456477U (zh) 上料组件及采用该组件的上料机器人
JP6920193B2 (ja) タイヤ用ベルトの製造方法及び製造装置
JP2017096781A (ja) 曲がりゴムホースの形状検査装置及び曲がりゴムホースに対する後処理装置
JP6993872B2 (ja) タイヤ用ベルトの製造方法
KR101695188B1 (ko) 부품장착용 무전원 수동식 다축기계장치
JP6993873B2 (ja) タイヤ用ベルトの製造方法及び製造装置
CN109128817B (zh) 中转装置及医用组装机
JP6951969B2 (ja) シート状ベルトの巻き取り方法及び巻き取り装置
CN209737620U (zh) 一种汽车传感器机器人工作站

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17772448

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17772448

Country of ref document: EP

Kind code of ref document: A1