WO2017220060A1 - Dispositif de manipulation de pneumatiques - Google Patents

Dispositif de manipulation de pneumatiques Download PDF

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Publication number
WO2017220060A1
WO2017220060A1 PCT/DE2017/000142 DE2017000142W WO2017220060A1 WO 2017220060 A1 WO2017220060 A1 WO 2017220060A1 DE 2017000142 W DE2017000142 W DE 2017000142W WO 2017220060 A1 WO2017220060 A1 WO 2017220060A1
Authority
WO
WIPO (PCT)
Prior art keywords
handling
tire
tires
kinematics
handling device
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE2017/000142
Other languages
German (de)
English (en)
Other versions
WO2017220060A8 (fr
Inventor
Martin Nowok
Arne Zimmermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harburg Freudenberger Maschinenbau GmbH
Original Assignee
Harburg Freudenberger Maschinenbau GmbH
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
Priority to DE112017003064.1T priority Critical patent/DE112017003064A5/de
Application filed by Harburg Freudenberger Maschinenbau GmbH filed Critical Harburg Freudenberger Maschinenbau GmbH
Publication of WO2017220060A1 publication Critical patent/WO2017220060A1/fr
Publication of WO2017220060A8 publication Critical patent/WO2017220060A8/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B29D30/06—Pneumatic tyres or parts thereof (e.g. produced by casting, moulding, compression moulding, injection moulding, centrifugal casting)
    • B29D30/0601—Vulcanising tyres; Vulcanising presses for tyres
    • B29D30/0603—Loading or unloading the presses
    • 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
    • B29D2030/0022—Handling green tyres, e.g. transferring or storing between tyre manufacturing steps
    • 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
    • B29D2030/0027—Handling cured tyres, e.g. transferring or storing after vulcanizing

Definitions

  • the invention relates to a handling device for tires, comprising at least one gripping tool and a boom, wherein the boom is fixed with a first boom pivot point on a receptacle such that pivoting of the boom is supported relative to the recording along a Radmé concernedages and that the boom a second boom pivot point having the at least one gripping tool via a tool arm coupled to the cantilever in such a way that pivoting of the tool arm is supported relative to the boom and / or the recording along a Raduregorith.
  • the manufacture of a tire for example for vehicles such as cars or motorcycles, is an extremely complex process that consists of a variety of manufacturing and process steps. The reason for this is the complicated tire structure consisting of a considerable number of different individual components. In addition, this variety of components under pressure and temperature, the so-called vulcanization, must be connected to each other. The vulcanization process is also significant in terms of the material and adhesion properties of the finished tire.
  • the green tire is a highly complex and consisting of many semi-finished components. Due to the complex structure, the individual components must be assembled first and before a vulcanization process, i. the tire components are separated in the correct size and fed in the same position, position, orientation to a carcass drum which is located inside a tire building machine. In this way, the green tire is prepared and prepared for vulcanization.
  • tire components are present as sheet and / or sheet semi-finished products: various rubber compounds and rubber-based composite materials, textile fabrics or textile cord, steel belt fabrics and rubber-coated bead cores.
  • partially layer servers are used within a tire building machine.
  • Handling devices which due to their function within the tire manufacturing process and with respect to the treatment room of the tire curing machine, are also called loaders or unloaders, have to move the tire or green tire to be handled over distances in all spatial directions and, if necessary, change the tire orientation.
  • Positioning accuracies with a low position and / or orientation deviation can also be included in the requirement spectrum of handling devices. These may be required, for example, when loading or inserting the green tire into the tire mold, into the container or the treatment room. Positioning precision is also required when the residual heat-bonded finished tires are inserted into the Post Cure Inflator or the Post Cure Device for the purpose of aftertreatment, for example, to accurately place the finished tire with its tire bead on the tire plate.
  • Handling devices are often formed by a projection defined on a base. The projection is connected at one end to the base via a hinge and generally has a gripping tool at its other end. The articulation of the cantilever at the base aids in pivoting it relative to the base.
  • Another problem of generic handling devices is the limited motion kinematics. If degrees of freedom of movement of the cantilever-bearing cantilever or cantilever are realized by a joint, the cantilever can only be pivoted about this fulcrum. As a consequence, the gripping tools are only able to move along a circular arc.
  • a handling device of a tire vulcanizing machine must generally be associated.
  • the handling range can not be extended to a second or more tire vulcanizing machines.
  • this use restriction is considerably disadvantageous. It is an object of the invention to provide a handling device for tires, which at least partially reduces the disadvantages mentioned and supports a cost-effective overall construction.
  • a handling device with at least one boom and at least two boom pivot points whose pivotal movements are at least partially coupled to a total movement path, the resulting motion kinematics approaching a linear movement.
  • the invention recognizes that the development of known in the art so-called "SCARA” robotic arms (Selective Compliance Assembly Robot Arm), the mentioned disadvantages of previously used handling devices at least partially reduced and opens into a smaller required pivoting and / or working space.
  • SCARA Selective Compliance Assembly Robot Arm
  • Generic Schwenkarmroboter usually have a pivotable in the horizontal direction articulated arm with a preferably serial kinematics and often have four degrees of freedom, which is limited to handling in plane-parallel surfaces.
  • the first axis of rotation forms the pivotable about a base pivot arm, the hinge of which forms the second axis of rotation.
  • the third axis of rotation is realized by a vertical Z-axis for receiving a gripper or tools provided, which can be rotated as a fourth axis also about its longitudinal axis.
  • the Roboterarmbasis can be arranged horizontally and / or vertically movable, for example, realized on high-precision leading ball screws or suitable sliding guides. In this way, by the thus created fifth degree of freedom within a defined working space each plane-parallel working planes approached and made the handling functions accessible.
  • a sixth degree of freedom can be provided by a vertical and / or arbitrary axis of rotation between the base and the horizontal and / or vertical movability, so that the approachable and plane-parallel working planes can be inclined in space.
  • the sixth degree of freedom it is also possible that, depending on the sequence or combination of movements along at least two of the provided degrees of freedom, working planes which are not plane-parallel to one another can be approached and thus accessible to the handling space.
  • the invention recognizes that an at least partial combination of at least two degrees of freedom in conjunction with suitable movement and / or acceleration and / or brake combinations generates handling kinematics which are particularly advantageous for loading and / or unloading tire vulcanizing machines and pre-curing and / or unloading Post-processing plants for tires or green tires can be used.
  • Another inventive idea provides that the further development of the handling device based on a Schwenkarmtechnik particular integration of multiple loading or loading and / or discharge functions. It is envisaged to optimize a handling device by utilizing the degree of freedom combinations and handling kinematics according to the invention in particular non-simultaneous for the handling tasks of at least two adjacently arranged Reifenver vulcanizing.
  • the swivel arms of the handling device and the resulting movement kinematics are designed such that the working levels can be approached within the defined working space as well as to minimize or at least reduce the necessary space for movement.
  • the motion kinematics is designed such that the traversing and pivoting paths approach as much as possible a linear movement between the working planes.
  • the object to be handled may be a green tire or a finished tire.
  • the working levels include in particular the points at which the objects must be recorded and / or filed.
  • These items may be magazines, buffers, feeders or the like in front of a tire vulcanizing machine, the heating or vulcanization mold in the tire curing press, post-vulcanization post-processing equipment or their conveyance means such as conveyor belts, crane hangers, palletizing machines, packing machines, etc.
  • - Movement sub-kinematics deposited in each of the individual degrees of freedom may have the same or different or varying acceleration and delay functions can be impressed in a controlled or regulated manner.
  • FIG. 1 shows a plan view of a schematically illustrated area of a tire manufacturing plant with two tire vulcanizing machines (100), two aftertreatment points (301) and two feed stations (302) of green tires (200 ') and two handling devices (30) in the form of a loader (33) and a discharger (31) and
  • FIG. 2 shows the plan view of a schematically illustrated region of a tire manufacturing installation analogous to FIG. 1, wherein the two handling devices (30) in the form of a loader (33) and an unloader (31) in a position and movement kinematics situation deviating from FIG. 1,
  • FIG. 3 shows the plan view of a schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 and 2 with the two handling devices (30) in the form of a loader (33) and an unloader (31) in a synchronous motion kinematics situation and
  • Figure 4 in turn, the plan view of a schematically illustrated area of a tire manufacturing plant with the two handling devices (30), wherein the Beiader (33) thedemonstratessungskinematik of the approach point (300, 1 10) within the Reifenvulkanisiermaschine (100) in the direction of the approach point of the blank (300, 302) and the unloader (31) the movement kinematics of its approach point (300, 302, 1 10) within the tire vulcanizing machine (100) in the direction of the approach point of the aftertreatment point (300, 301) realized and another plan view of a schematically illustrated area of a tire manufacturing plant with the two handling devices (30) in exemplary Schwenkarmpositionen relative to each other and directions of movement kinematics and Top view of the schematically illustrated area of a tire manufacturing plant analogous to FIGS.
  • FIG. 7 shows a top view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 6 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 '; ) at the operating point (300) of a magazine (302) is possible and the unloader (31) is shown in a pivoting position and with a resulting kinematics movement (RBK) from the direction of a starting point within the aftertreatment point (300, 301) and
  • FIG. 8 shows the top view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 7 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or the laying down of a tire blank (200 ') at the operating point (300) of a magazine (302) is possible and the unloader (31) in a pivoting position in the starting point (300) of a transport device (60) remains and
  • FIGS. 1 to 8 show the top view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 8 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 '; ) in the working point (300) of a magazine (302) is possible, and the unloader (31) in a pivoting position and with a resulting kinematics movement (RBK) in the direction of a starting point (300,110) within the Reifenvulkanisiermaschine (100) and
  • FIG. 10 shows a plan view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 9 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 '; ) at the operating point (300) of a magazine (302) is possible with a resulting movement kinematics (RBK) in the direction of a approach point (300, 1 10) within the Reifenverbranzieriermaschine (100) and the unloader (31) in a pivoting position and with a resulting motion kinematics (RBK) in the outward direction of a starting point (300.1 10) within the tire vulcanizing machine (100) and
  • RBK movement kinematics
  • FIG. 1 shows a plan view of a schematically illustrated area of a tire manufacturing plant with two tire vulcanizing machines (100), two aftertreatment points (301) and two feed stations (302) of green tires (200 ') and two handling devices (30) in the form of a loader (33) and an unloader (31) in a mirror-inverted to Figure 1 Schwenkarm ein.
  • FIG. 1 shows a plan view of a schematically illustrated region of a tire manufacturing plant with two tire vulcanizing machines (100), two after-treatment stations (301) and two feed stations (302) of green tires (200 ') and two handling devices (30) according to the invention in the form of a loader (33). and a discharger (31).
  • each tire production line is in each case a tire vulcanizing machine (100) with upstream and downstream peripheral elements, such as a blank (302) and / or an aftertreatment point (301), e.g. in the form of a PCI (Post Cure Inflator).
  • a tire vulcanizing machine 100
  • upstream and downstream peripheral elements such as a blank (302) and / or an aftertreatment point (301), e.g. in the form of a PCI (Post Cure Inflator).
  • PCI Post Cure Inflator
  • the invention recognizes that only one handling device (30) is required in each case before and after the tire vulcanizing machine (100) contained in each line in the tire production lines arranged parallel and adjacent in FIG. 1. This considerably cost-saving realization of tire production lines is supported by the special properties of the handling device (30) according to the invention. Despite the cost advantages when using in each case one handling device (30) before and after parallel arranged tire vulcanizing machines (100), the insert is also supported and advantageous in a "stand-alone" tire production line.
  • a feed (302) for green tires (200 ') is provided in front of the tire vulcanizing machine (100).
  • the feeder (302) functionally includes a working or approach point (300) which, from the perspective of the handling device (30), constitutes a working plane and may for example be a magazine or blank.
  • the tire vulcanizing machine (100) itself has a treatment chamber (1 10) in a broad sense, consisting of a pressure and or temperature chamber and / or may consist of a tire mold and functionally includes a working or approach point (300), which constitutes a working plane from the perspective of the handling device (30).
  • the aftertreatment point (301) functionally includes a work or approach point (300) which, from the perspective of the handling device (30), constitutes a work plane and may be, for example, a PCI (Post Cure Inflator).
  • a handling device (30) Before and after the tire vulcanizing machine (100) and in each case between this and the feed (302) and the aftertreatment point (301), a handling device (30) according to the invention is provided. This is due to the requirement that the supply, loading, unloading and removal of tires (200) or green tires (200 ') into and out of the treatment space (1 10) is required to carry out the vulcanization process.
  • the handling device (30) is also referred to as a loader (33) or unloader (31).
  • the handling device (30) designed as a loader (33) or unloader (31) can have an identical gripping tool at the end of a gripping tool receptacle (38) irrespective of the handling task to be realized.
  • a gripping tool receptacle 348
  • the gripping tool unloader (32) and the gripper tool Beiader (34) are then adapted in particular structurally to the different requirements.
  • At least two degrees of freedom are realized for the handling device (30) via a first jib pivot point (36 ') and a second jib pivot point (36 ") realized by hinges with axes of rotation in preferably parallel alignment.
  • the base (35 ') may optionally provide a further degree of freedom in connection with a carriage (35 "), which preferably forms a linear guide and supports the horizontal position change of the handling device (30).
  • the situation shown in FIG. 1 with the adjacently selected adjacent tire production lines and the loader (33) and unloader (31) handling functions for both lines before and after the tire vulcanizing machine (100) includes a manufacturing process
  • Step 1 The Beiader (33) is located in a preferably motionless
  • Waiting position This position may be any position outside the working planes (300) in general and the working planes (302) associated therewith in particular. Shown and it is also possible in step 1, that the waiting position of the Beiader (33) in the gripper position in the approach point (300) of the blank (302) takes place.
  • the unloader (31) moves in a linear motion approximated resulting motion kinematics (RBK) with a gripping gripping tool (32) in the direction of the tire vulcanizing machine (100) and the operating point (300) within the treatment chamber (1 10).
  • Figure 2 illustrates a top view of a schematically illustrated portion of a tire manufacturing plant similar to Figure 1 with the two Handhabungsvor ⁇ devices (30) in the form of a loader (33) and an unloader (31) in one of Figure 1 deviating position andabsolusungskinematiksituation are and illustrates the further manufacturing process by
  • Step 2 The unloader (31) moves in a linear motion approximated resulting motion kinematics (RBK) with a gripping gripping tool (32) in the direction of the tire vulcanizing machine (100) and the operating point (300) within the treatment chamber (1 10).
  • RBK linear motion approximated resulting motion kinematics
  • the Beiader (33) moves from the preferably motionless waiting position, that is from the Greifwerkmaschineposition in approach point (300) of the blank (302) with a linearity approximated resulting motion kinematics (RBK) in the direction of the Reifenverbranzieriermaschine (100) and the operating point (300) within the treatment room (110).
  • the Beiader (33) with its gripping tool (34) a green tire (200 ') gripped and realized as part of its handling function, the supply to the treatment room (1 10).
  • the resulting motion kinematics (RBK) of the two handling devices (31, 33) can be performed synchronously or asynchronously. It must be ensured that the unloader (31) has left the work plane (300) within the treatment chamber (110) before the ladder (33) pivots into it.
  • FIG. 3 shows the plan view of a schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 and 2 with the two handling devices (30) in the form of a loader (33) and an unloader (31) in a mutually synchronous motion kinematics situation and thus comprises a special case of step 2.
  • These at least partially along the resulting motion kinematics (RBK) can be detected as optional Step 3:
  • the resulting motion kinematics (RBK) of the two handling devices (31, 33) move synchronously with their gripping tools (32, 34).
  • FIG. 4 in turn depicts the plan view of a schematically illustrated region of a tire manufacturing plant with the two handling devices (30), wherein the Beiader (33) the movement kinematics of the approach point (300, 1 10) within the Reifenvulkanisiermaschine (100) in the direction of the approach point of Rohlingsstands (300, 302) and the unloader (31) realized the kinematics of movement of its approach point (300, 1 10) within the Reifenvulkanisiermaschine (100) in the direction of the starting point of the aftertreatment point (300, 301).
  • the handling tasks and material flow direction this is a
  • Step 4 The ladder (33) pivots after it has the green tire (200 ') in the
  • the unloader (31) performs the spatial change of the handling robot along its resulting motion kinematics (RBK) from its approach point (300, 110) within the tire vulcanizing machine (100) towards the approach point of the aftertreatment point (300, 301) with the gripped finished tire (200).
  • RTK motion kinematics
  • FIG. 5 shows a further plan view of a schematically illustrated area of a tire manufacturing facility with the two handling devices (30) in exemplary swing arm positions relative to each other as well as directions of motion kinematics.
  • the tire manufacturing plant in FIG. 5 is also exemplified by two tire vulcanizing machines (100), two aftertreatment sites (301) and two feeding sites (302) of green tires (200 ') and two handling devices (30) according to the invention Loader (33) and a discharger (31). The result of this combination is in each case for parallel and adjacently arranged tire production line areas.
  • Step 5 The Beiader (33) pivots from any waiting or handling position within its working space of the first (shown left) tire manufacturing line along the resulting motion kinematics (RBK) in its working space of the second (here right side) tire production line.
  • RBK motion kinematics
  • FIG. 6 illustrates, in a further plan view, the region of a tire manufacturing installation shown schematically in FIGS. 1 to 5 with the two handling devices (30), wherein the feeder (33) is depicted in a delivery position in which the picking or depositing of a green tire (FIG. 200 ') is possible at the operating point (300) of a magazine (302) and the unloader (31) is realized in a swivel position and with a resulting kinematics movement (RBK) in the direction of a starting point within the aftertreatment point (300, 301), for example by a PCI ( Post Cure Inflator).
  • PCI Post Cure Inflator
  • Step 6 The loader (33) is in a swing standstill phase engages a green tire (200 ') in the work plane (300) of the magazine (302) of the right tire manufacturing line.
  • the unloader (31) continues to pivot within the working space of the second tire manufacturing line along its resulting kinematics (RBK) towards the approach point of the aftertreatment point (300, 301).
  • FIG. 7 shows a plan view of the tire manufacturing installation analogous to FIGS. 1 to 6 with the two handling devices (30), wherein the loader (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 ') at the operating point (300 ) of a magazine (302) is possible and the unloader (31) is shown in a pivoting position and with a resulting motion kinematics (RBK) from the direction of a approach point within the aftertreatment point (300, 301).
  • Both handling devices (30) operate and implement in their work spaces associated with the second (right side) tire manufacturing line
  • Step 7 The loader (33) is (still) in a swing standstill phase with the green tire (200 ') gripped in step 6.
  • the panning standstill can be a functional result of the production process in that the vulcanization process within the vulcanizing machine (100) lasts and the treatment space (110) is closed and thus can not be approached.
  • FIG. 8 depicts the plan view of the schematic representation of the tire manufacturing installation analogous to FIGS. 1 to 7 with the two handling devices (30), wherein the adjuster (33) is shown in a boom position in which the picking up or laying down of a green tire (200 ') in FIG Operating point (300) of a magazine (302) is possible and the unloader (31) is in a pivot position in the approach point (300) of a transport device (60).
  • the handling situation with the shown standstill phases of both handling devices (30) is the primary content of
  • Step 8 The Beiader (33) is (still) in a pivoting stoppage phase with the grasped in step 6 green tire (200 ').
  • the unloader (31) sets the finished tire (200) in the position approached in step 7 within the working space of the second tire production line to a transport device (60) which removes this tire (200) in a transport direction (60 ') shown by way of example.
  • FIG. 9 shows the top view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 8 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 '; ) is possible at the operating point (300) of a magazine (302) and the unloader (31) in a pivoting position and with a resulting movement kinematics (RBK) in the direction of a starting point (300, 10) within the tire vulcanizing machine (100).
  • the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 '; ) is possible at the operating point (300) of a magazine (302) and the unloader (31) in a pivoting position and with a resulting movement kinematics (RBK) in the direction of a starting point (300, 10) within the tire vulcanizing machine (100).
  • RNK movement kinematic
  • Step 9 The ladder (33) is (still) in a swing standstill phase with the green tire (200 ') gripped in step 6, waiting for the treatment chamber (110) of the tire vulcanizing machine (100) to become free to be able to supply gripped green tires (200 ').
  • the unloader (31) moves in a linear motion approximated resulting motion kinematics (RBK) with a gripping gripping tool (32) in the direction of the tire vulcanizing machine (100) and the operating point (300) within the treatment chamber (1 10).
  • step 9 which includes the handling activities of the handling devices (30) in their work spaces associated with the first tire manufacturing line
  • step 9 the situation is analogous, but with reference to the second tire manufacturing line (shown here on the right).
  • the transport device (60) like the unloader (31) and / or the ladder (33), may be installed once for both tire manufacturing lines (shown here) or one line device.
  • FIG. 10 again shows the plan view of the schematically illustrated region of a tire manufacturing installation analogous to FIGS. 1 to 9 with the two handling devices (30), wherein the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 ') at the operating point (300) of a magazine (302) is possible with a resulting motion kinematics (RBK) in the direction of a starting point (300, 1 10) within the tire vulcanizing machine (100) and the unloader (31) in a pivoting position and with a resulting Movement kinematics (RBK) in the outward direction of a starting point (300, 10) within the tire vulcanizing machine (100).
  • the adjuster (33) is depicted in a boom position in which the picking up or laying down of a green tire (200 ') at the operating point (300) of a magazine (302) is possible with a resulting motion kinematics (RBK) in the direction of a starting point
  • the illustrated situation with the exemplarily selected adjacent tire manufacturing lines and the loader (33) and unloader (31) handling functions for both lines before and after the tire curing machine (100), respectively, includes a manufacturing process approach Step 10:
  • the resulting motion kinematics (RBK) of the two handling devices (31, 33) move synchronously with their gripping tools (32, 34).
  • step 9 which includes the handling activities of the handling devices (30) in their work spaces associated with the first tire manufacturing line
  • step 9 the situation is analogous, but with reference to the second tire manufacturing line (shown here on the right).
  • FIG. 1 shows a plan view of a schematically illustrated region of a tire manufacturing plant with two tire vulcanizing machines (100), two after-treatment stations (301) and two feed stations (302) of green tires (200 ') and two handling devices (30) in the form of a loader (33). and an unloader (31) in a mirror-inverted to Figure 1 Schwenkarmgna in the context of functional
  • Step 1 1 The Beiader (33) handles the green tire (200 ') in the working plane
  • the unloader (31), with its handling robotics in the working space of the second tire manufacturing line, is in position with the gripped finished tire (200).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
  • Tyre Moulding (AREA)

Abstract

L'invention concerne un dispositif de manipulation de pneumatiques, présentant au moins un outil de préhension et un bras en porte-à-faux, le bras en porte-à-faux étant fixé sur un support par un premier pivot, de façon à permettre un pivotement du bras en porte-à-faux par rapport au support sur une distance d'arc donnée, et le bras en porte-à-faux présente un deuxième pivot qui relie ledit au moins un outil de préhension au bras en porte-à-faux par l'intermédiaire d'un bras d'outil, de sorte à permettre le pivotement du bras d'outil relativement au bras en porte-à-faux et/ou au support sur une distance d'arc donnée, les mouvement de pivotement autour des pivots du bras en porte-à-faux étant commandés et/ou coordonnées au moins partiellement de manière à permettre une cinématique résultante de l'outil de préhension se rapprochant d'un mouvement linéaire par le biais de mouvements de pivotement partiellement combinés.
PCT/DE2017/000142 2016-06-21 2017-06-13 Dispositif de manipulation de pneumatiques Ceased WO2017220060A1 (fr)

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DE112017003064.1T DE112017003064A5 (de) 2016-06-21 2017-05-18 Handhabungsvorrichtung für Reifen

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DE102016007645.3A DE102016007645A1 (de) 2016-06-21 2016-06-21 Handhabungsvorrichtung für Reifen
DE102016007645.3 2016-06-21

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JP7124548B2 (ja) * 2018-08-10 2022-08-24 住友ゴム工業株式会社 離型剤塗布ユニット、及び離型剤塗布装置
DE102020102299A1 (de) 2020-01-30 2021-08-05 Harburg-Freudenberger Maschinenbau Gmbh Verfahren und Vorrichtung zum Vulkanisieren von Reifen

Citations (7)

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JPS58209541A (ja) * 1982-05-31 1983-12-06 Sumitomo Rubber Ind Ltd 生タイヤ受台
EP0104338A1 (fr) * 1982-09-27 1984-04-04 The Firestone Tire & Rubber Company Dispositif preneur pour pneumatiques
DE3443947A1 (de) * 1984-12-01 1986-06-05 Fried. Krupp Gmbh, 4300 Essen Beschicksystem
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JP2006297778A (ja) * 2005-04-21 2006-11-02 Bridgestone Corp タイヤの製造方法、および、それに用いるタイヤ製造システム
EP1771294A1 (fr) * 2005-06-01 2007-04-11 Cimcorp Oy Convoyeur de pneu cru
EP2327523A1 (fr) * 2008-09-16 2011-06-01 Mitsubishi Heavy Industries, Ltd. Machine de vulcanisation du type à colonne à action indépendante droite/gauche

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58209541A (ja) * 1982-05-31 1983-12-06 Sumitomo Rubber Ind Ltd 生タイヤ受台
EP0104338A1 (fr) * 1982-09-27 1984-04-04 The Firestone Tire & Rubber Company Dispositif preneur pour pneumatiques
DE3443947A1 (de) * 1984-12-01 1986-06-05 Fried. Krupp Gmbh, 4300 Essen Beschicksystem
DE3918209A1 (de) * 1989-06-03 1990-12-06 Krupp Gmbh Vorrichtung zum beschicken einer reifenheizpresse
JP2006297778A (ja) * 2005-04-21 2006-11-02 Bridgestone Corp タイヤの製造方法、および、それに用いるタイヤ製造システム
EP1771294A1 (fr) * 2005-06-01 2007-04-11 Cimcorp Oy Convoyeur de pneu cru
EP2327523A1 (fr) * 2008-09-16 2011-06-01 Mitsubishi Heavy Industries, Ltd. Machine de vulcanisation du type à colonne à action indépendante droite/gauche

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