Method for building tyres
AssigneePirelli Tyre S.p.A.
InventorEmanuele Luca Schiavon
Life of this patent
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Abstract
A method for building tyres is described. An elementary semifinished product is deposited on a building drum rotated by an output end effector of a robotized arm in form of coils forming a component of a tyre. A processor determines a target rotation speed of the building drum and a target value for a speed parameter associated with the rotation. If the target value is not an integer number, the processor: i) determines a drive interval shorter than the effector settling time; ii) calculates first and second values corresponding to integer numbers immediately preceding and immediately following the target value; iii) calculates a speed parameter PWM profile with minimum and maximum values corresponding to the first and second values; and iv) controls the effector according to the PWM profile.
Claims13
A method for building tyres, comprising:
- providing an anthropomorphic robotized arm for rotatably moving an output end effector thereof;
- associating a building drum with the output end effector, wherein the output end effector is configured to rotatably move the building drum about a geometric axis of the building drum;
- feeding an elementary semifinished product, at a given linear speed, from a feeding apparatus;
- depositing, on the building drum, the elementary semifinished product in form of side-by-side coils, to form at least one component of a tyre being processed;
- activating a processor for determining a target speed, as a function of the given linear speed, for rotation of the building drum;
- activating the processor for determining a non-integer target value, as a function of the target speed, for a speed parameter associated with the rotation of the building drum;
- upon determination of the non-integer target value, activating the processor in order to execute the following operations:
- determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for the output end effector;
- calculating a first value, equal to an integer number immediately preceding the non-integer target value;
- calculating a second value, equal to an integer number immediately following the non-integer target value;
- calculating, in the drive interval, a pulse width modulation (PWM) profile for the speed parameter, the PWM profile having a minimum value equal to the first value and a maximum value equal to the second value;
- and
- controlling the output end effector as a function of the PWM profile.
Dependencies are inferred from the claim text.