US 12,257,795 B2
Working station for deposition of elementary semifinished products for building tyres
Emanuele Luca Schiavon, Bollate (IT)
Assigned to PIRELLI TYRE S.P.A., Milan (IT)
Filed by PIRELLI TYRE S.P.A., Milan (IT)
Filed on Mar. 19, 2024, as Appl. No. 18/609,324.
Application 18/609,324 is a continuation of application No. 17/615,005, granted, now 11,964,444, previously published as PCT/IB2020/055683, filed on Jun. 18, 2020.
Claims priority of application No. 102019000010077 (IT), filed on Jun. 26, 2019.
Prior Publication US 2024/0217195 A1, Jul. 4, 2024
Int. Cl. B29D 30/08 (2006.01); B29D 30/00 (2006.01)
CPC B29D 30/08 (2013.01) [B29D 30/0016 (2013.01); B29D 2030/0038 (2013.01); B29D 2030/082 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A working station for deposition of elementary semifinished products for building tyres, the working station comprising:
an anthropomorphic robotized arm, arranged for rotatably moving an output end effector thereof;
a building drum associated 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;
a feeding apparatus configured for feeding an elementary semifinished product at a given linear speed, the elementary semifinished product being deposited on the building drum in form of side-by-side coils, to form at least one component of a tyre being processed; and
a control apparatus configured for:
determining, as a function of the given linear speed, a target speed for rotation of the building drum;
determining, as a function of the target speed, a non-integer target value for a speed parameter associated with the rotation of the building drum;
wherein, upon determination of the non-integer target value, the control apparatus is configured for executing 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.