Method for setting up a tyre checking apparatus, setup device used in said method

Abstract

Method for setting up a tyre checking apparatus, said apparatus (1) comprising at least: a support base (34) for a tyre (2); a first acquisition device (430) and a second acquisition device (43a) for acquiring images representative of said tyre (2) positioned on said support base (34); a first robotic member (40a) for moving said second acquisition device (43a). Said method comprises: providing a setup device (100) comprising: a first wall (110) having first predefined shapes (F1); a second wall (120) having second predefined shapes (F2), said second wall (120) being substantially parallel and non-coplanar to said first wall (110); a top surface (130); a central reference (140) arranged on said top surface (130). Said method also comprises: executing at least one of a first set-up and a second set-up. Said first set-up sets the first acquisition device (430), and comprises: positioning said setup device (100) on said support base (34) in a first position (PI); carrying out a first group of movements relative to said setup device (100); executing a calibration of said first acquisition device (430) as a function of said first predefined shapes (F1) and second predefined shapes (F2). Said second set-up sets said first robotic member (40a) that moves said second acquisition device (43a) and comprises: positioning said setup device (100) on said support base (34) in a second position (P2); carrying out a second group of movements relative to said setup device (100); executing a configuration of said first robotic member (40a) as a function of positions taken by said central reference (140). The invention also describes a setup device (100) adapted for being used in said method.

Claims

1. A setup device for setting up tyre checking apparatuses comprising: a first wall with first predefined shapes; a second wall with second predefined shapes, wherein the second wall is substantially parallel and non-coplanar to the first wall; a top surface; a central reference arranged on the top surface; and a substantially cylindrical portion having the top surface.

2. The device according to claim 1, wherein the top surface is defined on the first wall.

3. The device according to claim 1, wherein the first wall and the second wall have a substantially horizontal extension.

4. The device according to claim 1, wherein the substantially cylindrical portion extends from the second wall.

5. The device according to claim 1, wherein the substantially cylindrical portion and the second predefined shapes are arranged substantially side by side on the second wall.

6. The device according to claim 1, wherein a central axis of the substantially cylindrical portion is spaced apart from a geometric centre of the second wall.

7. The device according to claim 1, wherein the first predefined shapes are substantially equal to the second predefined shapes.

8. The device according to claim 1, wherein the central reference comprises: a pointed protrusion extending from the top surface; and an alignment element with a substantially cylindrical through cavity, axially slidable around the protrusion.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Such a description is provided hereinafter with reference to the attached figures, also being given purely as examples and therefore not for limiting purposes, in which:

(2) FIGS. 1 and 2 schematically show a tyre checking apparatus in which the present invention can be used;

(3) FIG. 3 shows a perspective view of a checking station of the apparatus of FIG. 2;

(4) FIG. 3a schematically shows a side view of the checking station of FIG. 3, with some parts eliminated to better highlight others;

(5) FIG. 3b schematically shows a front view of the checking station of FIG. 3, with some parts eliminated to better highlight others;

(6) FIG. 4 shows a device belonging to the checking station of FIG. 3;

(7) FIG. 5 shows a perspective view of a setup device in accordance with the present invention;

(8) FIG. 6 shows a schematic side view of the device of FIG. 5;

(9) FIGS. 7a-7b and 8a-8c schematically show operative positions of the setup device of FIG. 5.

(10) With reference to the attached figures, reference numeral 1 indicates a tyre checking apparatus in which it is advantageously possible to use the method and the device in accordance with the present invention.

(11) The apparatus 1 can be arranged downstream of a tyre production line, so as to carry out the checking of such tyres after moulding and vulcanisation.

(12) In addition or alternatively, the apparatus 1 can operate at the end of the building and before the moulding and vulcanisation step.

(13) In the embodiments of FIGS. 1 and 2, the tyre checking apparatus 1 arranged downstream of the moulding and vulcanisation unit 14, comprises a first checking unit 19 which has an inlet 20 for the finished tyres 2 to be checked that come from the production line 12 and a respective outlet 21. Downstream of the first checking unit 19, at the outlet 21 of said first checking unit 19, an overturning and transportation device 22 is arranged. Downstream of the overturning and transportation device 22 a second checking unit 23 is positioned, which has an inlet 24 for the finished tyres 2 that come from the overturning and transportation device 22 and a respective outlet 25. The inlet 20 of the first checking unit 19 constitutes the inlet of the apparatus 1 for checking tyres. The outlet 25 of the second checking unit 23 constitutes the outlet of the apparatus 1 for checking tyres. The tyres 2 to be checked enter one after another in sequence into the inlet 20, travel in sequence along a checking path 26 inside the apparatus 1 for checking tyres and come out through the outlet 25. Along the checking path 26, which in the embodiment illustrated in FIGS. 1 and 2 is straight, the tyres 2 are subjected to quality checks in order to verify the possible presence of defects according to ways that will be described hereinafter.

(14) The first checking unit 19 comprises a first checking station 27a, a second checking station 27b and a third checking station 27c arranged in sequence one after another along the checking path 26.

(15) Each of the quoted checking stations 27a, 27b, 27c comprises (FIG. 3 that illustrates the first checking station 27a) a frame 28 having a lower portion 29 configured to be rested on the ground and an upper portion 30 that extends above the lower portion 29. The frame 28 illustrated is a framework formed from four vertical uprights 31 arranged, in plan, at the vertices of a square or of a rectangle. The vertical uprights 31 are connected at the top, at the upper portion 30, by a pair of longitudinal cross members 32a (oriented parallel to the checking path 26) and by a plurality of transversal upper cross members 32b (oriented perpendicular to the checking path 26).

(16) The same vertical uprights 31 are connected at the bottom, at the lower portion 29, by a plurality of longitudinal lower cross members 33a and by a plurality of transversal lower cross members 33b.

(17) The lower cross members 33a, 33b carry a support base 34 preferably defined by a rotary table that has a substantially horizontal resting area configured to receive and support a sidewall of the finished tyre 2 to be checked. Such a resting area 35 can be defined by the upper branch of a conveyor belt, not illustrated in detail in the attached figures. The conveyor belt defines a transferring device 36 of the tyres 2 from one checking station 27a, 27b, 27c to a subsequent checking station 27b, 27c of the same checking unit 19, 23 or to the overturning and transportation device 22.

(18) In greater detail, in the embodiment schematised in FIG. 3, the support base 34 comprises a rotary table hinged to the lower portion 29 about a vertical rotation axis “Y”. The rotary table is preferably associated with the conveyor belt that defines a transportation direction “X” during its translation movement.

(19) In a different embodiment, not illustrated, instead of the conveyor belt there can be motorised rollers on which the tyre 2 rests directly.

(20) Preferably, one or more of the checking stations 27a, 27b, 27c, and more preferably each of the checking stations 27a, 27b, 27c, comprises a first acquisition device 430 (FIGS. 3a, 3b) for acquiring images representative of the tyre 2 positioned on the support base 34.

(21) Preferably, the first acquisition device 430 is used to determine the centring of the tyre 2 inside each of the checking stations 27a, 27b, 27c.

(22) The first acquisition device 430 can, for example, be made like a digital camera.

(23) The first acquisition device 430 is preferably mounted on the frame 28, for example on one of the transversal upper cross members 32b.

(24) In particular, the first acquisition device 430 is mounted above the support base 34.

(25) The first acquisition device 430 is directed downwards, according to a substantially vertical direction, so as to frame at least part of the support base 34 and the tyre 2 rested on it.

(26) The first acquisition device 430 is substantially fixed to, i.e. Integral with, the frame 28 itself, apart from the possibility of carrying out fine adjustments on the positioning and/or orientation of the first acquisition device 430 itself.

(27) Preferably, the first acquisition device 430 is not mounted on a robotic member.

(28) Preferably, the apparatus 1 comprises one or more robotic members 40a, 40b, 40c, 40d, 40e, 40f, useful for moving some acquisition devices, which will be described hereinafter.

(29) Preferably, each robotic member is an anthropomorphic robotic arm, even more preferably it is an anthropomorphic robotic arm with at least five axes/degrees of freedom.

(30) For example, each checking station 27a, 27b, 27c, can comprise a pair of robotic members. In particular, the first station 27a can comprise a first robotic member 40a and a second robotic member 40b; the second station 27b can comprise a third robotic member 40c and a fourth robotic member 40d; the third station 27c can comprise a fifth robotic member 40e and a sixth robotic member 40f.

(31) For the sake of simplicity, only the first robotic member 40a and the second robotic member 40b of the first station 27a will be described hereinafter; however, the following description also applies to the robotic members belonging to the second station 27b and the third station 27c.

(32) The first robotic member 40a and the second robotic member 40b are mounted above the support 34 and constrained to the transversal upper cross members 32b. Each of the quoted robotic members 40a, 40b, has its own base portion 41 joined to the transversal upper cross members 32b and a series of segments arranged consecutively, from the base portion 41, and connected by joints.

(33) Each robotic member 40a, 40b extends canti-levered from the transversal upper cross members 32b above the resting area 35. In the illustrated embodiment, the two base portions 41 of the robotic members 40a, 40b are mounted at opposite longitudinal ends of the longitudinal cross members 32a and at opposite edges of the frame 28. Said base portions 41 do not therefore lie directly above the support 34 but are displaced at opposite sides thereof.

(34) An extreme end 410a, 410b of each robotic member 40a, 40b carries one or more acquisition devices 43a, 43b, 43c.

(35) Between the resting area 35 and the quoted transversal upper cross members 32b, the frame 28 delimits a maneuvering space 44 for the robotic members 40a, 40b, and for the respective acquisition devices. The robotic members 40a, 40b define support and movement devices of the acquisition devices 43a, 43b, 43c.

(36) The first checking station 27a, the second checking station 27b and the third checking station 27c have the same structure described above apart from the type of acquisition devices 43a, 43b, 43c, 43d, 43e, 43f, 43g, 43h carried by the respective robotic members 40a, 40b, 40c, 40d, 40e, 40f.

(37) As an example, the first robotic member 40a of the first checking station 27a carries a second acquisition device 43a, consisting, for example, of a second digital camera. The second acquisition device can be associated with a light source, for example using LEDs, also mounted on the first robotic member 40a and adapted for illuminating the portion of the tyre 2 framed by the second digital camera with diffused light and/or directed substantially like the optical axis of the second camera or with an oblique light and/or directed inclined with respect to the optical axis of said second camera. The same first member 40a also carried a third acquisition device 43b comprising a third camera, preferably associated with a laser light directed inclined with respect to the optical axis of said third camera, so as to be able to highlight particular profiles of the tyre 2, for example on the radially inner portion of the crown structure or on the radially outer portion of the sidewall.

(38) The second robotic member 40b of the first checking station 27a carries a single fourth acquisition device 43c, for example consisting of a fourth digital camera, associated with a light source spaced apart from the fourth camera (for example by means of a suitable frame) and oriented according to an angle preferably comprised between about 60° and about 100°, for example about 90° with respect to the optical axis of said fourth camera, so as to project an oblique light on the tyre 2 capable of highlighting raised defects of the tyre 2 itself, for example protrusions of the cords between the blocks of the tread band. The fourth acquisition device 43c is also preferably associated with a low resolution scanner, also mounted on the second robotic member 40b, so as to be able to scan particular profiles of the tyre 2, for example the radially inner portion of the crown structure.

(39) The third robotic member 40c belonging to the second checking station 27b carries a fifth acquisition device 43d similar or identical to the second acquisition device 43a and comprising a fifth digital camera, associated with a light source adapted for illuminating the portion of the tyre 2 framed by the fifth digital camera with diffused light and/or directed substantially like the optical axis of the fifth camera or with an oblique light and/or directed inclined with respect to the optical axis of said fifth camera. The same third robotic member 40c also carries a sixth acquisition device 43e consisting, for example, of a sixth camera, associated with a laser light directed inclined with respect to the optical axis of said sixth camera so as to be able to highlight particular profiles of the tyre 2, for example the radially outer portion of the tread band or of the bead.

(40) The fourth robotic member 40d belonging to the second checking station 27b carries a single seventh acquisition device 43f comprising a seventh camera, associated with a laser lighted directed inclined with respect to the optical axis of said seventh camera, so as to be able to highlight particular profiles of the tyre 2, for example of the sidewall. The seventh acquisition device 43f is also preferably associated with a mirror, also mounted on the fourth robotic member 40d, which intercepts the optical axis of the seventh camera to frame radially inner portions of the tyre 2 for example corresponding to the sidewall, or relative to the shoulder or to the bead. The aforementioned mirror also intercepts the laser light, projecting it towards the framed field.

(41) The fifth member 40e belonging to the third checking station 27c carries a single eighth acquisition device 43g similar or identical to the second acquisition device 43a and consisting, for example, of an eighth digital camera, associated with a light source adapted for illuminating the portion of the tyre 2 framed by the eighth digital camera with diffused light and/or directed substantially like the optical axis of the eighth camera or with an oblique light and/or directed inclined with respect to the optical axis of said eighth camera.

(42) The sixth robotic member 40f belonging to the third checking station 27c carries a ninth acquisition device 43h similar or identical to the second optical tool 43a and consisting, for example, of a ninth digital camera, associated with a light source adapted for illuminating the portion of the tyre 2 framed by the ninth digital camera with diffused light and/or directed substantially like the optical axis of the ninth camera or with an oblique light and/or directed inclined with respect to the optical axis of said ninth camera. Said ninth acquisition device 43h is also preferably associated with a mirror, also mounted on the sixth robotic member 40f, which intercepts the optical axis of the ninth camera to frame radially inner portions of the tyre 2.

(43) The second checking unit 23 also comprises a first checking station 27a, a second checking station 27b and a third checking station 27c arranged in sequence one after another along the checking path 26. Said checking stations 27a, 27b, 27c of the second checking unit 23 are attributed the same reference numerals as the checking stations 27a, 27b, 27c of the first checking unit 19 because they are substantially identical to said checking stations 27a, 27b, 27c of the first checking unit 19 (including the acquisition devices 43a, 43b, 43c, 43d, 43e, 43f, 43g, 43h and the tools associated with them). Therefore, they will not be described again here in detail.

(44) In general, the first acquisition device 430 and the other acquisition devices 43a, 43b, 43c, 43d, 43e, 43f, 43g, 43h, are used to acquire images representative of the tyre 2 when it is on the support base 34.

(45) In accordance with the invention, a setup device 100 is used to calibrate the first acquisition device 430 and/or to configure one or more of the robotic members 40a, 40b, 40c, 40d, 40e, 40f.

(46) In the following description explicit reference will be made to the configuration of the first robotic member 40a; however, it should be noted that it is possible to carry out a totally analogous configuration, using the setup device 100, also for the remaining robotic members 40b, 40c, 40d, 40e, 40f.

(47) The setup device 100 (FIGS. 5-6) comprises a first wall 110 and a second wall 120.

(48) Preferably, the first and the second wall 110, 120 are substantially parallel and non-coplanar.

(49) In particular, the first and the second wall 110, 120 have substantially horizontal planar extension.

(50) The second wall 120 acts substantially as a base for the entire setup device 100.

(51) Preferably, a substantially cylindrical portion 150 extends from the second wall 120.

(52) Preferably, a central axis H of the substantially cylindrical portion 150 is spaced apart from a geometric centre C of the second wall 120. In practical terms, in a plan view of the setup device 100, the point that represents the central axis H of the substantially cylindrical portion 150 does not coincide with, and therefore is spaced apart from, the point that represents a geometric centre C of the second wall 120.

(53) The cylindrical portion 150 is delimited on top by a top surface 130.

(54) Preferably, the top surface 130 is defined on the first wall 110. In other words, the first wall 110 constitutes the upper portion of the cylindrical portion 150, and the top surface 130 is the surface facing towards the outside (i.e. upwards) of the first wall 110.

(55) On the first wall 110 there are first predefined shapes F1, and on the second wall 120 there are second predefined shapes F2. As will be made clearer hereinafter, the first predefined shapes F1 and the second predefined shapes F2 are used for the calibration of the first acquisition device 430.

(56) Preferably, the first predefined shapes F1 are substantially the same as the second predefined shapes F2.

(57) In the embodiment shown in FIG. 5, the first predefined shapes F1 and the second predefined shapes F2 substantially consist of two checkerboards, having alternating light squares and dark squares.

(58) However, it is possible to use different shapes, suitable for the calibration of the first acquisition device 430.

(59) The second predefined shapes F2 are positioned, on the second wall 120, beside the cylindrical portion 150. In other words, in a plan view of the setup device 100, the second predefined shapes F2 face the cylindrical portion 150.

(60) Preferably, on the top surface 130 there is a central reference 140 that, as will become clearer hereinafter, is useful for the configuration of the robotic members 40a, 40b, 40c, 40d, 40e, 40f.

(61) Preferably, the central reference 140 (FIG. 6) comprises a pointed protrusion 140a, which extends from the top surface 130.

(62) Preferably, the central reference 140 also comprises an alignment element 140b, having a substantially cylindrical through cavity and axially slidable about the protrusion 140a. The movement of the alignment element 140b is substantially vertical, away from/towards the top surface 130.

(63) As stated, the setup device 100 is used to calibrate the first acquisition device 430 and/or to configure one or more of the robotic members 40a, 40b, 40c, 40d, 40e, 40f.

(64) In particular, the setup device 100 can be used to carry out a first set-up, in which the first acquisition device 430 is set.

(65) For this purpose, the setup device 100 is positioned on the support base 34 in a first position P1 (FIG. 7a).

(66) Preferably, the first position P1 is an eccentric position with respect to the substantially vertical axis of rotation Y of the support base 34. In particular, the central axis H of the substantially cylindrical portion 150 is offset with respect to the vertical axis of rotation Y of the support base 34. Purely as an example, the central axis H of the substantially cylindrical portion 150 can be about 20-30 cm away from the vertical axis of rotation Y of the support base 34.

(67) The setup device 100 is rested at the support base 34 through its second wall 120; in particular, the surface of the second wall 120 that is in contact with the support base 34 is opposite the surface, facing upwards, on which the substantially cylindrical portion 150 and the second predefined shapes F2 are located. The first acquisition device 430, therefore, being positioned above the support base 34 and facing downwards, frames the first predefined shapes F1 and the second predefined shapes F2.

(68) A first group of movements relative to the setup device 100 is then carried out and, as a function of the first predefined shapes F1 and the second predefined shapes F2, the calibration of the first acquisition device 430 is carried out.

(69) In greater detail, the first group of movements comprises rotating the support base 34 about its axis of rotation Y. In particular, the setup device 100, which in this circumstance is substantially integral with the support base 34, is brought, with substantial continuity, into a succession of angular positions about the axis of rotation Y of the support base 34. Some angular positions, as an example, are shown with broken lines in FIG. 7a.

(70) The first group of movements also comprises a translation of the setup device 100 with respect to the support base 34. In this way the setup device 100 assumes a further position PX on the support base 34 (FIG. 7b).

(71) In other words, once the rotation about the axis of rotation Y of the support base 34 has ended, the setup device 100 is brought to a different distance from the axis of rotation Y itself—for example, it is moved further away, still remaining rested at the support base 34, until the further position PX is reached.

(72) Preferably, the translation towards the further position PX is carried out according to a direction along which the tyres 2 are translated on the support base 34 to carry out the checking operations.

(73) While the first group of movements is being carried out, the first acquisition device 430 acquires images W representative of the first wall 110 and of the second wall 120, i.e. of the first predefined shapes F1 and of the second predefined shapes F2, when the setup device 100 is in different positions.

(74) Preferably, the images W comprise first images W1, each representative of the first wall 110 and of the second wall 120; each of the first images W1 is acquired when the setup device 100 is in a respective angular position. Preferably, mutually adjacent angular positions defined angles substantially equal to each other. Purely as an example, twelve first images W1 can be acquired, one for every 30° of rotation. FIG. 7a shows only some of these angular positions.

(75) Preferably, the images W comprise a second image W2, representative of the setup device 100 when the latter is in the further position PX.

(76) As a function of the detection of the images W, and in particular as a function of the first predefined shapes F1 and of the second predefined shapes F2, a calibration of the first acquisition device 430 is carried out.

(77) In particular a correspondence is established between points in the real space and pixels of images acquired by the first acquisition device 430, as a function of the images W acquired. In this way, during the checking operations, when the tyres 2 are framed by the first acquisition device 430, the images acquired can be correctly interpreted, to the benefit of the precision and reliability of the checks carried out.

(78) Preferably, the acquired images W are compared with each other and/or with previously stored references, so as to establish the aforementioned correspondence.

(79) Preferably, in order to carry out the calibration of the first acquisition device 430, a first centre of rotation about which the first predefined shapes F1 rotate is determined, and a second centre of rotation about which the second predefined shapes F2 rotate is also determined. The first and the second centre of rotation are determined as a function of the first images W1, i.e. the images acquired by the first acquisition device 430 while the setup device 100 is rotated around the axis of rotation Y of the support base 34.

(80) Thus, it is verified whether the straight line passing through the first and the second centre of rotation is substantially vertical, i.e. substantially parallel to the axis of rotation Y of the support base 34. In practice, it is verified whether the two centres of rotation substantially overlap in a view from above acquired by the first acquisition device 430.

(81) In the affirmative case, the first acquisition device 430 can be considered correctly aligned with respect to the axis of rotation Y of the support base 34; otherwise, a correction of the optical/mechanical setting of the first acquisition device 430 is carried out.

(82) If the two centres of rotation are correctly aligned, it is possible to consider the position and the inclination of the axis of rotation Y of the support base 34 to be known.

(83) By detecting the second image W2, it is possible to complete the mapping of the real space and define a complete three-dimensional reference system for the first acquisition device 430, so as to create the aforementioned correspondence between points in real space and pixels of the images acquired by the first acquisition device 430 itself.

(84) The setup device 100 can also be used to carry out a second set-up.

(85) The second set-up sets the first robotic member 40a, which moves the second acquisition device 43a.

(86) Firstly, the setup device 100 is positioned on the support base 34 in a second position P2 (FIG. 8a).

(87) Preferably, the second position P2 is a position substantially centred on the support base 34.

(88) Preferably, when the setup device 100 is in the second position P2, the central axis H of the substantially cylindrical portion 150 substantially coincides with the axis of rotation Y of the support base 34.

(89) A second group of movements relative to the setup device 100 is then carried out.

(90) Preferably, the second group of movements comprises a translation of the setup device 100 on said support base 34, from the second position P2 to a third position P3 (FIG. 8b).

(91) Preferably, the translation from the second position P2 to the third position P3 is carried out in a direction according to which the tyres 2 are translated on the support base 34 to carry out the checking operations.

(92) Preferably, the second group of movements also comprises a rotation of the support base 34 about its substantially vertical axis of rotation Y; In this way the setup device 100 is brought from the third position P3 into a fourth position P4 (FIG. 8c).

(93) The rotation of the support base 34 that brings the setup device from the third position P3 to the fourth position P4 is preferably less than 360° and, for example, comprised between about 45° and about 135°.

(94) It should be noted that in FIGS. 7a-7b, 8a, 8b, 8c, the proportions between the setup device 100 and the support base 34 have been deliberately modified, reducing the relative dimensions of the setup device 100, for the sole purpose of better highlighting and representing the positions taken up by the setup device 100 itself.

(95) As a function of the positions taken up by the central reference 140 during the aforementioned second group of movements, the configuration of the first robotic member 40a is carried out.

(96) In particular, through the first robotic member 40a positions of the central reference 140 are acquired; such positions are stored and, as a function of the positions acquired, a virtual reference system for the first robotic member 40a is generated.

(97) Preferably, at least one position of the central reference 140 is acquired through the first robotic member 40a when the setup device 100 is in the second position P2.

(98) Preferably, the position of the central reference 140 is acquired through the first robotic member 40a when the setup device 100 is in the third position P3.

(99) Preferably, the position of the central reference 140 is acquired through the first robotic member 40a when the setup device 100 is in the fourth position P4.

(100) Preferably, in order to detect the position of the central reference 140 through the first robotic member 40a, the follow is carried out.

(101) Firstly, the first robotic member 40a is provided with a reference spike RS.

(102) The reference spike RS is mounted on the free end 410a of the first robotic member 40a, where the second acquisition device 43a is also mounted.

(103) The reference spike RS can advantageously be part of a mechanical element 240, schematically shown in FIG. 4, which is mounted on the first robotic member 40a together with the second acquisition device 43a.

(104) Preferably, the mechanical element 240 can comprise a shaped rod 241, at a front end of which the aforementioned reference spike RS is provided. Preferably, the mechanical element 240 also comprises, at an opposite end to said reference spike RS, a fixing portion 242, which allows the mechanical element 240 itself to be fixed to a support 210, used to also mount the second acquisition device 43a, and the various tools associated with it, on the first robotic member 40a.

(105) The reference spike RS of the first robotic member 40a is brought into contact with the central reference 140.

(106) The reference spike RS is thus aligned with the central reference 140.

(107) Preferably, in order to align the reference spike RS with the central reference 140, the reference spike RS is positioned so that the alignment element 140b of the reference 140, sliding away from the top surface 130, becomes at least partially associated with the reference spike RS.

(108) In other words, if the reference spike RS is aligned with the central reference 140, and in particular with the pointed protrusion 140a, the alignment element 140b can slide along the pointed protrusion 140a and, without solution of continuity, be fitted around the reference spike RS of the first robotic member 40a.

(109) Once the reference spike RS is correctly positioned and oriented, data representative of the position assumed, in that situation, by the first robotic member 40a, is stored. Such data is also representative of the corresponding position of the central reference 140.

(110) As stated, the position of the central reference 140 is preferably detected when the setup device 100 is in the second position P2, in the third position P3 and in the fourth position P4.

(111) This data is sufficient to generate, in a per se known way, a three-dimensional virtual reference system for the first robotic member 40a.

(112) Such a reference system will then be used to move in space the second and/or the third acquisition device 43a, 43b, mounted on the first robotic member 40a, during the checking operations of the tyres 2.

(113) Advantageously, the origin of the axes of said reference system is defined by the position of the central reference 140 when the setup device 100 is in the second position P2.

(114) It should be noted that, in an embodiment, at least one of the aforementioned first set-up (i.e. the setting of the first acquisition device 430) and second set-up (i.e. the setting of the first robotic member 40a) is carried out.

(115) Preferably, both said first set-up and second set-up are carried out.