DE202022101489U1 - Transport device for transferring a material blank and an arrangement for the production of composite components - Google Patents

Abstract

Transport device (1) for transferring a material blank (2) from a first processing station (3) to a second processing station (4), the transport device having a gripper head for lifting and setting down the material blank (2) and a manipulator (12) for the Maneuvering the gripper head (11), characterized in that the gripper head (11) has a first linear guide (13) which can be adjusted parallel to a gripping plane of the gripper head (14), and wherein the gripper head (11) via the first linear guide ( 13) is connected to the manipulator (12).

Description

The invention relates to a transport device for transferring a limp semi-finished composite fiber product from a first processing station to a second processing station for the production of composite components and a corresponding arrangement for the production of composite components. Such transport devices are used, for example, when handling semi-finished textile composite fiber layers in the production of fiber-reinforced plastic components.

In the manufacture of fiber-reinforced plastic components, it is necessary to quickly remove the composite fiber semi-finished product from the heating press after it has been pre-compacted and heated in a heating press and to transfer it to a molding press, in which the composite fiber semi-finished product is given the intended shape and that during the shaping process warm composite fiber semi-finished product is cooled to solidify it. The fiber-reinforced composite fiber semi-finished product that is pre-compacted and heated in the heating press is flexible and has greatly reduced mechanical properties, such as low strength.

In fully automatic molding plants, the generally sticky semi-finished composite fiber product is picked up from the hot press by means of a frame-shaped gripper arrangement, with the gripper arrangement fixing the edges of the semi-finished composite fiber product from the hot press with a clamping gripper in a gripping plane for transfer to a further processing station. Such a gripper arrangement is in DE 10 2018 112 307 A1 described.

After the semi-finished composite fiber product has been picked up, the gripper arrangement is removed from the heating press by means of a multi-axis robot, the multi-axis robot being fixed to an end face of the gripper arrangement remote from the semi-finished composite fiber product.

The gripper arrangement together with the fixed semi-finished composite fiber product is then maneuvered to the molding press and inserted between the tool plates of the molding press.

With regard to the dimensions of the composite fiber semi-finished product, however, the transport device described is severely limited. A limiting factor for this is the period of time required for the transfer of the composite fiber semi-finished product from the heating press to the molding press. If the composite fiber semi-finished product cools down too much during transfer, it can be damaged, incorrectly formed or even tear during shaping. The length of the distance over which the gripper assembly is maneuvered is substantially proportional to the size of the composite fiber preform. Due to the properties of the heated composite fiber semi-finished product mentioned above, a correspondingly extended distance can only be compensated for within narrow limits by increasing the operating speed of the multi-axis robot. In addition to the increased mechanical loads due to increased acceleration, centripetal forces act on the composite fiber semi-finished product due to the rotary movements of the multi-axis robot, which increase both with the speed and with the dimensions of the composite fiber semi-finished product. Furthermore, because of its basically flat shape, the composite fiber semi-finished product has a surface-to-volume ratio that is unfavorable with regard to heat losses. Accelerating the composite fiber semi-finished product during the transfer increases the advective heat transport from the surface of the composite fiber semi-finished product and thus ensures faster cooling.

For particularly large components made of fiber composite materials, such as interior paneling components for cars, the flexible semi-finished composite fiber product must be cut to dimensions of more than 3000 mm x 3000 mm. For the reasons described above, the transport device described at the outset is not suitable for transferring such large composite fiber semi-finished product blanks. Instead, with a corresponding production, the heated composite fiber semi-finished product is removed manually and labour-intensively from the heating press and transferred to a molding press by means of a linear drive.

It is therefore the object of the invention to further develop a transport arrangement of the type described in the introduction, which is suitable for the damage-free transfer of large material blanks, in particular of limp composite fiber semi-finished products, between processing stations.

This object is achieved by a transport device having the features of claim 1. An arrangement for the production of composite components is the subject of independent claim 8. Advantageous embodiments are described in the dependent claims.

Accordingly, it is provided that the transport device for transferring a material blank from a first processing station to a second processing station has a gripper head for lifting and depositing the material blank and a manipulator for maneuvering the gripper head, the gripper head having a first linear guide that is parallel is adjustable to a gripping plane of the gripper head and wherein the gripper head is connected to the manipulator via the first linear guide. The linear guide means that a relative position of the connection between the manipulator and the gripper head can be set flexibly in relation to the gripping plane. With regard to the introduction of the gripper head into the processing stations and the maneuvering of the gripper head during transfer, this has decisive advantages over a transport device of the generic type, which does not allow this position to be adjusted. In principle, the kinematics of the manipulator must fulfill two conditions during the maneuvering of the gripper head. On the one hand, the gripping plane must be transferred to the processing stations through a feed opening and along a feed direction. However, the feed opening and free space within the processing station are so limited, e.g. by the closing hydraulics and the plate pairs of a heating plate or the mold halves of a molding press, that even partial insertion of the manipulator into the processing station is usually ruled out geometrically. On the other hand, this results in a second condition, in which case the connection between the manipulator and the gripper head must be maneuvered directly in front of the feed opening of the processing station.

Accordingly, the gripping plane within the meaning of the invention can preferably be that plane within the gripper head in which the material blank is fixed for transfer from a first processing station to a second processing station.

In a generic transport device, the number of additional movement sequences of the manipulator increases by at least one rotational movement in order to fulfill the second condition. However, due to the orientation of the processing stations and limited space for maneuvering the gripper head, this can result in a variety of additional movements of the manipulator. In the transport device according to the invention, on the other hand, the linear guide means that the second condition can only be met by a translational displacement of the connection relative to the gripping plane. Due to the orientation of the access openings of the processing stations, the angle through which the gripper head and the material blank have to be rotated is reduced by at least half. The translational movement of the linear guide can be carried out in a space-saving manner and simultaneously with the movement of the manipulator. This significantly reduces the number and duration of the movement sequences and enables faster transfer of the material blank between the processing stations.

The manipulator can be a multi-axis robot, in particular a six-axis robot, preferably a five-axis robot. The number of axes of the multi-axis robot relates here to the rotational degrees of freedom of the multi-axis robot. The linear guide, which can be adjusted parallel to the gripping plane, can significantly reduce the complexity of the manipulator without having to accept any restrictions in terms of precision or speed when manoeuvring. Especially when inserting the gripper head into the processing station and removing it from the processing station, the translational movement of the linear guide is kinematically much better than the multi-axis robot for maneuvering the gripper head, so that the additional degree of freedom of the linear guide at the interface between the multi-axis robot and the gripper head has a large number of advantages Compensated degrees of freedom of the multi-axis robot.

The gripper head can also have at least one clamping gripper, which grips the material blank on at least one edge and fixes it in the gripping plane. The gripper head can additionally or alternatively have at least one suction and/or needle gripper and/or vacuum suction cup, wherein the suction and/or needle gripper and/or vacuum suction cup is set up to pick up the edge of the material blank from a base. In addition, the suction and/or needle gripper and/or vacuum suction cup can be pivoted between a pick-up position for picking up an edge of the pliable semi-finished composite fiber product from a base and a transfer position for transferring the pliable semi-finished composite fiber product to the clamping gripper.

With the help of at least one suction and/or needle gripper, the semi-finished composite fiber product, which is limp and possibly sensitive to tensile stresses, can first be lifted in a minimally invasive manner in the edge area using the suction or needle gripper and detached from the base, which makes it possible to remove the edge that is then exposed with the help of the clamp gripper to grasp securely. For this purpose, it is provided that the suction and/or needle gripper, after it is in engagement with the pliable semi-finished composite fiber product, performs a pivoting movement about an axis in order to lift the semi-finished composite fiber product at the edge.

The gripper head can also have a second linear guide, which can be adjusted perpendicular to the gripping plane.

The second linear guide can be set up to have a distance in the receiving position between the pad and the needle gripper. The needle gripper can have a needle stroke perpendicular to the base, and the second linear guide can be set up to adjust the distance in the receiving position, so that the distance corresponds to the needle stroke.

With the help of the second linear guide, the transport device can transfer material blanks with different thicknesses safely and flexibly. By adjusting the distance between the backing and the needle gripper so that the distance corresponds to the needle stroke, full penetration of the edges of the material blank with the needles, regardless of the thickness, is ensured. Full penetration allows safe lifting of the edges of the material cut without having to adjust the needle stroke specifically for the material cut.

Furthermore, the needle stroke can be greater than a thickness of the material blank, preferably a multiple of the thickness of the material blank. In addition to the advantages mentioned above, this makes it possible to securely grip multi-layer material blanks or multiple layers of the material blank. This ensures that the needles do not just penetrate a length or layer. This is necessary in particular when the adhesive forces between the individual layers or plies of the material blank are not sufficient for safe lifting when only a single layer or ply is penetrated by the needles.

The gripper head can also have two gripper bars, with the gripper bars extending along opposite edges of the gripping plane and each having at least one clamping gripper. The gripper bars can also each have at least one suction and/or needle gripper. The first linear guide can extend perpendicular to the gripper bars, wherein the gripper bars can be fixed to the first linear guide. In addition, the first linear guide can be connected to the manipulator via a connecting joint, preferably via a ball joint.

According to another aspect, an arrangement for the production of composite material components is described, comprising a first processing station, a second processing station and a transport device as described above, wherein the transport device is set up to transfer a pliable semi-finished composite fiber product from the first processing station to the second processing station

The first processing station can be a heating press. The first processing station can also be a hot plate or an oven, in particular a convection oven or a continuous oven.

The second processing station can be a molding press.

The arrangement for producing composite components can also have a maneuvering area, in which case the transport device can be set up to maneuver the gripper head within the maneuvering area. The maneuver report may have a substantially square plan.

The first and the second processing station can each have a feed direction for the insertion of the gripper head. The transport device can be set up to insert and/or remove the gripper head in at least one of the first or second processing stations, in that the first linear drive maneuvers the gripping plane along the translational feed direction.

The feed direction of the first and the feed direction of the second processing stations can also be arranged perpendicular to one another. Furthermore, the feed direction of the first processing station and the feed direction of the second processing stations can be arranged at an angle of less than 180° to one another and preferably arranged at an angle of less than 90° to one another.

The transport device may be mounted or located in a corner of the maneuvering area and between the first and second work stations.

Furthermore, the maneuvering area can have at least one further processing station and the transport device can be set up to transfer the pliable composite fiber semi-finished product from the further processing station to the second and/or third processing station and/or from the first and/or second processing station to the further processing station convict.

The further processing station can have a storage table and/or a cutting table and/or a delivery system for the pliable composite fiber semi-finished product. Furthermore, the further processing station can have a device for the manual and/or automated post-processing of the semi-finished composite fiber product.

• 1 bis 3 perspektivisch und schrittweise die Überführung eines biegeschlaffen Verbundfaserhalbzeugs von einer ersten Bearbeitungsstation zu einer zweiten Bearbeitungsstation mithilfe einer dem Stand der Technik entsprechenden Transportvorrichtung; und
• 4 bis 5 perspektivisch und schrittweise die Überführung eines biegeschlaffen Verbundfaserhalbzeugs von einer ersten Bearbeitungsstation zu einer zweiten Bearbeitungsstation mithilfe einer erfindungsgemäßen Transportvorrichtung.

Further details of the invention are explained with reference to the figures below. show:

• 1 until 3 perspective and step-by-step the transfer of a limp composite fiber semi-finished product from a first processing station to a second processing station using a transport device corresponding to the prior art; and
• 4 until 5 perspective and step-by-step the transfer of a limp composite fiber semi-finished product from a first processing station to a second processing station using a transport device according to the invention.

the 1 until 4 show a perspective view of the transfer of a limp component 2 using a transport device corresponding to the prior art from a first processing station 3 to a second processing station 4. In the illustrated embodiment, the first processing station has a heating press and the second processing station 4 has a molding press. The first and the second processing station each have a feed direction 31, 41 for the insertion of a gripper head 11. The feed direction of the first processing station 31 and the feed direction of the second processing stations 41 are arranged perpendicular to one another. A maneuvering area with a substantially rectangular plan extends between the first and second processing stations 31,41. A six-axis robot 12 is mounted in a corner of the maneuvering area. This arrangement has the advantage that it reduces the length of the path over which the gripper head 11 and the heated, pliable semi-finished composite fiber product 2 fixed therein must be maneuvered. At the same time, this arrangement allows sufficient accessibility to the processing stations 3, 4 and provides sufficient space for maneuvering the gripper head 11. Another processing station 5 is arranged in the maneuvering area, which has a cutting table and a delivery system for the pliable composite fiber semi-finished product 2. Since the cutting table and the supply system only protrude slightly vertically into the maneuvering area, they do not limit the freedom of movement of the six-axis robot 12 . In the embodiment shown, the blank to be transferred from the pliable composite fiber semi-finished product 2 measures 3000 mm×2500 mm. A particularly compact arrangement is therefore absolutely necessary not only with regard to the time required for the transfer, but also with regard to the large amount of space required on the production area.

1 shows a point in time immediately after the heated, limp composite fiber semi-finished product 2 was detached from the surface 32 of the heating press by the needle grippers, not shown, and transferred to clamping grippers and fixed in the gripping plane. First, the six-axis robot 12 is moved with a first rotational movement 121 around the assembly axis of the robot in the direction of the second processing station 4 . The angle of the first rotational movement corresponds to the angle between the first and second feed direction of 90°. However, it is not possible to insert the gripper head 11 directly into the molding press at this point in time, since the six-axis robot 12, in particular the joints and components of the six-axis robot 12 near the connection to the gripper head, would collide with the heating press.

Instead, additional movements of the six-axis robot 12 are required, which in the 2 and 3 are shown. 2 shows the point in time immediately after completion of the first rotational movement 121. In order to achieve a suitable orientation for the introduction of the connection between the six-axis robot 12 on the gripper head 11 to the second processing station 4, a second rotational movement 122 and a third rotational movement 123 must be performed simultaneously. The second rotational movement 122 essentially corresponds to the first rotational movement with the opposite direction of rotation. As a result of the third rotational movement 123 , the gripper head 11 is rotated by the six-axis robot by 90° around the connection axis and counter to the direction of rotation of the second rotational movement 122 . Finally, before inserting the gripper head into the molding press, the 3 shown sequence of movements are completed. The fourth rotational movement 124 corresponds kinematically to the first rotational movement 121.

The period of time, which for the in the 1 until 3 shown transfer of the limp composite fiber semi-finished product 2 is required, taking into account the thermal and mechanical load limits, amounts to 11 seconds. The transport device from the prior art is therefore not suitable for a sufficiently rapid transfer of the slack semi-finished composite fiber product 2 in order to ensure high-quality shaping in the molding press. Furthermore, the advantages in terms of time and space savings, which result from the specific arrangement of the compact mold cell shown, cannot be realized with this transport device.

the 4 and 5 show the transfer of a flexible component 2 in perspective using a transport device 1 according to the invention. With the exception of the transport device 1, the illustrated embodiment is identical to the embodiment shown in FIGS 1 until 3 is shown.
4 shows a comparable point in time as that 1 , shortly after the heated limp composite fiber semi-finished product 2 was fixed in the gripping plane.

Similar to the transfer with the transport device according to the prior art, the first rotational movement 121 covering 90° around the assembly axis of the six-axis robot 6 must be completed. Unlike before, according to the invention, a first translational movement 125 is initiated simultaneously with the first rotational movement 121 . Here, the connection between gripper head 11 and six-axis robot 12 is adjusted via a linear guide 13 relative to the gripping plane.

4 shows a point in time analogous to that 2 . At the time shown, the first rotational movement 121 and the first translational movement 125 are almost completely completed. The connection to the side of the gripper head 11 facing away from the molding press was adjusted by the first translational movement 125 . Contrary to the one in the 2 In the course of movement shown, however, there is no risk of the six-axis robot 12 colliding with the molding press when the gripper head 11 is inserted. The additional in the 2 and 3 illustrated time-consuming movements 122,123,124 are not necessary according to the invention. Compared to that in the 1 until 3 illustrated transfer, the time saving for the transfer of a blank of the limp composite fiber semi-finished product 2 with the embodiment according to the invention amounts to 5 seconds. This critical time interval is thus reduced to 6 seconds, which enables fully automated processing of blanks of the pliable composite fiber semi-finished product measuring more than 3000 mm x 3000 mm.

Reference List

1

transport device

2

composite fiber semi-finished product

3

first processing station

4

second processing station

5

Another processing station

11

gripper head

12

manipulator

13

linear guide

14

grip level

31

Feed direction of the first processing station

32

document

41

Feed direction of the second processing station

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102018112307 A1 [0003]

Claims (16)

Transport device (1) for transferring a material blank (2) from a first processing station (3) to a second processing station (4), the transport device having a gripper head for lifting and setting down the material blank (2) and a manipulator (12) for the Maneuvering the gripper head (11), characterized in that the gripper head (11) has a first linear guide (13) which can be adjusted parallel to a gripping plane of the gripper head (14), and the gripper head (11) via the first linear guide ( 13) is connected to the manipulator (12). Transport device (1) according to one of the preceding claims, in which the manipulator (12) is a multi-axis robot, the multi-axis robot preferably having fewer than six axes of movement. Transport device (1) according to one of the preceding claims, in which the gripper head (11) has at least one clamping gripper with at least one pair of grippers with a suction and/or needle gripper, the suction and/or needle gripper between a pick-up position for picking up an edge of the Material blank can be pivoted from a base (32) and a transfer position for transferring the material blank (2) to the clamping gripper. Transport device (1) after claim 3 , in which the gripper head (11) has a second linear guide which can be adjusted perpendicularly to the gripping plane and wherein the second linear guide is set up to adjust the needle gripper relative to the base (32). Transport device (1) after claim 4 , in which the second linear guide is set up to adjust a distance between the base (32) and the needle gripper in the receiving position by the needle gripper being adjusted relative to the base (32). transport device claim 5 , in which the needle gripper has a needle stroke perpendicular to the base (32), the second linear guide being set up to adjust the distance in the receiving position, so that the distance corresponds to the needle stroke. transport device claim 6 , in which the needle stroke is greater than a thickness of the material blank (2), preferably a multiple of a thickness of the material blank (2). Arrangement for the production of composite components, comprising a first processing station (3) for composite semi-finished products, a second processing station for composite semi-finished products (4) and a transport device (1) according to one of Claims 1 until 7 , wherein the transport device (1) is set up to remove a material blank (2) from the first processing station (3) and to transfer it from the first processing station (3) to the second processing station (4). Arrangement for the production of composite components claim 8 , wherein the first processing station (3) is a heating press. Arrangement for the production of composite components according to one of Claims 8 or 9 , wherein the second processing station (4) is a molding press. Arrangement for the production of composite components according to one of Claims 8 until 10 , in which the arrangement has a maneuvering area, the maneuvering area being delimited on two sides by the first and the second processing station, the transport device (1) being set up to maneuver the gripper head (11) within the maneuvering area. Arrangement for the production of composite components claim 11 , in which the first and the second processing station (3, 4) each have a feed direction (31, 41) for inserting and/or removing the gripper head (11) into the first or second processing station (3, 4) and the transport device (1) is set up to insert and/or remove the gripper head (11) in at least one of the first or second processing stations (3, 4) by the first linear drive (13) maneuvering the gripping plane along the feed direction (31, 41). . Arrangement for the production of composite components claim 12 , in which the feed direction (31) of the first processing station (3) and the feed direction (41) of the second processing stations (4) are arranged at an angle of less than 180° to one another and are preferably arranged at an angle of less than 90° to one another . Arrangement for the production of composite components Claim 13 , in which the transport device (4) is arranged in a corner of the maneuvering area and between the first and second processing stations (3,4). Arrangement for the production of composite components according to one of Claims 12 until 14 , in which the maneuvering range is at least one white further processing station (5) and wherein the transport device (1) is set up to transfer the material blank (2) from the further processing station (5) to the second and/or third processing station (3, 4) and/or from the first and / or to transfer the second processing station (3.4) to the further processing station (5). Arrangement for the production of composite components claim 15 , in which the further processing station (5) has a storage table and/or a cutting table and/or a delivery system for the material blank (2).

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