Classifications

• • D—TEXTILES; PAPER
  • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
  • D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
  • D04H18/00—Needling machines
  • D04H18/02—Needling machines with needles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
  • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
  • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
  • B23P6/00—Restoring or reconditioning objects
  • B23P6/002—Repairing turbine components, e.g. moving or stationary blades, rotors
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/49—Method of mechanical manufacture
  • Y10T29/49718—Repairing
  • Y10T29/49721—Repairing with disassembling
  • Y10T29/4973—Replacing of defective part
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/49—Method of mechanical manufacture
  • Y10T29/49764—Method of mechanical manufacture with testing or indicating
  • Y10T29/49769—Using optical instrument [excludes mere human eyeballing]
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/49—Method of mechanical manufacture
  • Y10T29/49764—Method of mechanical manufacture with testing or indicating
  • Y10T29/49771—Quantitative measuring or gauging
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/53—Means to assemble or disassemble
  • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
  • Y10T29/53048—Multiple station assembly or disassembly apparatus
  • Y10T29/53052—Multiple station assembly or disassembly apparatus including position sensor

Definitions

• the present invention relates to an arrangement for mounting and / or disassembling and maintaining a needle board of a needle machine for nonwoven or needle felting, in particular for automatically performing various operations, such as loading or removing, optionally selecting, repairing, with at least one tool and with a holding device for holding the needle board, wherein the tool is positionable with respect to a needle bore and / or a needle of the needle board via a control and drive device and at least one detection device.
• the invention relates to a method for mounting and / or disassembling and maintaining a needle board of a needle machine for nonwoven or needle felting, in particular for the automatic performance of various operations, such as loading or removing, possibly selecting, repairing, with needles or needle holes on the needle board and a tool corresponding to the detected / detected data is positioned with respect to the needle board and performs operations.
• the invention is still concerned with a needle for a needle board of a needle machine for nonwoven or needle felting, in particular for a device or a method as described above, with a tip and an end opposite the tip.
• Needle boards are components of needle machines for nonwoven or needle felting and are equipped with special needles.
• the needle machines are used for the consolidation / densification of fiber materials, fibers, continuous fibers.
• the needles have an L-shape through their attachment hooks and are passed through holes in the needle board and fixed. The needles are subject to great stress and will be damaged over time.
• CONFIRMATION COPY DE 39 41 159 C2 discloses a device for automatic needling and needling of needle boards, wherein the operations of pressing in and out of opposite, acting on the front and back of the needle board tools is taken.
• These two-sided working tools are movably mounted in a machine frame and are driven and driven by a control and drive device.
• the machine frame is equipped with rails on which the tools are moved to take their position with respect to the needle or the needle bore.
• the tools are located opposite each other and must be aligned. For the alignment of the tools relative to the needle board optical detection systems are used, which are quasi covered by the drive and control device and communicate with it.
• Both aforementioned devices have in common that in practice a successive start of the desired positions is made. On the way from the first to the last needle hole on the needle board, this must be crossed completely, whereby the paths prescribed by the rails must be adhered to.
• the sequence of movements can only be at right angles in height and width. If you want to reach a particular needle, you can do so only by following the prescribed paths and passing all other areas. It is obvious that the time required is relatively high if the movement of the tool is only possible via two degrees of freedom, bound to rails running at right angles to one another.
• the work on the front and back of the needle board when loading can - as described in EP 1953287 A1 - also take place successively.
• the needles are inserted, then the position of the needle board is changed and there is a fixing / pressing the needles.
• the known from EP 1953287 A1 pick and place machine works with a multi-collet and populates the needle board with groups of pins that are pre-positioned over the width of the needle board.
• the well-known insertion machine requires by the group arrangement of the needles to be equipped a high manual and design effort, alone with regard to the needle feed with screw conveyor to provide the needles for the multiple collet. It can only be worked in the specified grid. A start of a desired position is not possible with the placement machine in question. It is also not a fully automatic process, since the needles have to be labor intensive inserted into the needle feeder.
• the present invention seeks to provide an arrangement and a method of the type in question, which increase the flexibility of the positioning of the tool with little manpower.
• the option of operations such as selection, further repair of felting needles should be opened.
• an arrangement of the type in question is designed such that the tool and the control and drive means are associated with at least one robot and that the robot is provided with at least one articulated tool arm, on which the tool is arranged, the implementation of the desired operation allowed.
• a needle of the type in question is designed such that the tip of the opposite end of the needle is designed in the sense of a flat, in particular circular or elliptical, head, which is slightly larger than the cross section of the needle.
• the invention it has been recognized that flexibility of the positionability is increased when the construction is slimmed and when a direct positionability on the needle board is made possible in principle by a predetermined mechanical guidance. According to the invention, it has been recognized that this can be achieved if at least one robot with at least one articulated tool arm is used, wherein the robot comprises the control and drive device and at least one detection device is provided.
• the tool arm is equipped with the right tool.
• the tool is a gripper, sucker or magnet that either picks up the needle and inserts it into the needle bore of the needle board or is a tool that pushes or pulls the needle out of the needle bore.
• the robot Since the robot is equipped with articulated tool arm and tool, it can remove needles even from a sampling point, which is why the personnel costs are extremely low. All operations on the needle board are automatic. It is also essential that the robot has a great freedom of movement and, for example, allows the free needle receptacle or taking a position obliquely to the needle board and not only frontally, as before.
• the end of the needle opposite the tip should be designed in the sense of a flat, in particular circular or elliptical, head which is slightly larger than the cross section of the needle or the needle shank. In this way, the needle density can be increased on the needle board and the quality of the produced fleece or felt can be changed.
• the robot's high precision could also result in more subtle anti-rotation mechanisms.
• the needle shaft could have an elliptical or triangular to polygonal cross section.
• the interaction with the needle bore could be purely positive. It would also be possible to realize a form fit.
• this could be equipped with two articulated arms.
• the second articulated arm could engage over the needle board and, for example, when pulling the needles on the back of the needle board, apply tensile force to the needles while the first articulated arm applies compressive force to the tips of the needles on the front side.
• a variant would also be conceivable, with two or more robots working on one side on the then rotatably mounted needle board. An arrangement of a respective robot on the front and back of the needle board is also possible.
• the robot could be brought into the area of the needle board on which the operation is to be performed.
• the needle board could be moved to the robot in reverse, this is not necessary due to the flexibility of a robot.
• the movement of the robot to the needle board could conventionally be done via constructive guide elements, such as rails.
• the rails would then be required only in a direction of movement concerning the width of the needle board.
• the robot can be moved onto rollers or over a magnetic field floating in the area of interest of the needle board.
• the height adjustment is realized according to the invention flexible on the articulated tool arm.
• control and drive device comprises at least one separate computer.
• This computer could provide the computing power needed to position the robot or to calculate its next target position, to coordinate processes and to process detected data.
• this computer provides a storage space in the gigabyte range to Terabyte range, which is not feasible by conventional control.
• PLC unit Programmable logic controller
• the tool arm could be movable about several, in particular six, axes.
• Six axes are given by the known structure of an articulated arm robot and are distributed over the entire robot. Due to the large number of degrees of freedom not only the positioning in relation to the needle board is possible, but it is, for example, the removal of a needle to be mounted from a sampling point or the deposition of an extracted needle on a storage location possible.
• the removal point for new, need to be loaded needles and the storage location for remote needles in the range of movement of the articulated tool arm are provided. For example. they can be arranged on a base plate of the robot.
• the damaged needles unceremoniously fall into a collecting trough on the needle board and be discharged from there into a collecting container.
• at least two storage locations could also be provided, one storage area serving to receive intact, reusable needles and the other receiving the damaged needles.
• the detection device could work optically and for this purpose comprise a camera for detecting the needle board.
• the camera could, for example, be arranged directly on the tool or tool arm of the robot and be in communication with the control and drive device, in particular the separate computer with the large storage capacity.
• a lighting device assigned to the camera could also be provided to improve the image quality.
• a laser scanner or an inductive scanner or even a capacitive scanner could be used.
• the arrangement according to the invention can freely detect the needles and / or needle bores on the needle board via its detection device and send the detected / acquired data to the control and drive device, preferably to the separate computer, in which a corresponding image processing program and further software for correct Operation and positioning is required. There, the actual position of the needles or needle holes of the needle board can then be determined.
• the camera can either capture the entire needle board, which makes sense in the case of complete reassembly or complete needle removal.
• a proximity switch or other additional detectors could be provided for even more accurate detection of the needle, for example, more accurately detect the tip of the needle and transmit the data to the control and drive device.
• a capacitive or inductive proximity switch would be considered. Just at the needle tip can be determined whether it is dull or possibly deviates from the Nadelbohrungsachse and thus undesirable no longer aligned.
• the needle of a needle board has conventionally besides the needle tip also has a hook at the opposite end, which is usually located in the mounted state of the needle on the back of the needle board within a local groove.
• the hook design has an anti-rotation function.
• the hook facilitates the manual removal of the needle.
• a portal in addition to the robot, a portal could be provided, via which operations on the needle board can also be carried out.
• the portal could also have a tool and is therefore interesting because a portal can muster higher forces. This is, for example, when fixing the hook of a conventional needle within a groove on the back of the needle board or even when pulling out the needle from the needle bore advantage.
• the robot could work on the front of the needle board and the portal on the back of the needle board.
• the portal would include a control and drive device, a tool, a detection device.
• the detection device could likewise have proximity switches or additional additional detectors in addition to a camera.
• the tool of the portal could work in at least three directions of movement.
• the movements of the tool itself for example, the forceps movement of a gripper - outside admitted.
• the tool arm could be associated with a bent needle alignment tool and / or a blunt needle grinding tool. These could preferably be arranged on a rotatable tool plate, on which additionally gripping tools and at least one detection device are arranged.
• All operations are preceded by positioning the robot in relation to the needle board.
• the robot in relation to the needle board.
• the front of the needle board when selecting, aligning, repairing
• the back of the needle board (during loading, removal) detected - so scanned without contact - and from the position of the needles or the Needle holes are determined.
• image data could be recorded and transmitted by means of a camera, but also laser scanners could detect location-discrete and transmit the data thus acquired.
• the detected data relating to the needles (selecting) on the front side or with respect to the needle bores (loading) or hooks (removal) on the rear side of the needle board are transmitted by the detection device to the control and drive unit of the robot, possibly also a portal.
• the detected data arrive at a separate computer, which is encompassed by the control and drive unit and has a particularly high computing power, so that it can detect the detected data, transform and determine the real positions of the needles and needle bores. Based on this, the positioning of the robot relative to the needle board can then take place.
• the machine removal of the needle by the tool arm or the tool of the robot from a removal point could also be part of the automated assembly process. Again, one could fall back on an upstream detection process, regardless of whether one detects with a camera or a laser scanner or other detection devices.
• the detection device could, for example, be the same detection device that also detects the needle board.
• an image could be recorded by a needle with the detection device, after which the detected data-here the image data-could be transmitted to the control and drive device, in particular the separate computer. There, the data are electronically recorded and processed so that the position and the quality of the needle are determined and the quality is possibly also controlled by an additional comparison operation with reference data.
• it is already here to avoid the removal of a damaged needle, so that the condition of the needle, especially the tip, before meaning of meaning. If a damaged needle is detected at the sampling point, it is discarded.
• the tool After the electronic data processing has taken place, the tool is driven to remove the needle. It comes to the initialization of the movement of the tool arm and the gripper. When the needle is picked up by the tool / gripper, the tool reaches a position from which it then moves to the needle board. The position may be spaced from the picking location, but the movement may also be performed directly from the picking position / needle picking position of the tool to the needle board. In the event that the needle was faulty at the donor site, a new needle is detected and recorded.
• a detection of the needle bore takes place. This should be avoided even at the initial stage errors that could be caused, for example, by contamination of the needle hole or damage to the needle board.
• the tool is arranged on a rotatable tool plate, together with other tools. If a needle hole is dirty, a cleaning tool could be positioned by disc rotation. All this and, of course, and a fine adjustment of the position of the tool carrying the removed needle passes after the transmission of the detected, related to the needle bore data for drive and Control device / to separate computer. The placement process could then be repeated as many times as necessary, until the needle board is stocked in the desired quantity and quality.
• the placement process could include the following visual steps: a) Detecting the free needle holes on the back of the needle board. B) Positioning the robot with respect to the needle board
• the assembly is followed by the following steps using a robotic arrangement on one side of the needle board and a portal on the other side of the needle board: i) Turning over the loaded needle board 180 °
• step j) repeating step j) to n) as often as necessary.
• a respective software is provided which processes the data determined by the detection so that the required movement sequences of the robot, the portal and the respective tool realized become. Also conceivable is a common drive and control unit with one or two or more separate computers.
• the needle holes could be dirty or damaged or the ends could not sit concentrically in the needle bore.
• the detection for positioning the robot and the portal could first be carried out, but then another detection per needle - tip or tail - could be carried out in order to achieve a fine adjustment / fine positioning of the respective gen tool to realize.
• the control and drive means / detection devices of the robot and the portal preferably communicate with one another and cooperate with the same needle via simultaneous coordination software. It is advantageous if the portal and robot are controlled or driven by the same drive and control unit.
• the needle Once the needle is removed from the needle board, it could be fed to a depositor where all needles are collected.
• a simple solution is that the tool is opened unceremoniously and the needle falls into a discharge channel below the needle board. After that, the tool can be available in any case for the next needle to be removed. The process of removing repeated as many times as necessary. Alternatively, two different bins could be provided, are placed in the undamaged and damaged removed needles separately.
• Another advantageous and essential to the invention operation which can be performed by means of the inventive arrangement and by the flexibility and mobility of the robot, is the selection of a needle or a needle bore in connection with replacement and repair operations. This variant of the method according to the invention allows savings, since only damaged needles are removed and replaced, but not all needles have to be changed.
• the positions of damaged areas could be determined. For this purpose, a comparison of the detected / acquired data of the entire needle board with stored in the drive and control unit, in particular in a separate computer, reference data. Thus, predicted position data for the robot could be calculated in advance. The robot can then approach the relevant areas directly and the time of a lengthy detection can be saved column by column or row by row. The comparison could, for example, via an image processing software by comparing a reference image with a homogeneous needle tip surface with the current image data taken by a camera done.
• an inductively operating proximity switch could preferably be used.
• a surface camera which is directed to the front of the needle board and thus on the needle tips could be problematic in terms of occurring distortions in the image.
• the applicable for the needle selection designs are also transferred to needle holes, eg., When a needle tip is broken and the needle hole to be freed from the broken needle or if a needle hole was damaged when canceling the needle or simply freed up for a new assembly is.
• the reference data could be generated in the good condition pin board-specific and / or needle-specific and pinhole-specific.
• image data related to the geometry of the needle is created. Due to the flexibility of the robot with its movable tool arm, it is possible to detect several image data, even from different angles, so that deviations can be detected reliably when matching with the reference data.
• the deviations can vary within a range of 2/100 mm to 0.5 mm.
• the deviations may not be greater than 1/3 of the diameter of the needle bore, of course, as possible are aimed towards zero deviations.
• a proximity switch which is then sent to the control and drive device of the robot.
• further detectors could be provided which, for example, density properties, surface condition (wear) and others Can determine data. All of this data helps to choose the right operation for each needle.
• control and drive unit of the robot in particular in its separate computer, it would thus be possible to determine via an appropriate software whether the selected needle should be removed or repaired.
• an alignment tool could be associated with the tool arm for alignment of the selected needle.
• the alignment tool could work mechanically or thermally or magnetically. The orientation would then be made according to the reference data preset in the control and drive device.
• a tool for repairing the needle could be associated with the tool arm.
• the repair of the needle could then be carried out according to the standard given in the control and drive device. Instead of repairing the needle under mechanical action on the surface, a cleaning of felt residue could take place or a protective or sliding layer could be applied to the surface of the needle.
• FIG. 2 in an enlarged perspective view of the robot from the order of FIG. 1 after receiving a needle from a
• a representation of the illustration of a section of the scanned front of the needle board of FIG. 1 or 3 shows the empty needle bores, a representation of the needle as used in both exemplary embodiments a representation of the illustration of the needle from FIG. 6 as an intermediate result of a needle detection algorithm, a representation of the illustration of a section of the scanned back side of a needle board from FIG. 1 or 3 from another process step, wherein the placement and fixing has already taken place and a representation of the image of a section of the scanned front side of a needle board of FIG. 1 or 3 from another process step, wherein a selection of damaged needles bev orsteht.
• Figures 1, 3 and 4 show an arrangement for up and / or disarming and maintaining a needle board 1, which is expanded from a needle machine for nonwoven or needle felting.
• the arrangement is used for automatically performing various operations on the needle board 1, such as placement or removal, possibly selecting, repairing.
• a tool 1 and a holding device 3 for holding the needle board 1 is provided in the first embodiment shown in Figs. 1 and 3 .
• two tools 2 and a holding device 3 for holding the needle board 1 is provided in the second embodiment shown in Fig.
• the tool 2 is positionable with respect to a needle bore 4 shown in FIGS. 1 and 5 and / or with respect to a needle 5 shown in FIGS. 2, 6, 7.
• the positioning takes place via a control and drive device and a detection device, which are encompassed by the tool 2.
• FIGS. 2, 3 show a camera 6 as a detection device associated with the tool 2.
• the tool 2 and the control and drive device are associated with a robot 7, 8 and the robot 7, 8 is provided with a hinged tool arm 9, 10, on which the tool 2 is arranged, which allows the execution of the desired operation.
• the tool 2 and the camera 6 are arranged on a rotatable tool plate 23, which is shown in Figures 1 to 3.
• the tool plate 23 may also be equipped with other tools or sensors or detection devices or be. In the present embodiment, further, not shown tools are mounted on the tool plate 23, which then depending on the desired operation on the needle board 1 are used.
• FIG. 1 A part of the control and drive device, not otherwise shown, is shown in FIG. 1 and relates to a separate computer 22.
• This computer 22 provides the computing power required to position the robot 7, 8 and to coordinate process sequences Data coming from the camera 6 to process.
• the computer 22 provides a storage space in the gigabyte range up to the terabyte area.
• the control and drive device comprises a PLC unit, not shown here, which communicates with the computer 22 and is ultimately responsible for the movements of the robot 7, 8. includes.
• the dashed arrows show that detected data is sent to the computer from the tool plate 23 or from the camera 6 shown in FIG. 2 there. Finally - after data processing and position determination - the robot 7 is then controlled.
• the details are not shown with regard to a PLC unit which is in communication with the computer 22 and which, like the computer 22 itself, are components of the entire control and drive device.
• the robot 7, 8 is movable in a region of the needle board 1 on which the operation is to be performed. According to the first exemplary embodiment, the robot 7 has rollers 11 for this purpose. It is robot 8 according to the second embodiment on rails 12 movable.
• the tool arm 9 is movable about six axes A, B, C, D, E, F. This also applies to the tool arm 10.
• the arrangement according to the first embodiment comprises a removal point 3, which is arranged in the movement region of the tool arm 9 and contains new needles 5 to be equipped. Shown here is representative of other needles 5 only one of them. This is already taken up by the tool 2 (gripper) and pivoted about the tool arm 9 upwards.
• the removal point 13 is arranged here on a base 14.
• the camera 6 is used here to detect the new, to be loaded needle 5 of the removal point 13.
• the same camera 6 is also used to detect the needle board 1, namely the local needles 5 and / or the needle holes 4.
• Figs. 1 to 3 show phases of the assembly process. Therefore, the needle holes 4 are detected at the back of the needle board 1 there.
• the image data obtained when detecting by means of camera 6 are sent to the computer 22 of the control and drive unit of the robot 7 and there is - after the data processing - a positioning of the robot 7 with respect to the needle board 1.
• the robot has already acquired a position and the placement of the needle board 1 with the needle 5 is imminent.
• Fig. 4 which relates to the second embodiment, it is shown that the needle board 1 is rotatably mounted on the holding device 3 via pivot bearings 15.
• a portal 16 is provided, via which also operations on the needle board 1 are executable.
• the portal 16 includes a tool not shown in detail here, which operates in four directions of movement.
• the robot 8 is arranged on the front side of the needle board 1 and the portal 16 on the rear side of the needle board 1. In other operations is successively - each after turning the needle board 1 - worked.
• the arrangement according to the second embodiment comprises a rectangular frame 17, on the center, from the transverse side 18 to transverse side 18 of the frame 17, the holding device 3 is arranged with the needle board 1. Both sides parallel to the holding device 3 and To the needle board rails 12 are provided on the frame 17, also from the transverse side 18 to the transverse side 18 - on the one hand for positioning the portal 12, on the other for positioning the robot 8. Below the rails 12 extend a towing device 20 for electrical lines and a linear guide 21st therefor. In Fig. 4, the frame 17 is shown as such together with the arrangement. In the complete state of the frame would be arranged in a housing with base, which has been omitted here.
• the robots 7, 8 are fixed on a base plate 19.
• the base plate 19 with the robot 7, 8 is brought either via rollers 1 1 arranged thereon or via rails 12 to the location of the operation on the needle board 1.
• unspecified plain bearings are mounted there, which are moved on the rail 12 and connected to the underside of the base plate 19.
• Fig. 6 shows the basic structure of a needle 5 with hook 5a and 5b tip.
• the needle 5 is the robot 7 at the sampling point 13 is available and is detected in advance, so that the tool 2 can take this.
• the needle 5 is shown as an intermediate result of a needle detection algorithm created by the computer 22.
• FIGS. 5, 6, 8 and 9 show images taken by the camera 6.
• Fig. 5 relates to the back of the needle board 1 in the empty state.
• the equipment should be prepared.
• the needle holes 4 are of relevance. These are detected in order to determine therefrom the position of the needle bores 4 and finally to determine the position of the robot 7, 8, if necessary of the portal 16.
• Fig. 8 is also about the back of the needle board 1, but here already equipped with needles 5, the hooks 5a are anchored to the back.
• the removal of the needles 5 should be prepared.
• the hooks 5a are to be detected before removal, since they may be damaged after use of the needle board 1 and may also be changed in their position.
• precise detection and a fine adjustment of the tool 2 on the best possible positioning of the tool arm 9 of the robot 7, 8 should be done so that it can attack from the optimum position.
• the determination of the x- and y-coordinates, which are required for determining the position of the tool was illustrated by means of a selected needle bore 4 located under the hook 5a there.
• the operation of selecting damaged needles 5 should be prepared, and possible follow-up operations such as repairing, aligning, grinding.
• the tips 5b of the needles 5 are particularly relevant.
• the acquired image data are subjected to a comparison with reference data concerning undamaged needles in computer 22 and the position of damaged needles 5 to be selected is determined.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Textile Engineering (AREA)
• Manipulator (AREA)
• Treatment Of Fiber Materials (AREA)

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• 2011
  • 2011-04-12 DE DE102011016755A patent/DE102011016755B3/de not_active Expired - Fee Related
• 2012
  • 2012-04-12 WO PCT/EP2012/001590 patent/WO2012139761A1/de active Application Filing
  • 2012-04-12 US US14/111,302 patent/US20140026379A1/en not_active Abandoned
  • 2012-04-12 CN CN201280018111.4A patent/CN103562455B/zh not_active Expired - Fee Related
  • 2012-04-12 EP EP12718908.2A patent/EP2697417A1/de not_active Withdrawn

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