EP3621906B1 - Greiferanordnung für das anheben eines biegeschlaffen halbzeugs von einer unterlage und ein entsprechendes verfahren - Google Patents

Greiferanordnung für das anheben eines biegeschlaffen halbzeugs von einer unterlage und ein entsprechendes verfahren Download PDF

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Publication number
EP3621906B1
EP3621906B1 EP18825957.6A EP18825957A EP3621906B1 EP 3621906 B1 EP3621906 B1 EP 3621906B1 EP 18825957 A EP18825957 A EP 18825957A EP 3621906 B1 EP3621906 B1 EP 3621906B1
Authority
EP
European Patent Office
Prior art keywords
gripper
finished product
suction
needle
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18825957.6A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3621906A1 (de
Inventor
Dominic WILKEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olbrich GmbH
Original Assignee
Olbrich GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olbrich GmbH filed Critical Olbrich GmbH
Priority to HRP20210589TT priority Critical patent/HRP20210589T1/hr
Priority to PL18825957T priority patent/PL3621906T3/pl
Publication of EP3621906A1 publication Critical patent/EP3621906A1/de
Application granted granted Critical
Publication of EP3621906B1 publication Critical patent/EP3621906B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/56—Elements, e.g. scrapers, fingers, needles, brushes, acting on separated article or on edge of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/55—Rail guided gripping means running in closed loop, e.g. without permanent interconnecting means
    • B65H2405/551—Rail guided gripping means running in closed loop, e.g. without permanent interconnecting means with permanent interconnection allowing variable spacing between the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/60—Penetrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/341—Suction grippers being oscillated in arcuate paths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/172—Composite material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/174—Textile, fibre

Definitions

  • the invention relates to a gripper arrangement for lifting a pliable semi-finished product from a base and a corresponding method.
  • Such gripper arrangements are used, for example, for picking up, handling and depositing textile semifinished product layers in the production of fiber-reinforced plastic components, for example to transfer a heated and pre-compressed fiber-reinforced semifinished product from a heating press into a molding press.
  • a gripper arrangement to be regarded as the closest prior art is known from, for example EP 0 807 083 .
  • a similar gripper arrangement is also known from US Pat GB 1414 899 .
  • the DE 20 2007 000 899 U1 describes a handling device for flexible mat-like pieces of material made of fiber materials, for example CFRP.
  • the handling device has one or more handling devices that have a multi-axis manipulator with a handling tool for winding and unwinding have at least one piece of material.
  • the handling device also has one or more storage tables for pieces of material and / or stacks of pieces of material.
  • a lap carrier of the handling device has a receiving device with a suction bar with several switchable suction sections.
  • the squeegee in turn has a plurality of individually or in groups switchable and essentially point-shaped suction elements.
  • the gripper arrangement has a pliable semifinished product lying on a base and at least one pair of grippers with a suction or needle gripper and with at least one clamping gripper, the suction or needle gripper between a pick-up position for picking up an edge of the pliable semifinished product and a transfer position for transferring the edge of the pliable semifinished product to the clamping gripper is pivotable about an axis, the gripper arrangement having at least one gripper bar along which several of the gripper pairs are arranged, the gripper bar with the gripper pairs extending along the edge of the pliable semifinished product, the gripper arrangement having a first and a second of the gripper bars, wherein the first gripper bar engages on a first of two opposite edges of the limp semi-finished product and wherein the second gripper bar engages on the second of the opposite edges engages, a distance between the gripper bars being adjustable, the gripper bars having a first distance from one another occupy when the suction or needle grippers are in
  • the vertical distance between the gripper bars can be adjustable.
  • the gripper bars can be arranged, for example, parallel to one another.
  • the limp semi-finished product which is possibly sensitive to tensile stresses, can initially be lifted minimally invasively in the edge area with the aid of the suction or needle gripper and detached from the base, which makes it possible to remove the then exposed edge with the aid of the clamping gripper safe to grasp.
  • the suction or needle gripper after it is in engagement with the pliable semifinished product, executes a pivoting movement about an axis in order to lift the pliable semifinished product at the edge.
  • the axis can extend parallel to the base.
  • the completed pivoting movement can be set up so that the suction or needle gripper is positioned between a receiving position in which the suction or needle gripper is oriented for engaging the limp semi-finished product, and a transfer position in which the suction or needle gripper is positioned
  • the needle gripper grasped the edge of the limp semifinished product so that it is aligned with the at least one clamping gripper that the clamping gripper can grip the edge and thus hold it, can be pivoted.
  • the clamping gripper can be adjustable at least perpendicular to the base, so that a distance between the clamping gripper and the base can be adjusted.
  • This lifting movement of the clamping gripper can in particular serve to carefully detach the limp semifinished product still adhesively bonded to the base after the edge of the limp semifinished product has been gripped by the clamping gripper over substantial surface sections, for which purpose a defined mechanical one is detached from the clamping gripper Characteristics of the semi-finished product taking into account lifting movement is performed
  • the clamping gripper can furthermore be adjustable parallel to the base, the clamping gripper preferably being adjustable in two mutually perpendicular directions which extend parallel to a pivoting plane of the suction or needle gripper extend perpendicular to the axis about which the suction or needle gripper can be pivoted between the receiving position and the transfer position.
  • the suction or needle gripper can be pivoted from the receiving position into the transfer position by, for example, 45 ° to 90 °.
  • the pivoting movement can be limited to the fact that the edge is detached from the base just enough so that the at least one clamping gripper can grip the edge in a process-reliable manner. A swiveling movement of the suction or needle gripper going beyond this is not necessary.
  • the suction or needle gripper and the clamping gripper can be aligned in a direction parallel to the axis about which the suction or needle gripper can be pivoted.
  • the edge of the limp semifinished product is brought into the engagement area of the clamping gripper, so that the clamping gripper itself does not have any translational, rotary or other Movement must complete in order to be able to grasp the edge area of the limp semi-finished product.
  • the clamping gripper can, for example, have two mutually adjustable clamping jaws, between which the limp semi-finished product can be clamped.
  • the suction or needle gripper can be set up to insert the edge of the limp semi-finished product between the jaws of the clamping gripper when pivoting from the receiving position to the transfer position with the clamping gripper open.
  • the two gripper bars can each be fixed to a linear guide via one of two opposite end faces, the other end face being a free end of the respective gripper bar.
  • a distance between the gripper bars for example the vertical distance between the two gripper bars extending parallel to one another, can be adjusted by moving at least one of the gripper bars along the linear guide.
  • the gripper arrangement can be connected to a multi-axis robot via the linear adjustment so that the multi-axis robot introduces the gripper arrangement via the free ends of the gripper bars between the plate pairs of the heating press, onto the Lay the pliable component to be picked up and adjust it against each other for the detachment of the pliable component from the underside of the heating press.
  • the at least one suction or needle gripper can continue to be in engagement with the edge or disengage from the edge.
  • the clamping grippers can be set up to be able to provide the required holding force for maneuvering the limp component.
  • the pivoting of the at least one suction or needle gripper from the receiving position into the transfer position can have the pivoting of the suction or needle gripper by 45 ° to 90 °.
  • a gripper arrangement of the type described above is preferably used to carry out the method.
  • a small part of the limp semi-finished product in particular the edge area of the limp semi-finished product, can be lifted, for example, from a lower plate of a heating press, before the limp component is then gripped with the clamp grippers and from the lower plate the heating press is lifted off.
  • the heated, limp semi-finished product for example a fiber mat
  • a pair of gripper bars is arranged at a variable distance from one another via a linear adjustment unit, it is achieved that the size of the gripper arrangement can be continuously adapted to the required size of the semi-finished product, which reduces retooling times and associated costs.
  • the gripper arrangement can have a swivel drive for rotating the suction or needle grippers.
  • a swivel drive for rotating the suction or needle grippers.
  • several suction or needle grippers can be regularly spaced and driven synchronously along an axis driven by the pivot drive, which runs parallel to one of the previously described gripper bars, for example.
  • a rotary drive can be provided to control the clamping grippers.
  • the rotary drive can in turn drive an axis which runs parallel to the previously described gripper bar and via which all of the clamping grippers arranged along the gripper bar are driven synchronously.
  • the Figures 1 to 4 schematically show the lifting process of a pliable component 100 with the aid of a gripper arrangement according to the invention.
  • the gripper arrangement according to the invention has two functionally different gripper systems, namely at least one suction or needle gripper 1 for lifting an edge area 101 of the limp semi-finished product 100 and at least one clamping gripper 2 for the firm connection of the pliable component to the gripper arrangement, around the pliable semi-finished product 100 of the base 200 on which the limp semi-finished product 100 is placed to be lifted off.
  • the base 200 can, for example, be the underside of a heating press, within which the pliable semifinished product provided, for example, as a fiber-reinforced plastic component is preheated and precompacted so that it can be shaped and cooled in a subsequent processing step in a compression molding press, so that a fiber-reinforced molded component is obtained as it is used in the car body area, for example, as a hat shelf, interior door trim or as an insulating element.
  • a heating press within which the pliable semifinished product provided, for example, as a fiber-reinforced plastic component is preheated and precompacted so that it can be shaped and cooled in a subsequent processing step in a compression molding press, so that a fiber-reinforced molded component is obtained as it is used in the car body area, for example, as a hat shelf, interior door trim or as an insulating element.
  • the gripper arrangement is first lowered in the direction of the substrate 200 in such a way that the suction or needle gripper 1 comes to rest on an upper side of the limp semi-finished product 100 facing away from the substrate 200.
  • the gripper arrangement when it is placed on the pliable semifinished product 100 via the suction or needle gripper 1, can indeed be brought into engagement with the pliable semifinished product, for example by inserting the gripper needles of the needle gripper 1 into the semifinished product 100.
  • the clamping gripper 2 is, however, in the in Figure 2 The illustrated set position of the gripper arrangement with the edge 101 of the limp semi-finished product 100 is still out of engagement.
  • the suction or needle gripper 1 is pivoted about its pivot axis 3, in the present case by approximately 90 °, after it has been brought into engagement with the pliable semifinished product 100 , wherein the suction or needle gripper 1 remains in engagement with the semifinished product 100, so that the edge 101 of the limp semifinished product 100 is inserted into the opened clamping gripper 2, as shown in FIG Figure 3 is shown.
  • FIG. 2 The pick-up position of the suction or needle gripper 1 shown in FIG Figure 3
  • the illustrated transfer position of the suction or needle gripper 1 are offset by 90 ° to one another.
  • a pivoting of the suction and needle gripper by, for example, 45 ° is sufficient to introduce the edge 101 of the limp semi-finished product 100 sufficiently far into the clamping gripper 2, so that the clamping gripper 2 grasp the edge 101 in a process-reliable manner and can hold.
  • the suction or needle gripper 1 and the clamping gripper 2 are arranged one behind the other in the direction perpendicular to the plane of the drawing, at least the engagement areas of the suction or needle gripper 1 and the clamping gripper 2, with which the two types of gripper 1, 2 with the edge 101 of the pliable semifinished product 100 can be brought into engagement, one behind the other, therefore are arranged in alignment with one another.
  • the clamping of the semi-finished product 100 by the gripper assembly is moved parallel to the base 200, not only serves to gently detach the limp semi-finished product 100 from the base 200, but also has the advantage that the stroke by which the gripper arrangement is moved perpendicular to the base can be limited, for example because there is only limited space between the two press tool halves of the heating press in the direction perpendicular to the heating tool halves.
  • FIG. 11 shows an exemplary embodiment of a gripper arrangement as it is used for carrying out the process with reference to FIG Figures 1 to 4 described method can be used.
  • This consists essentially of a first and a second gripper bar 4, which are fastened to a linear guide via one of their two opposite end faces 5, 6.
  • the opposite end 5, 6 of the gripper bars 4 forms a free end of the gripper bars, via which the gripper bars 4 can be inserted between the two tool halves of a heating press in order to be able to be placed on the semi-finished product which is still in the heating press .
  • the two gripper bars 4 extend essentially parallel to one another and are adjustable to one another along the linear guide 7, thus in the direction perpendicular to the direction of extension of the gripper bars 4 towards and away from one another.
  • a plurality of pairs of grippers each consisting of a suction or needle gripper 1 and a clamping gripper 2, is arranged along each of the gripper bars 4, as shown in more detail in FIG Figure 6 can be seen.
  • the gripper bar 4 has a plurality of the gripper pairs 1, 2, which are arranged at a regular distance in the longitudinal direction of the gripper bar 4.
  • a pivot drive 8 is provided for the synchronous drive of the suction or needle grippers and a pivot drive 10 is provided for driving the clamping grippers.
  • the synchronization of the suction or needle grippers 1 takes place via a first drive axle 9, with which all the suction or needle grippers 1 of the gripper bar 4 are connected in a rotationally fixed manner and with accurate positioning.
  • a second swivel drive 10 for driving the The clamping gripper in turn has a drive shaft 11 for the synchronous drive of the clamping grippers 2, in particular their clamping jaws, with which all of the clamping grippers 2 of the gripper bar 4 are coupled in a rotationally fixed manner and with accurate positioning.
  • the gripper system shown can be maneuvered using a multi-axis robot, for example.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
EP18825957.6A 2018-05-23 2018-12-14 Greiferanordnung für das anheben eines biegeschlaffen halbzeugs von einer unterlage und ein entsprechendes verfahren Active EP3621906B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
HRP20210589TT HRP20210589T1 (hr) 2018-05-23 2018-12-14 Sklop hvataljke za podizanje savitljivog poluproizvoda s nosača, te odgovarajući postupak
PL18825957T PL3621906T3 (pl) 2018-05-23 2018-12-14 Układ chwytaka do podnoszenia wiotkiego półproduktu z podłoża i odpowiadający sposób

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018112307.8A DE102018112307A1 (de) 2018-05-23 2018-05-23 Greiferanordnung für das Anheben eines biegeschlaffen Halbzeugs von einer Unterlage und ein entsprechendes Verfahren
PCT/EP2018/084940 WO2019223891A1 (de) 2018-05-23 2018-12-14 Greiferanordnung für das anheben eines biegeschlaffen halbzeugs von einer unterlage und ein entsprechendes verfahren

Publications (2)

Publication Number Publication Date
EP3621906A1 EP3621906A1 (de) 2020-03-18
EP3621906B1 true EP3621906B1 (de) 2021-03-24

Family

ID=64870460

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18825957.6A Active EP3621906B1 (de) 2018-05-23 2018-12-14 Greiferanordnung für das anheben eines biegeschlaffen halbzeugs von einer unterlage und ein entsprechendes verfahren

Country Status (8)

Country Link
US (1) US11453563B2 (zh)
EP (1) EP3621906B1 (zh)
CN (1) CN111132917B (zh)
DE (1) DE102018112307A1 (zh)
ES (1) ES2872928T3 (zh)
HR (1) HRP20210589T1 (zh)
PL (1) PL3621906T3 (zh)
WO (1) WO2019223891A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113942713B (zh) * 2021-10-19 2023-04-14 东莞联鹏智能装备有限公司 取料方法、取料装置及贴料设备
DE202022101489U1 (de) 2022-03-22 2022-05-10 R + S Automotive GmbH Transportvorrichtung für das Überführen eines Materialzuschnitts und eine Anordnung zur Herstellung von Verbundbauteilen

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KR100996440B1 (ko) * 2010-09-09 2010-11-24 한국뉴매틱(주) 핀-타입 그리퍼 장치
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Also Published As

Publication number Publication date
US11453563B2 (en) 2022-09-27
PL3621906T3 (pl) 2021-09-27
HRP20210589T1 (hr) 2022-01-21
DE102018112307A1 (de) 2019-11-28
WO2019223891A1 (de) 2019-11-28
ES2872928T3 (es) 2021-11-03
CN111132917B (zh) 2021-09-17
CN111132917A (zh) 2020-05-08
EP3621906A1 (de) 2020-03-18
US20200216278A1 (en) 2020-07-09

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