WO1990004559A1 - Appareil a detacher des feuilles en matiere textile - Google Patents

Appareil a detacher des feuilles en matiere textile Download PDF

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Publication number
WO1990004559A1
WO1990004559A1 PCT/GB1988/000882 GB8800882W WO9004559A1 WO 1990004559 A1 WO1990004559 A1 WO 1990004559A1 GB 8800882 W GB8800882 W GB 8800882W WO 9004559 A1 WO9004559 A1 WO 9004559A1
Authority
WO
WIPO (PCT)
Prior art keywords
fabric
needle
cylinder
gripper device
base plate
Prior art date
Application number
PCT/GB1988/000882
Other languages
English (en)
Inventor
Alexander James King
William Malcolm Nimmo
Original Assignee
The Secretary Of State For Trade And Industry In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland
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 The Secretary Of State For Trade And Industry In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland filed Critical The Secretary Of State For Trade And Industry In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland
Priority to PCT/GB1988/000882 priority Critical patent/WO1990004559A1/fr
Publication of WO1990004559A1 publication Critical patent/WO1990004559A1/fr
Priority to GB9109055A priority patent/GB2245257A/en

Links

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
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles

Definitions

  • This invention relates to a fabric lifting apparatus and in particular to a fabric lifting apparatus which includes a number of individual needle gripper devices incorporated onto a frame which would be used for carefully lifting and laying sheets of material, and would be particularly suited to being mounted on an industrial robot arm.
  • the objective of the invention is to provide a lifting means which positively attaches and detaches sheets of woven materials such as Fibre Reinforced Plastic (FRP) cloths, with minimum damage to the structure of the fabric and which is suitable for incorporation in an automated envir- onment,
  • FRP Fibre Reinforced Plastic
  • the materials may be impregnated with resin, are sticky and therefore require careful handling and accurate placing.
  • the material may need to be separated from another sheet of material, such as a backing sheet, on which it is placed so the device must be sensitive enough to lift off, or peel off, only one sheet of material, whilst at the same time being strong enough to handle the peeling forces and the weight of the materials.
  • Fabric lifting devices are known, for example as described in German PaterfcApplication no.2002750.
  • the apparatus described here is only suitable for use with textile fabrics where a frame is fitted with a base plate having a plurality of slots through which arc- shaped needles may rotate and pierce the fabric beneath.
  • the needles undergo a simple rotating motion so that the whole apparatus carries out a straightforward vertical lifting motion of the fabric.
  • this would not be suitable for fabrics such as FRP cloths which are sticky and delicate, and so need to be handled carefully.
  • a fabric lifting apparatus includes a rigid frame, a flexible base plate and a plurality of individual needle gripper devices located at opposite ends of the base plate, each needle gripper device including a needle of substantially arcuate form rotatably mounted about an axis of the arc, each device being so adapted that, in use, the needle first rotates about the axis, such rotation causing a tip of the needle to penetrate a fabric on which the device is placed and then rolls, such rolling causing a peeling action of the fabric away from its original position without stretching the fabric.
  • the flexible base plate is attached to the rigid frame preferably by linking bars and a spring-loaded register plate which is attached centrally to the frame, which helps prevent any stretching of the fabric.
  • each individual needle gripper device is located at opposite ends of the base plate and preferably at least at each of the four corners. There is a need for each individual needle gripper device to be capable of rotating so as to grip the fabric, and subsequently to roll, so as to effect the peeling action. This is particularly needed when, for example, lifting a piece of fabric which is attached to a protective backing sheet.
  • a needle gripper device for gripping a piece of pre- cut fabric which includes a housing, a bracket located substantially within the housing and attached to a cylinder, on which cylinder is attached circumferentially a curved needle, means for causing the cylinder firstly to rotate about its axis through a predetermined angle, such rotation, in use, causing a tip of the needle to enter fabric upon which the device is placed, and secondly, to roll through a predetermined angle, such rolling causing a peeling action of the fabric, without stretching, away from its original position.
  • the bracket Whilst the cylinder is rotating the bracket is kept stationary relative to the housing by means such as, for example a detent so as to prevent any rolling of the cylinder. However, once the cylinder has rotated through the predetermined angle, the detent is overcome, and the cylinder is made to roll and so peels the fabric away from its original position.
  • rotation of the cylinder is effected by a rack acting on a pinion associated with the cylinder.
  • a number of needle gripper devices may be located on the frame to act in co- ordination with each other.
  • a method of lifting fabric includes the steps of: placing a fabric lifting apparatus, including a rigid frame, a flexible base plate and a plurality of individual needle gripper devices located at opposite ends of the base plate, onto a pre-cut panel of fabric, each needle gripper device including a needle of sub ⁇ stantially accurate form rotatably mounted about an axis of the arc; rotating each needle about its axis so that a tip of the needle penetrates the fabric; rolling each needle, relative to the frame, so that the pre-cut panel is peeled away from its original position without stretching the fabric; and lifting the frame vertically to complete the peeling of the pre- cut panel of fabric away from its original position.
  • Fabrics such as FRP cloth are often attached to a protective backing strip.
  • the above method may also include the step of peeling the fabric away from a backing strip.
  • Fig 1 is a side view of the fabric lifting apparatus according to the invention
  • Fig 2 is a side view in section of one of the needle gripper devices according to the invention
  • Fig 3 is an end view of one embodiment of the needle gripper device shown in Fig 2
  • Fig 4 is a three stage side view in section of the needle gripper device in Figs 2 and 3 in action
  • Fig - ⁇ is a $i ⁇ t_ stage side view of the fabric lifting apparatus in use.
  • a fabric lifting apparatus has a rigid frame 10 which is connected via connecting rods 11 to a plurality (only two shown here) of individual needle gripper devices 12, which are located and attached to opposite ends of a flexible but non-extensible base plate 13.
  • the rigid frame 10 is centrally connected to the base plate 13 by a spring-loaded register plate 14.
  • the apparatus is shown placed on top of a pre-cut panel 15 of length L of a sheet of material 16, for example FRP cloth.
  • FIG. 1 A preferred embodiment of one of the individual needle gripper devices isshown in Fig 2, where a housing 20 surrounds substantially a bracket 21 which is moveably connected to the ends of an axle 28 of a needle holder in the form of a cylinder 22 around which the cylinder 22 may rotate. A curved needle 23 is attached circumferentially to the cylinder 22. A rack 24 is engaged with a pinion 25 located at the
  • a link member 26 is attached at one end to a point on the cylinder 22 via a pin 27 and at the other end to a point on the housing 20 and includes. slot 31.
  • a detent locking pin 29 is provided between the housing 20 and the bracket 21. Roller guides
  • Fig 3 shows an end view of a preferred embodiment of the device in Fig 2.
  • This particular embodiment has two cylindrical needle holders 22 each carrying two curved needles 23.
  • Link members 26 are attached to
  • each cylinder with pins 27 on one side and to the housing 20 on the other side.
  • Located within the housing 20 are guide rollers 30 to guide the rack 24 and bracket 21 during movement.
  • the pinion 25 acts on the axle 28 which runs through the whole device.
  • Fig 4a shows the device 12 in its initial rest position in contact with the pre-cut panel 15 of material.
  • Fig 4b shows the intermediate position of the device 12 where the rack 24 has been moved horizontally relative to the housing 20
  • Fig 4c shows the final position of the device where the detent locking pin 29 has become disengaged by the action of a tripping device (not shown) attached to the rack 24.
  • the actuator continues to move the rack 24 and thus rotate the pinion 25 causing the bracket 21 to also move horizontally and thus causing the cylinder to roll towards the centre of the device.
  • the link member 26 also moves through an angle of 90° until the axle 28 of the cylinder 22 becomes engaged in the slot 31 of the link member 26. This rolling motion of the cylinder 22 initiates a pulling action in which the pre-cut panel 15 is peeled away from the backing sheet 40 to which the sheet of material 16 is attached.
  • Fig 5 the action of a preferred embodiment of the complete fabric lifting apparatus peeling a piece of fabric away from a backing sheet is shown in six steps.
  • Two individual needle gripper devices 12 are located at opposite ends of the base plate 13 in such a way that the movement of the cylinders 22 is in opposite directions and are operated in conjunction with the spring-loaded register plate 14 in the following way:
  • Step 1 The apparatus is lowered on to a pre-cut panel 15 within a sheet 16 of material which is held firmly in place against a suction table (not shown). In this position the needles 23 of the gripper devices 12 are fully withdrawn from the fabric, as shown in Fig 5a, which corresponds to Fig 4a;
  • Step 2 Actuators (not shown) cause the cylindrical needle holders 22 to rotate through an angle of 90°.
  • the needles 23 enter the fabric panel 15 as shown in Fig 5b at opposite ends of the panel 15. This corresponds to Fig 4b.
  • Step 3 Actuators cause the cylinders 22 to roll through an angle of 90° towards the centres of the devices 12, causing the edges of the panel 15 to be peeled away from the backing material 40, as shown in Fig 5c. This corresponds to Fig 4c.
  • Step 4 Connecting rods 11 are pulled inwards towards the centre of the apparatus by the action of secondary actuators (not shown) which increases the peeling action.
  • Step 5 The apparatus is raised vertically along the z-axis, which may be by robot or machine, while the spring-loaded central register plate 14 ensures that the central portion of the panel 15 is last to leave the table. Such movement ensures negligible stretching of the panel length L (and panel breadth) so that distortion of the panel 15 is negligible.
  • the gripper devices 12 and central register 14 retain the coordinate system of the lifting apparatus.
  • Step 6 The panel 15 is completely detached and can be moved to a new position and off-loaded at a known location by a reverse sequence of the above steps.
  • any number of devices 12 may be attached to the base plate 13 of the apparatus.
  • four devices would be located near the corners of a rectan ⁇ gular base plate.
  • banks of cylinders 22 may be located adjacent to each other and at opposing sides of the base plate 13.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

L'appareil à détacher des feuilles en matière textile décrit comprend plusieurs dispositifs de préhension (12), qui comportent chacun une aiguille en arc (23) tournant autour d'un axe de l'arc et qui sont placés aux extrémités opposées d'une plaque de base (13) montée sur une structure (10). Lors de l'utilisation, on actionne les dispositifs (12) de façon à mettre en rotation les aiguilles (23), qui pénètrent alors dans la feuille de matière textile (15) et à les faire tourner par rapport à la structure (10), afin de détacher par décollement la feuille de matière textile (15) de sa position d'origine sans l'étirer.
PCT/GB1988/000882 1988-10-19 1988-10-19 Appareil a detacher des feuilles en matiere textile WO1990004559A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/GB1988/000882 WO1990004559A1 (fr) 1988-10-19 1988-10-19 Appareil a detacher des feuilles en matiere textile
GB9109055A GB2245257A (en) 1988-10-19 1991-04-26 Fabric lifting apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/GB1988/000882 WO1990004559A1 (fr) 1988-10-19 1988-10-19 Appareil a detacher des feuilles en matiere textile

Publications (1)

Publication Number Publication Date
WO1990004559A1 true WO1990004559A1 (fr) 1990-05-03

Family

ID=10630016

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1988/000882 WO1990004559A1 (fr) 1988-10-19 1988-10-19 Appareil a detacher des feuilles en matiere textile

Country Status (2)

Country Link
GB (1) GB2245257A (fr)
WO (1) WO1990004559A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0421167A2 (fr) * 1989-10-06 1991-04-10 KUKA Schweissanlagen GmbH Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283047A (en) * 1977-06-17 1981-08-11 Levi Strauss & Co. Facing ply separator
EP0156756A2 (fr) * 1984-03-02 1985-10-02 State of Israel Ministry of Defence Raphael Armament Development Authority Procédé et dispositif d'alimentation en feuilles, en particulier des pièces textiles à partir d'une pile
GB2202827A (en) * 1987-03-19 1988-10-05 Secretary Trade Ind Brit Needle gripping device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283047A (en) * 1977-06-17 1981-08-11 Levi Strauss & Co. Facing ply separator
EP0156756A2 (fr) * 1984-03-02 1985-10-02 State of Israel Ministry of Defence Raphael Armament Development Authority Procédé et dispositif d'alimentation en feuilles, en particulier des pièces textiles à partir d'une pile
GB2202827A (en) * 1987-03-19 1988-10-05 Secretary Trade Ind Brit Needle gripping device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0421167A2 (fr) * 1989-10-06 1991-04-10 KUKA Schweissanlagen GmbH Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe
EP0421167A3 (en) * 1989-10-06 1992-02-12 Kuka Schweissanlagen & Roboter Gmbh Device and method for gripping, picking-up, transporting and joining of web-like workpieces
US5161844A (en) * 1989-10-06 1992-11-10 Kuka Schwessanlagen & Roboter GmbH Process and grasping device for picking up, transporting, and depositing flat parts made of textile material, etc.

Also Published As

Publication number Publication date
GB2245257A (en) 1992-01-02
GB9109055D0 (en) 1991-09-04

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