WO2003035375A1 - Verfahren und vorrichtung zum automatisierten handhaben von harzmatten bei der herstellung von smc-teilen - Google Patents
Verfahren und vorrichtung zum automatisierten handhaben von harzmatten bei der herstellung von smc-teilen Download PDFInfo
- Publication number
- WO2003035375A1 WO2003035375A1 PCT/EP2002/009831 EP0209831W WO03035375A1 WO 2003035375 A1 WO2003035375 A1 WO 2003035375A1 EP 0209831 W EP0209831 W EP 0209831W WO 03035375 A1 WO03035375 A1 WO 03035375A1
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- WO
- WIPO (PCT)
- Prior art keywords
- suction
- handling device
- resin
- suction cup
- mat
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
- B29C70/541—Positioning reinforcements in a mould, e.g. using clamping means for the reinforcement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/40—Shaping or impregnating by compression not applied
- B29C70/42—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles
- B29C70/46—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using matched moulds, e.g. for deforming sheet moulding compounds [SMC] or prepregs
Definitions
- the invention relates to a method and a device for the automated handling of resin mats in the production of SMC parts.
- SMC Parts are based on a certain amount of a mixture of reactive thermosetting synthetic resin and fibers, which is weight-matched to the finished component.
- the coordinated amount of raw material is obtained by cutting rectangular cut parts of a certain size from a fiber mat web (prepreg web) delivered in roll form and by folding the cut parts into a stack of mats. Such a mat stack is inserted in the correct position in an open mold of a press, which is heated to a temperature at which the reactive synthetic resin reacts chemically and sets.
- the introduced raw material is initially only heated, which makes the synthetic resin even softer and more flowable.
- the mold is then closed under controlled force and speed, whereby the softened raw material flows away to the side and completely fills the mold cavity.
- the molding tool is kept closed for a while with a defined force, so that the synthetic resin is fully can constantly react and harden. Only then can the mold be opened and the finished SMC part removed from it.
- the blank parts stacked up as a raw material to form a stack of mats are all rectangular in shape and all have the same width in one direction lying transversely to the resin mat web, namely the width of the resin mat web trimmed at the edge itself.
- the cut parts are produced by cross-cutting the resin mat web, the cut-off parts being placed on a movable platform which is arranged in the immediate vicinity of the cross-cutting device and is in the form of a rake - stacked rake.
- the resin mat stack is transferred by the movable stacking rake to a similarly designed transfer rack located near the press.
- the resin mat stack is placed on the transfer rake.
- the transfer rake with the resin mat stack lying on it is positioned above the engraving of the lower tool with a slight inclination of the tines of the transfer rake.
- the transfer rake In response to a specific control command, the transfer rake can be withdrawn horizontally relative to the holding rake or in the direction of the carrying tines, the stack of resin mats lying on top being transferred into the opened molding tool and being deposited more or less precisely in this position.
- DE 39 15 380 AI [3] shows a very similar handover calculation.
- a disadvantage of The method according to [1] consists in that all the blank parts are rectangular and in principle 'of the same size, which, however, can only be readily accepted for a limited range of components.
- the transfer rake After the carrying tines of the transfer rake define a flat storage surface, but the engraving of the lower tool is uneven, the transfer rake must adhere to a certain minimum distance in the vertical direction from the engraving when transferring the resin mats. Otherwise, the resin mats are transferred to the engraving proceeding from the mat side due to the retraction movement of the transfer rake relative to the holding rake, the resin mats passing at the transfer point and deforming locally in an S-shape.
- the position ultimately assumed by the resin mat on the engraving is determined by the initial, first placement of the mat edge that is passed on first on the engraving.
- the initial point of contact of the resin mat - quite apart from the scattering vertical and / or horizontal relative position between the transfer rake and engraving at the start of the transfer - can be more or less far ' front or back in relation to the direction of retraction of the Handover rules.
- Two different phenomena, both of which are related to the more or less great softness of the resin mats, have a significant influence on this spread of the initial point of contact.
- a soft resin mat hangs more steeply from the free ends of the carrying tines than a rigid resin mat due to gravity, so that a soft resin mat will sit further back than a rigid resin mat.
- auxiliary devices assigned to the lower tool is provided for refitting the lower tool, namely for inserting the stack of resin mats and pressed-in parts.
- This purpose and the design of the last-mentioned auxiliary device can, however, only be taken very cursorily [2].
- In the drawing only two units, which are spaced apart from one another by the overall dimension of the finished part, are arranged in mirror symmetry and are not mentioned in the description, and which could serve for handling the resin mat stack. However, it remains to be seen whether these are needle grippers, pliers grippers or other grippers; it is also unclear whether and if so how the grippers can be moved.
- the insertion aid known from [2] only eliminates the need for workers to work in the immediate vicinity of the hot mold, which would be ergonomically extremely unfavorable both because of the heat and because of the poor accessibility of the mold.
- the handling device presupposes that the stack of mats to be inserted has previously been laid out in a defined position at a specific receiving location near the lower tool.
- this is problematic in automated production and is in no way solved by the known insertion aid.
- the resin mat even if a positionally accurate provision of the resin mat stack could be assumed on a transfer table, the resin mat also grips depending on the greater or lesser softness of the resin mats gravity a more or less large sag ⁇ the resin mats.
- first point of contact is different on the engraving of the lower tool.
- the position of this first touchdown point determines the later end position of the entire stack of resin mats, because after the resin mats are initially placed on the engraving, the resin mats no longer move relative.
- the resin mats When the sagging resin mats are lowered on the engraving, the resin mats roll off the tool surface, but remain attached to the surface.
- US Pat. No. 4,576,560 [4] also deals with the automated insertion of resin mats into the open mold of an SMC parts press. Namely, [4] proposes a needle gripper with a plurality of needles arranged at a spatial inclination to the direction of gravity, which can be telescopically extended when the resin mats are picked up and retracted again when they are put down. An axially movable scraper is connected to the hook needles, which can be moved independently of the needle. The needles are arranged inclined spatially in such a way that the angle between the needle and resin mat when garland-like sagging the same towards a right. Angle enlarged, but the needles themselves are immovably held in their oblique arrangement.
- the needle gripper works with a storage or receiving table roughly adapted to the lower tool, which has recesses at the puncture points of the needles, so that the gripper needles can pierce through the mats to be picked up without hindrance.
- the handling device known from [4] - similar to [2] - it is only a transfer device which requires that the matite stack to be inserted is previously at a specific one Location near the lower tool has been laid out in a defined position. In this respect, the same criticism as against [2] should also be used against [4].
- the puncture points of the needles expand more or less as a result of gravity when the resin mat is lifted and transported.
- the more or less widened puncture of the holding needles also results in a different scattering of the passage of the resin mat taken up.
- the position of the puncture points differs depending on the hardness of the resin mat to be picked up and / or depending on the cleanliness of the needles. This positional spread of the sag caused by the design of the gripper is superimposed on the hardness-dependent size spread of the sag described in connection with [2].
- EP 461 365 B1 [5] shows a process for the production of molded plastic parts made of thermoplastic material, in which a weight-matched amount of heated and softened thermoplastic material is placed in an open mold of a press, by closing the mold the plastic mass in the cavity of the mold is extruded and then the workpiece still in the mold is cooled and finally removed from it.
- a suction gripper which is handled by a three-axis movable manipulator, is used with two suction cups per workpiece.
- suction cups made of flexible material are usually used in suction cups, in which the suction cup edge is designed as a thin sealing lip in cross section, which opens downward like an umbrella and can nestle well against uneven surfaces and can therefore seal well.
- a disadvantage of suction pads when handling reactive and sticky resin mats from SMC parts production is, however, that they tend to become soiled and must therefore be rejected as susceptible to faults, which is mentioned in the document [1] mentioned above with reference to [1] 3] is rightly pointed out.
- the object of the invention is to provide an improved method and a device for handling resin mat blanks with which any shape of blanks is received by a flat, uninterrupted base and with which all are customarily used in SMC parts production occurring handling operations can be carried out automatically, both with regard to individual cuts and with regard to stacks of mats, and with a high level of work accuracy.
- any fluctuations in the hardness or softness of the resin mats should in no way affect the positioning accuracy of the resin mats when they are picked up or put down.
- the resin mats which may differ in shape and size, are automatically handled by a multi-axis manipulable suction gripper and simultaneously held on top at several points.
- Standing suction bells can be controlled individually and can be supplied with a vacuum.
- the goods to be handled are in principle held on the entire top surface in a flat state and maintains this flat shape during the pick-up, transport and storage, regardless of a more or less soft state of the resin mats.
- the suction cups have a cup cross-section with a tapered edge that can dig into the surface of the mat in a sealing manner.
- the suction gripper can be adapted to different sizes and / or shapes of mat cuts by mere control measures. Thanks to the relentless cup shape, not only is a higher holding force compared to a compliant rubber suction cup of the same size, but a higher vacuum can also be applied without deforming the suction cup. Due to the bell ring cutting edge digging into the mat surface, it seals very well, which also enables a high vacuum and a high holding force.
- the dimensionally stable suction bells are, on the one hand, less susceptible to contamination due to their narrow contact surface with the resin mats and, on the other hand, are easy to clean due to the exposed position and stable shape of the contact surface.
- the suction cups can therefore re through navantreiba-, * located in the action area of the handling device Cleaning brushes can be cleaned mechanically well by the suction gripper bringing the edges of the suction cups into contact with the cleaning brushes.
- FIG. 1 is a schematic overall view of a process plant in a plan view
- FIG. 3 shows a device built on a balance for preforming and weighing the basic blank and for preparing a resin mat stack obtained according to FIG. 2,
- FIG. 4 shows a side view of a universally and flexibly usable suction gripper with a large number of lifting suction cups
- FIG. 7 is a view of the underside of the suction pad according to Figure 4,
- Fig. 11a to lld four phases when placing the resin mat blank on a stepped surface without reaching around by the suction pad and
- the method on which the invention is based, or which precedes it, for the serial production of SMC parts will be briefly explained with reference to the method scheme according to FIGS. 1 and 2.
- the SMC parts are produced from fiber-containing, reactive resin composition, which is provided as a preliminary product in the form of a quasi-endless resin mat web 22 wound up into a supply roll 1.
- a protective film 26 which is only removed shortly before the resin mat is processed and rolled up to form a separate roll 2.
- the protective film is placed over a turning bar located near the cutting table 3 12 deflected towards the winding 2 against the processing direction of the resin mat.
- the side edges of the resin mat web are unsuitable for further processing and must be cut off by a cutting tool 20.
- the side waste strips 28 cut off at the edge of the web are likewise deflected into waste containers 14 via turning bars 13.
- the usable part of the resin mat web 22 is disassembled on the cutting table 3 provided with a very hard support, various cut parts of a defined shape and size being cut out from it and stacked to form a multilayer resin mat stack of a certain number of layers and arrangement.
- the resulting waste which can no longer be used, is discharged into a corresponding waste container 4.
- the cutting can basically be done manually with a sharp knife and steel ruler. In the exemplary embodiment shown in the figures, however, mechanized and automated cutting by means of a cutting robot 5 is provided.
- the cut parts cut by the robot 5 on the table 3 are stacked to form a resin mat stack 31, the cut parts being handled and moved by a handling robot 7, which in turn is operated with a specially for this task and this substrate trained resin mat gripper 27 is equipped, which will be discussed in more detail below.
- the handling robot places it in a heated mold 18 of the molding press 8 in a position-defined manner. The molding tool 18 is closed by the press until the shaping surface of the cavity comes into contact with the inserted resin mat stack and clamped in the closing direction with a defined, initially still low force.
- the resin mass heats up and softens. Due to the closing force of the molding tool, the resin mass begins to flow and thereby completely fills the cavity of the more and more closing molding tool 18.
- the tool is then held in the closed state for a certain time with increased force, the resin composition thermally curing. After this curing time has expired, the press 8 opens the tool, the finished SMC part generally remaining in the lower, stationary mold half.
- a removal robot 9 provided with a removal tool 29, the SMC part can be removed from the press and placed in a cooling station 11. While the cutting and handling robots 5 and 7 are preparing a new resin mat stack, the opened molding tool 18 is cleaned by two cleaning robots 10 so that it is ready to receive a new resin mat stack.
- a high-frequency rotary oscillating saw blade 21 is recommended as the cutting tool, which - driven by an electric tool 20 with an integrated oscillation gear - around a stationary one In the middle position.
- the resin mat web 22 is supported by a smooth, continuous as well as joint and joint-free underlay in the form of a thick glass plate 23, which is harder than the cutting teeth of the saw blade.
- a major problem with the serial production of SMC parts is the quick and precise, but above all automated handling of the resin mat blanks. Any shapes should be taken up by a flat, uninterrupted base and all handling processes that usually occur in SMC parts production should be able to be carried out automatically and with high working accuracy, both with regard to individual cuts and stacks of mats.
- a resin mat stack is formed from a total of seven blank parts, namely from a particularly large basic blank part 24 and from six substantially smaller, remaining blank parts 25, which are arranged in two small, adjacent stacks on the base lying at the bottom - Cut part 24 to be stacked.
- the basic blank is always cut to the same area with the constant side dimensions A x B, then weighed and deduced from the weight to the basis weight of the resin mat web.
- the other blank parts 25 are cut according to a certain algorithm in a variable manner but specifically with a view to a constant total weight.
- the length dimension l of the remaining blank parts 25 in the example shown is kept constant for all workpieces, but the width dimension b is individually varied for weight adjustment; the width dimension in the example shown is the same for all six blank parts 25 of a resin mat stack. Depending on the local basis weight of the resin mat web 22, there is a more or less wide cut strip 30 on the left side edge.
- the space requirement for the seven blank parts 24 and 25 shown in FIG. 2 cannot be distributed evenly over the width of the resin mat web 22.
- a material of dimension A is used in the longitudinal direction of the web, whereas material of a much larger dimension 2-1 is consumed on the opposite side of the web.
- flexible cutting and handling of the resin mat is required.
- the parts must be supported on a flat and joint-free surface.
- the reference blank 24 is not only weighed when it is placed on the scale 15, but at the same time is also pre-shaped in a stepped manner, as is later useful for inserting the finished resin mat stack 31 into the mold. It should be emphasized that this is a special case of a workpiece which is critical in this regard, but which was selected in the present case in order to be able to show the full range of the handling options of the suction pad according to the invention.
- a stacking device 17 is attached to the weighing plate 16 of the scale, which enables a stepped preforming of the reference blank by the handling robot 7 and the resin mat gripper 27.
- the remaining blank parts 25 are stacked on the lower or upper stage of the basic blank part 24. This also places high demands on the handling device.
- a suction gripper 27 which can be manipulated by a multi-axis movable handling robot 7 is provided, which is designed as described below:
- suction bells 35 on the underside of the suction gripper 27 arranged, which face down with their open side and lie or can be brought together with their edge 38 in a suction cup plane 36.
- the suction cups are distributed in a grid pattern over an area that corresponds to the largest resin mat to be handled.
- the mutual transverse distance t of the suction cups 35 within the grid is dimensioned such that the smallest resin mat to be handled covers at least two suction cups 35.
- Each suction cup 35 can be individually controlled via a separate connection 37 and can be acted upon by vacuum.
- the suction bells which are made of a rigid material, have an edge 38 which tapers in cross-section in the manner of an annular cutting edge and an approximately cylindrical inner and outer surface in the region near the edge.
- each suction cup can be moved axially orthogonally to the suction cup plane 36, that is to say it can be lifted, and upon a respective control command it can be moved very quickly from a rest position to a receiving position that is axially offset from it, which is explained further below in connection with the FIGS. guren 10a, b; 11a, b, c, d; and 12a to 12e will be discussed in more detail.
- the axially movable guidance of the suction cups is achieved in the embodiment shown in the drawings in that each suction cup is connected to the piston rod 46 of a pneumatic working cylinder 45 which can be controlled individually.
- the suction bells are made of an unyielding material, such as stainless steel, brass, aluminum, or a hard plastic that is inert towards the material of the resin mat sheets. Due to the materials mentioned, the suction bells do not give way under vacuum, but also retain their shape under the influence of other forces. Because of possible wear of the suction cups when using the suction cup as a result of constantly recurring brush cleaning, in particular the cutting edge of the suction cups is a wear-resistant material, especially steel, to be preferred at least in the edge area 38.
- the edge 38 of the suction cup is designed in the shape of a ring cutting edge with a V-shaped cross-section, the front edge of the ring cutting edge, however, should be slightly rounded in order to avoid fiber injuries to avoid. Due to the V-shaped cross-section, the edge is pressed into the surface of the resin mat, especially if the suction cup is opened at a certain speed when it is placed on the resin mat and especially if the required suction cups are not all at the same time, but instead can be set up with a slight delay. Although this digging is reinforced by the subsequent vacuum application of the suction bell, it must be ensured at the outset that the suction bell is sealed off from the resin mat to allow a safe vacuum build-up in the suction bell.
- the placement force of the suction cups 35 on a resin mat to be accommodated and the groove depth of the edge therein must be determined empirically on a case-by-case basis.
- a pressure of, for example, 2 bar in the pneumatic cylinders may be sufficient to be able to achieve a good seal in any case.
- the suction bells are designed to be approximately cylindrical, at least in the area near the edge, inside and outside.
- a family of rotating brushes 55 is arranged in the action area of the handling robot 7, which are roller-shaped in the embodiment shown in FIG. The cleaning brushes arranged horizontally at the upper edge of a container 56 are driven by a drive 57.
- the suction gripper 27 is moved back and forth over the circumference of the cleaning brushes, adhesive plastic being stripped from the edges 38 of the suction bells and being caught in the container 56. If necessary, the suction gripper with different orientations of the suction cup field - longitudinal, transverse, diagonal - to the circumferential direction of the roller brushes can be slipped over them.
- profiled cleaning brushes are also conceivable, in which the envelope has, for example, the profile of a gearwheel over the bristle ends. It can be useful if the profiles are screw-like inclined to the axial direction. Knob profiles of the envelope over the bristle ends can also bring about an improved cleaning result compared to a cylindrical brush.
- the cleaning brushes 55 in the exemplary embodiment shown in FIG. 1 are mounted horizontally in the region of the upper edge of the containers. It should be emphasized that the cleaning brushes should be easily replaceable in the container so that they can be quickly replaced by new or clean brushes if the brushes become dirty to be able to. Any cleaning of the brushes can be carried out in a separate maintenance workshop if necessary or possible. First experiences with the cleaning system indicate that the bristles of the cleaning brushes have to be very hard and stiff in order to achieve a reliable cleaning effect.
- the rotationally symmetrical interior enclosed by a suction cup 35 above the edge 38 is designed to be relatively flat.
- the interior has an axial height h of approximately 25 to 40% of the edge diameter d.
- the top-side bottom 39 of the interior enclosed by the suction bell 35 is rounded in the circumference and itself has a surface shape similar to an ellipsoid of revolution in the manner of a boiler bottom.
- the interior of the bell must not be too flat, because otherwise there is a risk that the resin mat, which bulges into the interior of the suction bell under vacuum, will touch the bell bottom 39. This contact could not only unnecessarily contaminate the bell bottom with resin, but the area on which the vacuum acts could be reduced compared to the circular area enclosed by the bell edge 38.
- each suction bell 35 at its edge 38 In order to be able to build up a certain minimum force on each suction cup under the influence of vacuum, it must not be too small. It is therefore recommended to dimension the diameter d of each suction bell 35 at its edge 38 to approximately 2.5 to 10 cm, preferably approximately 3 to 4 cm, which has an enclosed area of rounded 5 to 78 cm 2 , preferably approximately 7 to 12 cm 2 corresponds.
- the larger suction cups are preferred for stronger and / or more rigid resin mats.
- a vacuum of 0.7 bar this is a moderate value
- a holding force of approximately 15 to 230 N, preferably approximately 21 to 35 N can be built up per suction bell; at 0.5 bar it would be 25 to 390 N, preferably about 35 to 60 N.
- the clear volume of each suction bell should advantageously be about 3 to 300 cm 3 , preferably about 5 to 20 cm 3 . These volumes can be evacuated very quickly.
- the pitch t of the grid which is the basis for the areal distribution of the suction cups 35 in the suction cup plane 36, need not be the same in the longitudinal and transverse directions, but one will strive for an at least approximately the same pitch.
- the pitch of the grid can also have different values across the entire area of the suction pad. For example, it may be appropriate to arrange smaller suction bells in the center of the suction gripper with a small pitch in order to be able to handle small mat blanks with no slack.
- the suction bells arranged in the edge area of the suction gripper are only required for handling large mat cuts. Accordingly, a larger separation distance from larger suction cups is sufficient here. In any case, it should Pitch within the grid-like arrangement of the suction bells is at least about 120 to 150% of the diameter d of the suction bells 35.
- an elastic intermediate member 40 is attached above the suction cup in the holder of the suction cups, which also to a certain extent during the laying down of the resin mats on the engraving Scope automatically allows an elastic pivoting of the suction cup.
- this intermediate member 40 essentially consists of a waisted, round rubber part to which threaded plates are fastened on the top and bottom. Movable tension members integrated in the rubber ensure that the intermediate member is almost rigid in the axial direction.
- such an intermediate link could also be formed by a helical spring or by a bellows, although an axial rigidity would have to be ensured by integrated, movable tension links.
- This elastic intermediate element is useful both in the case of a suction cup design with a large suction cup stroke H and in the case of a simple design with only a small suction cup stroke caused by the attachment.
- the piston rods 46 are the lifting cylinders and optionally the elastic intermediate members 40 each with a bore 50, 50 passing axially therethrough 'provided, through which the vacuum can be supplied to the associated suction bell.
- the piston rods 46 are o- each sealingly led out berograph by the cylinder head 1 54, wherein the vacuum ports 37 for the suction cups 35 are each arranged at the upper piston rod ends. Movable and vacuum-proof hose lines lead from the piston rod ends to a manifold arranged immovably on the suction pad.
- each of the suction bells is held at the free end of the piston rod 46, each of a lifting cylinder 45, which lifting cylinders are rigidly fastened in the suction gripper 27.
- Each lifting cylinder can be actuated and pressurized individually via the connection 48 with respect to the piston space on the upper side, ie "lowering", or via the connection 49 with respect to the lower piston space, ie "lifting".
- any selection of suction cups orthogonal to the suction cup plane 36 can be raised or lowered.
- a large bell stroke H is not required, ie if the resin mats are only to be picked up from a flat state and are also to be stored in an approximately flat state, then a small stroke of the suction bells, which should be large enough to accommodate the suction bells which are not required in some cases, is sufficient safe from contact with the resin mat to be handled.
- Such a stroke is also useful for accelerating the suction cups to be activated from a raised rest position so that they can be placed on the resin mat at a certain minimum speed, so that the edge of the bell can seal into the mat surface due to the impact impulse.
- one piston return spring integrated in the pneumatic cylinder is sufficient for a piston return.
- the suction pad is a series tool that is optimized on a case-by-case basis with regard to the respective application. If the workpiece to be manufactured is relatively flat in the finished state, a suction cup with a small suction cup stroke will also be used. In addition to the weight advantage and the simple design of the pneumatic cylinders, this would have the essential advantage of a low overall height of the suction pad. This is advantageous because in the case of a suction cup with a low overall height, the molding tool for loading with new resin mats only needs to be opened correspondingly little. The less the mold is opened, the less it cools down in the opening times required for the new loading and the faster the mold has returned to its target temperature after closing. Low height of the suction cup, low opening height of the mold when new chic, low cooling of the same in the interruption times and shorter cycle times are directly related to each other.
- the resin mats should not only be picked up and stacked by the cutting table 3, but the resin mat stacks or resin mats to be inserted should also be deposited in a positionally correct and appropriate manner on the engraving of the molding tool.
- the mobility of the suction cups 35 is provided over a larger stroke H. The greater overall height of the suction pad and the associated larger opening of the tool in the feeding breaks must be accepted.
- annular piston rod brake 52 is arranged on the freely accessible part of the piston rod 46 leading out of the cylinder head 54, the annular piston brake 52 being axially smooth, i.e. possibly also due to its own weight, which can be moved on the piston rod.
- Each of the piston rod brakes can be controlled individually and is provided with a control connection 53. By actuation, the piston rod brake can be fixed in the relative position present on the piston rod.
- piston rod brake 52 Without actuation of the piston rod brake 52, this is due to gravity loosely or due to an end screwing on the upper end face 47 of the cylinder head 54, regardless of the respective stroke position of the piston rod 46 or the suction bell 35.
- Figure 5 is a pneumatic Type of piston rod brake 52 shown.
- a pressurizable bottom and against the force of one Return spring displaceable ring piston can be radially compressed via conical surfaces, a radially slotted brake cone, which thereby positively encloses the piston rod and fixes it.
- a downward movement of the piston rod is then no longer possible because the brake 52 attached to the piston rod bears against the upper end face 47 of the cylinder head. After relieving the pressure on the annular piston, it is lowered by the return spring so that the brake cone can spring open radially and release the piston rod.
- an automatically responding safety throttle is provided in the vacuum inlet of each suction cup.
- this is designed such that it is only delayed after a vacuum has been applied becomes effective, the delay time being such that, under normal circumstances, the full vacuum can readily build up in the associated suction bell.
- the safety throttle possibly go into a strongly throttling state, namely under the further condition that a large pressure difference then persists across the safety throttle. In the strongly throttled state, only small amounts of gas are let through without hindrance, for example due to outgassing of the resin mats.
- the safety throttle which is in the throttling state, represents a considerable flow obstacle. This prevents the vacuum in the line system of the suction pad from breaking down when a local leak occurs. Rather, a vacuum is maintained in the entire system of vacuum lines arranged in the suction gripper, at least to a sufficient level. After the vacuum on the previously activated suction bells has been switched off, the activated safety throttles automatically and quickly return from the throttle state to the open passage state.
- a complete range of handling operations also includes handling a stack of mats 31 formed from a plurality of resin mats.
- the individual resin mat blanks 25 can also be pressed against one another when placed one on top of the other, so that the individually stacked layers are already against one another due to the tackiness of the resin be liable.
- a mat stack 31 formed in this way at least if the number of layers is not large and / or if the mats are not too heavy, could be handled solely by detecting the top layer by means of the suction cups.
- the danger cannot be dismissed out of hand that the lowest or several lowest layers may be located could partially detach from the gripped stack during transport.
- pivotable mandrel guides 66 with gripping mandrels 64 that can be extended telescopically are arranged on the edge and / or within the grid of the suction cups 35.
- Each of the mandrel guides can be pivoted back and forth in a controlled manner by a drive 65 between two end positions determined by adjustable stops.
- the mandrel guide In the one end position indicated by dash-dotted lines in FIG. 8 - retracted position - the mandrel guide is laid flat against the underside of the base plate 51 of the suction gripper and pivoted back behind the suction cup plane 36.
- the mandrel guides 66 In the other end position - working position - which is erected in relation to the suction cup plane 36 and which is drawn in full lines in FIG. 8, the mandrel guides 66 are inclined at the resin mat 24, 25, 31 to be received.
- the fixing mandrel 64 can be extended telescopically and inserted into the mat layers of the stack at an acute angle. During this process, the mat stack still lies on the base 17.
- the penetration depth of the fixing mandrels can be adjusted in such a way that the lowest layer of the resin mat is still reliably grasped.
- the locating pins pierce through to the table surface. It should be emphasized that the piercing direction is towards the edge, ie the piercing point of the uppermost layer is further away from the edge than the piercing point of the bottom layer.
- the bottom layer 24 of the mat stack should be secured as close to the edge as possible.
- the suction gripper can be raised and the mat stack can be lifted off the flat surface with it.
- the suction gripper first performs a slight tilting movement in order to be able to loosen the bottom mat 24 adhering to the support 17 more easily, namely from the edge.
- the occurring, vertically directed loads within the mat stack need not be absorbed via the long lever arm of the fixing mandrels 64 and the mandrel guides 66. Rather, the locating pins 64 are supported on the uppermost position of the stack, securely held onto the suction bells by suction forces; only the short mandrel piece in the mat stack is subjected to bending in the vertical direction.
- the particularly difficult special case which has already been mentioned in connection with FIG. 3, is dealt with again, in which a mat blank 24 is placed into the engraving of the lower tool in a stepped manner, taking into account certain special features of the workpiece to be produced must become.
- the mat blank must first be placed on a corresponding preform device 17 in a stepped manner.
- the resin mat is neatly molded into the hollow edge of the step.
- a laterally in the protruding, strip-shaped shaping tool 63 is attached to a longitudinal side of the base plate 51 of the suction gripper 27. The mode of operation with this shaping tool will be discussed in more detail below in connection with FIGS. 12a to 12e.
- a special feature of the cleaning arrangement according to FIG. 9 is that the rotating cleaning brushes 55 'shown there also correspond to the grid-like arrangement of the suction cups and are arranged in an identical grid, the bristles of the cleaning brushes being held in a round brush board lying perpendicular to the axis of rotation are.
- Each suction cup is assigned its own cleaning brush.
- These bristles of the cleaning brushes are of different lengths, and in fact they are shorter on the outer edge than in the center of the brush, so that the profile shape of the cleaning brush is adapted to the clear cross-sectional shape of the suction cup.
- the cleaning brushes 55 ' are all arranged in a vertical plane, so that the brushed particles can not fall into the drive mechanism of the brushes.
- the cleaning brushes 55 'according to FIG. 9 are also easily exchangeably held in the corresponding container 58 in order to be able to quickly replace them with new or clean brushes in the event of contamination.
- the suction gripper 27 is carefully pressed axially into the rotating cleaning brushes with the suction cup plane 36 aligned vertically and the grid of the suction cups and the cleaning brushes being in the same position.
- the suction pad can perform a small circular movement with a parallel offset in the suction cup level.
- FIGS. 10a and 10b The picking up of a single resin mat blank with the suction gripper from a flat base is shown in two phases in FIGS. 10a and 10b, reference being also made below to FIGS. 5 and 6 because of individual structural features of the suction gripper.
- the suction gripper is held by the handling robot with the suction cup level 36 at a close distance above the resin mat to be picked up by the cutting table 3.
- the suction cups are then moved towards the blank of the mat, a small time offset between the individual axial strokes of the suction cups being advantageous.
- the edge of the suction bells hits the resin mat, so that it furrows in and thus seals well.
- the suction gripper is moved in parallel while maintaining the horizontal position on a keisbow, the mat section assigned to the lower depositing stage being moved from the raised position to the lower depositing stage.
- the vertical part of the level te mat section to this vertical storage surface (phase III according to FIG. 11c).
- the suction cups of the mat section of the lower storage level that have been activated so far can be ventilated and retracted into the suction gripper, i.e. be raised to the ready-to-shoot starting position (phase VI according to FIG. 11).
- the suction pad is then ready to take over a new resin mat.
- the terminal block 19 can be opened again.
- the suction gripper must now grip around and take up this temporarily deposited mat edge again with another row of suction bells, the strip-shaped shaping tool 63 being applied to the resin mat 24 at a distance corresponding to the step height from the free step edge.
- the row of suction cups which in this gripper position is closest to the mat edge, is applied to the resin mat and activated, i.e. applied with vacuum and the piston rods fixed with the movable brake 52 (phase IV according to Figure 12d).
- the last part of the proper laying down of the mat 24 can then begin in the area of the lower step.
- the molding tool 63 is moved into the hollow edge of the step.
- both the later vertically lying mat part and the mat part lying horizontally on the lower step are kept unclamped.
- the last suction cups are then deactivated, raised and the suction cup removed.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002463909A CA2463909A1 (en) | 2001-10-20 | 2002-09-03 | Method and device for the automated handling of resin-impregnated mats during the production of smc parts |
US10/493,096 US20050042323A1 (en) | 2001-10-20 | 2002-09-03 | Method and device for the automated handling of resin-impregnated mats during the production of smc parts |
EP02776965A EP1436140B1 (de) | 2001-10-20 | 2002-09-03 | Verfahren und vorrichtung zum automatisierten handhaben von harzmatten bei der herstellung von smc-teilen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10152232.0 | 2001-10-20 | ||
DE10152232A DE10152232B4 (de) | 2001-10-20 | 2001-10-20 | Verfahren und Vorrichtung zum automatisierten Handhaben von Harzmatten bei der Herstellung von SMC-Teilen |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003035375A1 true WO2003035375A1 (de) | 2003-05-01 |
Family
ID=7703407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2002/009831 WO2003035375A1 (de) | 2001-10-20 | 2002-09-03 | Verfahren und vorrichtung zum automatisierten handhaben von harzmatten bei der herstellung von smc-teilen |
Country Status (5)
Country | Link |
---|---|
US (1) | US20050042323A1 (de) |
EP (1) | EP1436140B1 (de) |
CA (1) | CA2463909A1 (de) |
DE (1) | DE10152232B4 (de) |
WO (1) | WO2003035375A1 (de) |
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WO2014094903A1 (en) * | 2012-12-21 | 2014-06-26 | Short Brothers Plc | Fabric handling apparatus |
WO2015092364A1 (en) * | 2013-12-19 | 2015-06-25 | Short Brothers Plc | Fabric positioning apparatus |
EP3178625A1 (de) * | 2015-12-08 | 2017-06-14 | Faurecia Bloc Avant | Bedienungswerkzeug zur herstellung von verstärkten kunststoffmaterialteilen |
WO2020252512A1 (de) | 2019-06-17 | 2020-12-24 | Gfm Gmbh | Verfahren zum steuern eines greifers |
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DE102017207452A1 (de) * | 2017-05-03 | 2018-11-08 | Faurecia Innenraum Systeme Gmbh | Verfahren und Formwerkzeug zum Herstellen eines Bauteils für die Verwendung in einem Fahrzeuginnenraum |
EP3759158A1 (de) | 2018-03-01 | 2021-01-06 | Cytec Industries Inc. | Schnell härtende harzformulierungen mit konsistenten handhabungseigenschaften |
CN110950040A (zh) * | 2018-09-27 | 2020-04-03 | 天津滨海光热反射技术有限公司 | Smc原料供给装置及控制方法 |
DK3705275T3 (da) | 2019-03-05 | 2022-02-14 | Lm Wind Power As | Gribeindretning til at løfte en præform til en vindmøllevinge |
US11498288B2 (en) | 2020-02-11 | 2022-11-15 | The Boeing Company | Forming systems and methods for drape forming a composite charge |
CN111824767A (zh) * | 2020-07-01 | 2020-10-27 | 广州国智机电设备有限公司 | 一种送料机械手 |
US11931975B2 (en) | 2021-02-19 | 2024-03-19 | The Boeing Company | Forming systems and methods for forming an elongate charge of composite material |
DE102023101301B3 (de) | 2023-01-19 | 2024-03-14 | Harburg-Freudenberger Maschinenbau Gmbh | Vakuumheber zum Heben einer Materialeinheit und Verfahren zum Betrieb eines Vakuumhebers |
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- 2002-09-03 WO PCT/EP2002/009831 patent/WO2003035375A1/de active IP Right Grant
- 2002-09-03 CA CA002463909A patent/CA2463909A1/en not_active Abandoned
- 2002-09-03 US US10/493,096 patent/US20050042323A1/en not_active Abandoned
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014094903A1 (en) * | 2012-12-21 | 2014-06-26 | Short Brothers Plc | Fabric handling apparatus |
CN104936769A (zh) * | 2012-12-21 | 2015-09-23 | 肖特兄弟公司 | 织物搬运设备 |
CN104936769B (zh) * | 2012-12-21 | 2017-11-24 | 肖特兄弟公司 | 织物搬运设备 |
US10265940B2 (en) | 2012-12-21 | 2019-04-23 | Short Brothers Plc | Fabric handling apparatus |
WO2015092364A1 (en) * | 2013-12-19 | 2015-06-25 | Short Brothers Plc | Fabric positioning apparatus |
US10407262B2 (en) | 2013-12-19 | 2019-09-10 | Short Brothers Plc | Fabric positioning apparatus |
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WO2020252512A1 (de) | 2019-06-17 | 2020-12-24 | Gfm Gmbh | Verfahren zum steuern eines greifers |
Also Published As
Publication number | Publication date |
---|---|
CA2463909A1 (en) | 2003-05-01 |
EP1436140B1 (de) | 2005-11-23 |
DE10152232B4 (de) | 2005-02-17 |
US20050042323A1 (en) | 2005-02-24 |
EP1436140A1 (de) | 2004-07-14 |
DE10152232A1 (de) | 2003-05-08 |
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