WO2007128398A1 - procÉdÉ et appareil de prÉhension pneumatique de matÉriau en feuille poreux - Google Patents

procÉdÉ et appareil de prÉhension pneumatique de matÉriau en feuille poreux Download PDF

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Publication number
WO2007128398A1
WO2007128398A1 PCT/EP2007/003525 EP2007003525W WO2007128398A1 WO 2007128398 A1 WO2007128398 A1 WO 2007128398A1 EP 2007003525 W EP2007003525 W EP 2007003525W WO 2007128398 A1 WO2007128398 A1 WO 2007128398A1
Authority
WO
WIPO (PCT)
Prior art keywords
air
sheet
gripping
suction
sheet material
Prior art date
Application number
PCT/EP2007/003525
Other languages
English (en)
Inventor
Gabriele Binda
Loredano Sbrana
Davide Mariani
Maurizio Castiglioni
Maurizio Crivelli
Original Assignee
Tecnos S.P.A.
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 Tecnos S.P.A. filed Critical Tecnos S.P.A.
Priority to EP07724455A priority Critical patent/EP2016013A1/fr
Publication of WO2007128398A1 publication Critical patent/WO2007128398A1/fr

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
    • 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
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2105/00—Condition, form or state of moulded material or of the material to be shaped
    • B29K2105/04—Condition, form or state of moulded material or of the material to be shaped cellular or porous
    • 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
    • B65H2406/343—Details of sucking member
    • 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
    • B65H2701/171—Physical features of handled article or web
    • B65H2701/1718—Porous or permeable

Definitions

  • This invention refers to the pneumatic gripping of porous sheets material, and in particular it relates to a method and an apparatus appropriately provided for pneumatically gripping sheet material permeable to air, for retaining, conveying, and/or positioning the sheet material along a processing line.
  • the stretching by mechanical gripping means may also cause a damage of the material in that they are liable to create localised stresses on the material which in the case of delicate structures, such as for example in carbon fabrics, may damage the fabric itself locally modifying the weft and/or the warp.
  • Mechanical gripping may also make it difficult to convey the sheets along a processing line, or position them in correspondence with a work station where the sheet material must be correctly positioned, preventing it from coming into contact with obstacles or protruding parts of an installation.
  • vacuum-operated gripping systems proves to be suitable in the case of plastic films, due to the natural impermeableness and flexibility of the film itself, as well as due to its ability to adhere to any peripheral outline of a frame or a mould under the simple action of vacuum, in the case of porous material or air-permeable material, such as fabric, felt or the like, or in the case of layered material, vacuum-operated gripping systems have proved to be impossible or difficult to use due to the variability of physical characteristics of the same material, in particular due to the impossibility to maintain a vacuum condi- tion for gripping and holding the sheets.
  • air-permeable sheet material is understood to mean either sheets of material having a single layer, or comprising two or more superimposed layers of air-permeable or in any case porous materials.
  • the main object of this invention is to provide a method and an apparatus for pneumatically gripping air-permeable sheet material, capable of obviating the limits and drawbacks of the currently known gripping systems.
  • Another object of the invention is to provide a method and a pneumatic gripping apparatus capable of firmly retaining sheets of single-layered or multiple layered material, also of considerable weight and/or thickness, which are ex- tremely versatile and wholly unaffected by the geometrical shapes and sizes of the sheets and/or by the air-permeability of the materials to be retained.
  • a still further object is to provide a method and a pneumatic gripping apparatus, as mentioned above, which are also capable of exerting a mechanical retaining action, in addition to the pneumatic retaining action, thereby contribut- ing to provide a high degree of reliability in the event of the air-suction being limited or accidentally cut off.
  • a still further object is to allow, under certain situations, the sheet material to be pneumatically gripped in different positions on one side, or on opposite sides in correspondence with the same peripheral areas, regardless of the geometrical shapes of the sheets, thereby achieving a significant saving of material and a greater processing facility.
  • a method for pneumatically gripping air-permeable sheet material comprising the steps of: providing air-permeable sheet resting means conformed to allow the passage of an air flux; providing a first pneumatic gripping device having a sheet-contact surface provided with at least one air-suction slot connectable to an air-suction source; arranging a sheet material in a spread out or laid down condition on said sheet resting means; positioning the pneumatic gripping device with the suction slot in contact with at least one edge of a side face of the sheet material; pneumatically gripping the sheet material against the contact surface of the gripping device, causing air-suction through the sheet resting means and the sheet material; and holding the sheet material by maintaining air-suction through the porous material of the sheet.
  • a gripping apparatus for pneumatically gripping air-permeable sheet material, comprising: air-permeable sheet resting means for supporting a sheet material, said sheet resting means being conformed to allow a passage of an air flux; a pneumatic gripping device having a sheet-contact surface provided with at least one air-suction slot connectable to an air-suction source; means for positioning the pneumatic gripping device with air-suction slot against a side face of a sheet material on said sheet resting means; and air flow control means to connect the air-suction slot of the pneumatic gripping device to the air-suction source.
  • FIG. 1 shows a first embodiment of an apparatus according to the invention
  • Fig. 2 shows an enlarged cross-sectional view along the line 2-2 of figure
  • FIG. 3 shows an enlarged cross-sectional view similar to that of figure 2, for a second embodiment
  • Fig. 4 shows an enlarged cross-sectional view similar to that of the preceding figures, for a third embodiment
  • Fig. 5 shows a graph illustrating the variation in the air flow rate in respect to the suction pressure for different materials, or under different conditions for a same material.
  • the apparatus comprises sheet resting means for supporting a sheet material 13, indicated as a whole by the reference number
  • the sheet resting surface 12 is in the form of a flat surface defined by the upper branch 10A of the conveyor belt 10; however, the sheet resting surface 12 may be differently made and/or shaped, provided it is suitable for supporting the sheet 13 and allowing an initial air-suction through the surface 12 and the sheet 13, maintaining the latter in a spread out or laid down condition to enable it to be efficiently gripped by suction.
  • the resting surface 12 for supporting the sheet 13 must have no-stick properties, if necessary providing for the application of a no-sticking material, such as polytetra- fluoroethylene material, more commonly known by the trade name "Teflon", or other material suitable for such purpose.
  • the sheet resting means 14 for the sheet material 13 may be shaped in any way whatsoever, provided they are capable of allowing the passage of a sufficient flux of sucked air through the sheet 13 to pneumatically retain the same sheet 13 with a holding force sufficient to sustain, convey and/or position it along a processing line, or for the contemplated use.
  • the conveyor belt 10 may comprise a belt of fabric permeable to air, a net, a mesh belt, a perforated belt, or a belt provided with slight longitudinal and/or cross ribbing, to allow the pas- sage of air.
  • the apparatus may comprise a heating device 15 conformed and arranged to heat the sheet 13 to a suitable softening temperature for the material of which the sheet is composed, or of a resin with which the sheet 13 may be impregnated.
  • the heating device 15 may be of any suitable type; for example it may consist of radiating elements, disposed in any way whatsoever with respect to the sheet 13; whenever the sheet supporting means 14 are made of material transparent to infrared radiations, the heating device 15 may be positioned beneath such surface, as shown in figure 1.
  • the apparatus also comprises a pneumatically actuable gripping device, to grip the sheet 13 by air-suction;
  • the gripping device may comprise a frame 16 movable in the directions of the arrows shown; the frame 16 may have any geometrical shape or configuration, with one or more linear and/or dif- ferently shaped sides to follow both the outline of one or more peripheral edges of the sheet 13, and a flat or three-dimensional configuration of the sheet resting surface 12.
  • the frame 16 may be shaped and disposed in such a way as to pick up the sheet material 13 along a single peripheral edge, or along two or more consecutive edges, or on the entire peripheral edge according to need.
  • the frame 16 may be secured to appropriate support means, not shown, for example to a powered articulated arm, to a carriage or other suitable support system enabling it to be moved in the directions of the arrows in figure 1 , either vertically and or horizontally, or in any other suitable direction.
  • the pneumatic gripping frame 16 may have on a front sheet contact face, one or more air-suction slots 20 connectable to an air-suction source 17, for example a suction fan, by a manually and/or automatically operable flow control valve 18 to control and adjust the air-suction degree in the slot 20, or the flow rate of the sucked air stream, consequently to vary the gripping force on the sheet 13, maintaining it at a required value.
  • an air-suction source 17 for example a suction fan
  • a manually and/or automatically operable flow control valve 18 to control and adjust the air-suction degree in the slot 20, or the flow rate of the sucked air stream, consequently to vary the gripping force on the sheet 13, maintaining it at a required value.
  • a first embodiment and the working mode of a pneumatic gripping device are schematically shown in the example of figure 2.
  • one side or each side of the gripping frame 16 consists of a metal bar 19, for example of aluminium or other suitable material having a high degree of thermal conductivity in the event of heating being required.
  • the bar 19, on the downwardly facing front side, designed to come into contact with an edge of a side face of the sheet 13, in the case of figure 2 is provided with a single front-open longitudinal slot 20 or sheet gripping or holding channel appropriately shaped to allow an air-suction or pneumatical gripping due to a partial penetration of the sheet 13, as indicated by reference 13A, as soon as the slot 20 is connected to the air-suction source 17.
  • reference 24 has been used to indicate, with broken lines, a second longitudinal duct for circulation of a thermostatically-controlled fluid for heating the bar 19, while reference 25 has been used to indicate two layers of thermally insulating material, disposed on the two sides of the metal bar
  • FIG. 3 A second embodiment is shown in figure 3 where the same reference numbers of figure 2 have been used to indicate similar or equivalent parts.
  • the solution of figure 3 differs from the solution of figure 2 in that on both sides of the slot 20, the bar 19 is provided with a wing 26 to improve the grip of the sheet 13.
  • the wings 26 may be oriented in any direction; preferably the wings 26 are inwardly slanted, so as to form undercut surfaces which allow a mechanical grip on the ribbing 13A of the sheet 13, due to the air-suction into the slot 20; this proves to be advantageous in the case of sheets 13 of considerable weight, thickness or of large dimensions, in that it helps to support the sheet 13 in the event the air-suction being reduced or cut off, due to accidental causes.
  • the internal surfaces of the slot 20 and of the wings 26 may be lined with a layer 27 of a no-sticking material, such as "Teflon".
  • the heating and the thermosetting of the pneumatic gripping frame 16 may be achieved in any suitable way, either electrically, or by circulation of a thermal fluid, for example water or air, maintained at an appropriate temperature.
  • the heating and the control of the temperature of the bar or bars 19 of the gripping frame 16 can be obtained by circulation of a thermal fluid along a second duct 24 connected to a supply system.
  • Figure 4 of the drawings shows, also by way of example, a third embodiment of the frame 16 of the pneumatic gripping device. In figure 4 the same numerical reference numbers of figures 2 and 3 have been used to indicate similar or equivalent parts.
  • the solution of figure 4 differs from that of figure 3 in that the bar or each bar 19 which forms the frame 16, is provided with two parallel slots or channel 20 which open out frontally on the contact surface with the sheet material 13; also in this case, the two slots 20 have undercut internal surfaces, and communicate with the air-suction duct 23 by respective holes 22.
  • the solution of figure 4 also differs in that the disposition of the ducts 23 and 24 has been reversed with respect to figure 3.
  • Figure 7 shows a graph illustrating the variation in the negative pressure difference ⁇ P, in relation to the flow rate Q of suctioned air, depending upon the permeability of the sheet material 13 and the total suction surface of the slot or slots 20.
  • ⁇ P negative pressure difference
  • the pneumatic gripping method and apparatus could be used in thermoforming and/or vacuum moulding processes, in processes for automatic shaping and foaming carpets in the car manufacturing industry, or for other similar applications.
  • the method and the apparatus according to the invention could also be used for carrying out simple operations for conveying and/or positioning sheets, wherever necessary.
  • the method and the apparatus according to the invention are therefore characterised by their exceptional stability and versatility in pneumatically gripping, conveying and/or positioning, in that they do not call for any substantial modification upon changes in the dimensions and geometrical shape of the sheets, except for the shape and dimensions of the gripping frame 16.
  • the frame 16 may be of the rigid or articulated type, as mentioned previously, to assume a flat and/or three-dimensional shape once the pneumatic gripping has taken place, or to adapt to different working requirements; the internal profile of the air-suction and gripping slots may also vary with respect to the profile shown; therefore other modifications or variations may be made both to the method, and to the apparatus, without thereby departing from the claims.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
  • Separation Using Semi-Permeable Membranes (AREA)

Abstract

L'invention concerne une feuille de matériau (13) perméable à l'air, par exemple un matériau plastique, du tissu, du feutre, un matériau poreux ou similaire, si nécessaire imprégné d'une résine, positionnée sur une surface support (12) perméable à l'air, et saisie à l'aide d'un dispositif de préhension pneumatique a fin d'être retenue, acheminée et/ou positionnée le long d'une ligne de traitement. Le dispositif de préhension pneumatique (16) comprend un cadre composé d'une ou plusieurs fentes ouvertes frontalement, pouvant être connecté à une source (17) d'aspiration d'air. Le cadre de préhension pneumatique est amené au contact d'une face latérale de la feuille de matériau perméable en activant un circuit d'aspiration d'air pour provoquer le passage d'un courant d'air suffisant à travers la feuille de matériau, de façon à créer une perte de pression de part et d'autre de la feuille proprement dite et sa pénétration partielle dans les fentes du dispositif de préhension pneumatique, pour la durée nécessaire à son maintien.
PCT/EP2007/003525 2006-05-03 2007-04-23 procÉdÉ et appareil de prÉhension pneumatique de matÉriau en feuille poreux WO2007128398A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07724455A EP2016013A1 (fr) 2006-05-03 2007-04-23 Procédé et appareil de préhension pneumatique de matériau en feuille poreux.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMI2006A000862 2006-05-03
ITMI20060862 ITMI20060862A1 (it) 2006-05-03 2006-05-03 Metodo e apparecchiatura per la presa pneumatica di materiale poroso in fogli,permeabile all'aria

Publications (1)

Publication Number Publication Date
WO2007128398A1 true WO2007128398A1 (fr) 2007-11-15

Family

ID=38268967

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/003525 WO2007128398A1 (fr) 2006-05-03 2007-04-23 procÉdÉ et appareil de prÉhension pneumatique de matÉriau en feuille poreux

Country Status (3)

Country Link
EP (1) EP2016013A1 (fr)
IT (1) ITMI20060862A1 (fr)
WO (1) WO2007128398A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018071722A1 (fr) * 2016-10-12 2018-04-19 Grabit, Inc. Systèmes et procédés de soulèvement aérodynamique de pièces
US9987755B2 (en) 2014-03-17 2018-06-05 Grabit, Inc. Eletroadhesive gripping system with smart brake and metering
US10745164B2 (en) 2014-04-21 2020-08-18 Grabit, Inc. Automated item handling with reconfigurable totes
US10987815B2 (en) 2016-01-12 2021-04-27 Grabit, Inc. Methods and systems for electroadhesion-based manipulation and mechanical release in manufacturing

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3180608A (en) * 1963-11-05 1965-04-27 Colgate Palmolive Co Vacuum holding of thin pliable material
US4185814A (en) * 1977-12-12 1980-01-29 International Business Machines Corporation Pick up and placement head for green sheet and spacer
FR2564017A1 (fr) * 1984-05-09 1985-11-15 Laser Tech Sarl C Benedite Table pour decoupe au laser de feuilles non rigides
US6341808B1 (en) * 2000-06-29 2002-01-29 International Business Machines Corporation Flexible sheet handling apparatus
WO2004062889A1 (fr) * 2003-01-10 2004-07-29 Cannon S.P.A. Thermoformage double feuille de reservoirs a carburant en plastique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3180608A (en) * 1963-11-05 1965-04-27 Colgate Palmolive Co Vacuum holding of thin pliable material
US4185814A (en) * 1977-12-12 1980-01-29 International Business Machines Corporation Pick up and placement head for green sheet and spacer
FR2564017A1 (fr) * 1984-05-09 1985-11-15 Laser Tech Sarl C Benedite Table pour decoupe au laser de feuilles non rigides
US6341808B1 (en) * 2000-06-29 2002-01-29 International Business Machines Corporation Flexible sheet handling apparatus
WO2004062889A1 (fr) * 2003-01-10 2004-07-29 Cannon S.P.A. Thermoformage double feuille de reservoirs a carburant en plastique

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9987755B2 (en) 2014-03-17 2018-06-05 Grabit, Inc. Eletroadhesive gripping system with smart brake and metering
US10745164B2 (en) 2014-04-21 2020-08-18 Grabit, Inc. Automated item handling with reconfigurable totes
US10987815B2 (en) 2016-01-12 2021-04-27 Grabit, Inc. Methods and systems for electroadhesion-based manipulation and mechanical release in manufacturing
US11203123B2 (en) 2016-01-12 2021-12-21 Grabit, Inc. Methods and systems for combined negative pressure and electroadhesion-based manipulation in manufacturing
US11338449B2 (en) 2016-01-12 2022-05-24 Grabit, Inc. Methods and systems for electroadhesion-based manipulation in manufacturing
WO2018071722A1 (fr) * 2016-10-12 2018-04-19 Grabit, Inc. Systèmes et procédés de soulèvement aérodynamique de pièces

Also Published As

Publication number Publication date
EP2016013A1 (fr) 2009-01-21
ITMI20060862A1 (it) 2007-11-04

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