WO2016075424A1 - Améliorations apportées à des organes terminaux effecteurs de bras robotisé et leur utilisation dans la préparation et l'application de matériaux de production - Google Patents

Améliorations apportées à des organes terminaux effecteurs de bras robotisé et leur utilisation dans la préparation et l'application de matériaux de production Download PDF

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Publication number
WO2016075424A1
WO2016075424A1 PCT/GB2015/000236 GB2015000236W WO2016075424A1 WO 2016075424 A1 WO2016075424 A1 WO 2016075424A1 GB 2015000236 W GB2015000236 W GB 2015000236W WO 2016075424 A1 WO2016075424 A1 WO 2016075424A1
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WO
WIPO (PCT)
Prior art keywords
end effector
mould
arm
tool
robot arm
Prior art date
Application number
PCT/GB2015/000236
Other languages
English (en)
Inventor
Andrew Lee BOOLS
Original Assignee
Bools Andrew Lee
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 Bools Andrew Lee filed Critical Bools Andrew Lee
Publication of WO2016075424A1 publication Critical patent/WO2016075424A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • the present invention relates to the use of robotic arm end effectors during the preparation of materials prior to or during the process of laying up and manufacture, including materials that require their shape to be manipulated in a multifarious way, such as composites including but not exclusively, composite or pre-impregnated sheet, carbon fibre, weave structured, wet fibre, dry fibre, thermoset and thermo plastics.
  • robot arms during preparation for or during manufacturing has been known for many years and has become an essential element for production and research areas of the global technology and related industries.
  • an end effector is the device at the end of a robotic arm, designed to interact with the environment. Its usage varies and is dependent in its function and design by the very nature of the subject material to which it is directed or working on. The exacting nature of this device depends on the application of the robot.
  • the robot arm is designed to be instructed or programmed to move in a finite pattern to repeat processes that provide a final result. If an item is to be manufactured it may take several stages and have to be passed through various numbers of robots to be completed.
  • the end effector means the last link (or end) of the robot. At this endpoint the tools are attached.
  • an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are also not end effectors— they are part of the robot's mobility.
  • End effectors may consist of a gripper, vacuum cup or other type of tool.
  • robotic prehension there are four general categories of robot end tools, these are as follows and are described here to offer an overview.
  • Impactive - jaws or claws which physically grasp by direct impact upon the object.
  • Ingressive - pins, needles or hackles which physically penetrate the surface of the object (used in textile, carbon and glass fibre handling).
  • Astrictive - suction forces applied to the objects surface (whether by vacuum, magneto- or electro adhesion).
  • Contigutive - requiring direct contact for adhesion to take place such as glue, surface tension or freezing).
  • Industrial grippers can be mechanical, the most diffused in industry, but also based on suction or on the magnetic force.
  • Vacuum cups and electromagnets dominate the automotive field and in particular metal or composite sheet handling. Bernoulli grippers exploit the airflow between the gripper and the part that causes a lifting force which brings the gripper and part close each other (i.e. the Bernoulli's principle). Bernulli grippers are contactless gripper, namely the object remains confined in the force filed generated by the gripper without coming into direct contact with it. Bernoulli grippers are adopted in Photovoltaic cell handling in silicon wafer handling but also in textile or leather industry.
  • Electrostatic grippers are based on charge difference between the gripper and the part (i.e. electrostatic force) often activated by the gripper itself, while van der Waals grippers are based on the low force (still electrostatic) due to the atomic attraction between the molecules of the gripper and those of the object.
  • Capillary grippers use the surface tension of a liquid meniscus between the gripper and the part to center, align and grasp the part, cryogenic grippers freeze a small amount of liquid and the resulting ice guarantees the necessary force to lift and handle the object (this principle is used also in food handling and in textile grasping).
  • ultrasonic based grippers where pressure standing waves are used to lift up a part and trap it at a certain level (example of levitation are both at the micro level, in screw and gasket handling, and at the macro scale, in solar cell or silicon wafer handling), and laser source that produces a pressure able to trap and move micro parts in a liquid medium (mainly cells).
  • the laser grippers are known also as laser tweezers.
  • a particular category of friction/jaw gripper are the needle grippers: they are called intrusive grippers and exploits both friction and form closure as standard mechanical grippers.
  • the most known mechanical gripper can be of two, three or even five fingers.
  • Surgical robots have end effectors that are specifically manufactured for the purpose.
  • a common form of robotic grasping is force closure.
  • the gripping mechanism is done by the grippers or mechanical fingers.
  • the grippers or mechanical fingers.
  • two-finger grippers are used for industrial robots as they tend to be built for specific tasks and can therefore be less complex.
  • the fingers are also replaceable whether or not the gripper itself is replaced. There are two mechanisms of gripping the object in between the fingers (for the sake of simplicity, the following explanations consider only two finger grippers).
  • the shape of the gripping surface of the fingers can be chosen according to the shape of the objects that are to be manipulated. For example, if a robot is designed to lift a round object, the gripper surface shape can be a concave impression of it to make the grip efficient, or for a square shape the surface can be a plane.
  • the gripping surface can be made of a soft material with high coefficient of friction so that the surface of the object is not damaged.
  • the robotic gripper must withstand not only the weight of the object but also acceleration and the motion that is caused due to frequent movement of the object.
  • This present invention revisits the astrictive method of suction cups or end tools assembled to a morphing end effector as a method of laying up of composites or other materials, with gripping or handling and moreover the ability to actually re-shape, form or manipulate the subject material directly to improve the preparation and manufacturing processes in any application instances.
  • suction cups for moving or relocating items are known in manufacturing or other areas and it has also been cited that astriction has been derived with additional support to shape pliable or malleable materials in a basic change of form.
  • the sectionally linked flexible sheet can be moved and shaped using smaller robotic arms, governed by a single large positioning robotic arm that is controlled and programmed by a computer.
  • the large surface plane of the flexible sheet is limited to lending itself to more lateral subject materials such as sheet or larger sectional products.
  • this device attempt is aimed at a particular area of use, which is clearly stated as larger more basic manufactured or prepared sheeting or ply.
  • the size of the contact area of this end effector is a large plane, as opposed to individually working contact points with cups or tools, of the disclosed advance herein.
  • pre-impregnated composite fibers often take the form of a weave and a matrix (such as an Epoxy Resin) is used to bond them together and to other components during manufacture.
  • the matrix is only partially cured to allow easy handling; this is called B-Stage material and requires cold storage to prevent complete curing.
  • B-Stage pre-preg is always stored in cooled areas since heat accelerates complete polymerization. Hence, composite structures built of pre- pregs will mostly require an oven or autoclave to cure.
  • Pre-preg allows one to impregnate the fibers on a flat workable surface, or rather in an industrial process, and then later form the impregnated fibers to a shape which could prove to be problematic for the hot injection process.
  • Pre-preg also allows one to impregnate a bulk amount of fiber and then store it in a cooled area for an extended period of time to cure later.
  • the process can also be time consuming in comparison to the hot injection process and the added value for pre-preg preparation is at the stage of the material supplier. Therefore a composite material can require many hours of human manual labour to prepare and begin the formation of the subject.
  • the ability of the disclosed new end effector device is to automate this process by generating a basic pre-form of the flat materials to allow a more accurate placement into the tool while having the function to then 'drive' the pre-formed fabrics into the geometry of the tools by the use of formed grippers and linier motion control.
  • the invention disclosed herein aims to provide an end effector solution to this need and provide a far more concise, controlled and dexterous ability to prepare and manipulate composite materials of varying types wherever the application is possible or suitable.
  • the apertures can provide a vacuum to the holes installed in the flexible sheets surface.
  • the sectionally linked flexible sheet can be moved and shaped using smaller robotic arms, governed by a single large positioning robotic arm that is controlled and programmed by a computer.
  • a device that is attached to the receiving end of a suitable known robot arm member in the archetypal way and is able to enable improved handling, transportation and shape or form manipulation of suitable composites and materials.
  • This is made possible by providing a myriad or selective number of suction cups or other direct manipulation end tools, wherein the end cup or tool area itself actually engages with the material surface changing the materials form or shape, as a legion of, normally, vertical mountings.
  • This disclosed and improved end-effector is used for the handling, manipulation and initial forming of dry fabrics, pre-impregnated, pre-forms and moulded panels (predominantly in composites - to restrictive).
  • the system operates by contacting flat plane components by the use of an actuator with a suction pad or gripper type holder. Once in place the actuators can be sequenced to lift the part up whilst forming an initial shape and once in the mould-tool 'drive' the material into position to aid with the forming process. The aim being better control of components to maximise material position.
  • the system could also be used for the handling and manipulation of formed parts during the production cycle. The flexibility of the system would allow one tool to handle numerous parts and shape them or move them during a single process, instead of the current fixed and multiple robot production line systems.
  • a single robot arm with this end effector attached may carry out a re-forming or pre-forming function on a subject material to a certain shape one or more times and place it in the desired next stage location, then re-align its actuator arms and therefore suckers or tools to then continue on to perform a separate task during the same production period, led by computer programming. It may then return to the aforementioned task and repeat as a continual, until instructed otherwise.
  • the cup is provided to enable usage with a number of surface types and may vary to accommodate these.
  • Each cup is located to the end of an individually actionable arm, which may be extended or curtailed in minute amounts at will. This antrorse action is governed by instructions being fed from a computer via a suitable programme.
  • the vacuum in the known way, provides an inward directional of air under a pressure that pulls and holds the material surface closer in contact with the suction cup surface, or provides a 'sucking' action. The material surface is therefore drawn to the suction cup and held in place, providing that the inward directional air flow vacuum remains.
  • An outward directional air flow may also provide an effect on the material surface and may be used.
  • the plurality of suction cups or end tools (example: Grippers or Needles) and extendable or retractable arms each append to an actuator arm, in the known method and this is in turn located and secured vertically in each case, moreover, to a horizontal housing platform, which may have a vacuum manifold or air supply arrangement, as seen in the enclosed Figures.
  • the actuator arm is conceived in the known way and provides automatic and electrically powered antrorse movement to the extending arm and therefore each cup or tool, in infinite amounts that can be pre-set and repeat or change in extension or retraction in anyway or amount, as a constant that can automatically be programmed to change mid process to adjust to another task and then return to its origin position thus. Should a number of these cup or tool arrangements from an appendage of extending arms and actuators be grouped as a legion, moreover in a vertical manner, from a horizontally provided housing plate, this will form the end effector.
  • the multiple suction cups or tools would begin in an aligned group.
  • the computer programme would then provide specific positioning instructions for each of the individual arms and cups to extend or curtail or withdraw them in a grouped manner, that will later contact with the composite material and because of their positioning, alter the shape or form of the suitably pliable material due to the suction cups gripping and forcing the material, moving it into a new shape, as shown in Figures 2, 3 and 5.
  • Suction cups may also be allocated to the 'side' areas or at varying angles to the vertical arms as shown as 15 in Figure 5.
  • the disclosed end effector arrangement is able to provide an automated way to provide a robotic solution to a manual operation and provide a basic pre-formation of the flat composite or other materials. This in turn will allow a more accurate placement into the receiving tool which is a part of the next stage of the production, while having the added advantage to be able to provide a function to then 'drive' the pre-formed fabrics into the internal geometry of the tools.
  • Figures 1 show an example of the end effector in static state.
  • Figures 2 show an example of the end effector manipulating a subject material using its extended and retracted suction cups.
  • Figures 3 show an example of the end effector in relation to a robot arm.
  • Figures 4 show a close view of the end effector actuator, arms and suction cups in contact with the subject material.
  • Figures 5 show individual actuator, arms and suction cups shaping a subject material.
  • Figures 6 show a close sectional view or a reduced size variant of the end effector in use with a subject material.
  • Figures 7 show underside and plan views of two differently arranged end effectors.
  • Figures 8 show the varying lengths of the extended and curtailed suction cups.
  • FIG. 1 shows an extendable and retractable arm member 1, as an operative and inclusive moving part of an actuator arm 2.
  • a myriad of these arm members and actuator arms are provided in and unlimited variation of collectives and infinitely variably spaced groups and forms, as desired.
  • the locating plate 3 which may be horizontal but will vary in angle when in certain operative circumstance, has a suitable thickness 9 and 10 forming its supporting plane as shown in Figure 1 , this locating plate 3 is the means to feed the collective of vertical arms with power and air and attach to a robot positioning arm.
  • Air 6 and 7 along with power 8 are supplied via linking apparatus as shown in the known way and provide the life for the animation of the moving elements of the solution.
  • a suction cup 5 To the extremity of the extendable and retractable arm member 1 is located a suction cup 5, this may also be another desired tool that can interact with the subject material such as a gripper or needle device, not shown and is the part that contacts directly with the subject material upon use.
  • suctions cups 5 are presented, as shown in all figures and may pertain to any number and any desired arrangement into the locating plate 3 with differing groups of appendages containing 1, 2, and 5 and spacing between them to suit different end result aims.
  • a more closely grouped application of cups 5 may be arranged to one area of the locating plate 3, with other areas of the plate having a selection of more widely spaced cups 5, or other suitable tool attachments, along with their collaborative components, 1, 2, 3, 4, 5, 6, 7 and 8.
  • This arrangement has no limitations and would be determined and arranged to suit each material production requirement.
  • the subject matter material 11, as shown in Figure 2 has its shape and form altered by the resulting impact applied from the moving suction cups 5A and 12, being to pull or push the material depending on the particular delivery to the suction cup 5A from the extendable and retractable arm members 1A and actuator arm 2A.
  • the area of the material 11 to which the resulting impact is applied depends on which cups 5A move and where and when and to what extent they move and in which direction and their individually programmed degree of movement, as a combined process of unlimited varying settings. This results in upward and downward and possible other angles of movement including sideways or an obliquity effect of the material surface, a downward example is 14, being administered by suction cup 13, as shown in Figure 2.
  • An antrorse pulling and shaping of the material being shown in the area of 12 and being administered by the upward pulling of the suction cups, as shown, is created by the vacuum within their collective embodiment in the known operative method.
  • Subject matter 11C such as composite pre-impregnated material is manipulated by the moving force of the suction cups and their pushing and vacuum assisted pulling capabilities, as shown in Figure 4.
  • This action may also include or incorporate the positioning of sheet materials in a specific manner in preparation stage using the end effectors ability to select and re-locate items in a precise manner, the extent of this procedure and the amount to which is may be used would depend on individual human decisions based on the advice of a person with many years of experience providing a planning or selecting procedure that may run as a carefully chosen complete or derivative of the overall process and may then be translated into robotic arm instructions to be provided as a continual process that the robot arm and end effector can administer, this is changeable and adaptable at any given point and may be fully or partially altered as desired.
  • suction cups 16, 17, 18, 19, 20, 21, 22, 23, 24, and 25 are shown in differing positions of motion in Figure 5, affecting the subject material due to their interrogation and manipulation of the material, a downward alteration of the materials shape shown as 11D.
  • the addition of side positioned suction cups 15, may also be introduced to improve effective material shaping in other areas.
  • the underside view 26 of the locating plate 3 is shown in Figure 7, with suction cups 5E.
  • a plan view 27 of a differing and more spaced actuator arm and cup arrangement to the locating plate 3E is shown also in Figure 7, with actuator arm positions shown 2E.
  • Various positions of the suction cups 16F, 17F, 18F, 19F and 20F are shown as closer views 28 and 29 in Figure 8.
  • These include an example of a side located suction cup 20F, as shown.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un organe terminal effecteur de bras robotisé qui possède des éléments de bras s'étendant et se rétractant individuellement 1 et 2 qui sont situés sur une plaque 3 et sont alimentés en air par l'intermédiaire d'un tube 6. De l'énergie est fournie à chaque bras d'actionnement par l'intermédiaire des éléments 8, ces bras reçoivent l'ordre individuellement de s'affecter ou d'adopter un nombre illimité de combinaisons continues de certaines positions par l'intermédiaire d'un logiciel de programme d'ordinateur, chaque bras 1 et 2 possédant des ventouses 5 et 15 ou d'autres parties d'extrémité tactiles fixées à leurs extrémités qui touchent et viennent directement en contact avec un matériau objet 11 en le manipulant dans un nombre illimité de façons qui réduisent ou éliminent la nécessité d'une intervention manuelle humaine lors des étapes de préparation du matériau et d'insertion pré-outil ou pré-moule, et permet également de pousser le matériau dans le moule ou l'outil, et permet donc d'effectuer le travail de plusieurs bras robotisés avec une efficacité accrue en tant que production individuelle.
PCT/GB2015/000236 2014-11-11 2015-08-10 Améliorations apportées à des organes terminaux effecteurs de bras robotisé et leur utilisation dans la préparation et l'application de matériaux de production WO2016075424A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1420026.5A GB2532211A (en) 2014-11-11 2014-11-11 Improvements to robotic arm end effectors and their use in the preparation and application of production materials
GBGB1420026.5 2014-11-11

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WO2016075424A1 true WO2016075424A1 (fr) 2016-05-19

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Cited By (8)

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KR101698899B1 (ko) * 2016-07-22 2017-02-01 백갑수 객체 클램핑 유닛 및 이를 포함하는 객체 로딩장치
CN108838987A (zh) * 2018-07-02 2018-11-20 华北科技学院 一种载有真空吸盘的单轴机器人移动臂架
US10639855B2 (en) 2017-02-07 2020-05-05 General Electric Company Applicator systems for applying pressure to a structure
KR102173072B1 (ko) * 2019-10-01 2020-11-02 강성호 헤드라이닝 폼 부착용 지그
CN112110199A (zh) * 2020-09-29 2020-12-22 俞珂立 布料抓取总成的针爪机构
CN112141695A (zh) * 2019-06-28 2020-12-29 因特利格雷特总部有限责任公司 物品搬运操纵器
WO2021048105A1 (fr) 2019-09-12 2021-03-18 Syddansk Universitet Effecteur terminal comprenant des éléments élastiques entre des outils de maintien adjacents
CN117013045A (zh) * 2023-10-08 2023-11-07 宁德时代新能源科技股份有限公司 一种铺贴总成、贴胶方法和电池生产线

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EP3694693A1 (fr) * 2017-10-13 2020-08-19 Syddansk Universitet Conception de dispositifs de préhension et de fixations de robot pour la fabrication robotique
US10611037B1 (en) * 2018-06-15 2020-04-07 Amazon Technologies, Inc. Concentric suction cup array for end-of-arm tool
US11618248B2 (en) * 2020-07-13 2023-04-04 Southwest Research Institute End of arm tool (EOAT) for layup of pre-impregnated composite laminates and robotic arm control system and method
DE102021209965A1 (de) 2021-09-09 2023-03-09 Volkswagen Aktiengesellschaft Einrichtung und Verfahren zum Handhaben eines Werkstücks
CN114082918B (zh) * 2021-11-28 2022-12-27 蚌埠隆华压铸机有限公司 用于压铸加工的机械手及机器人

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EP2756934A1 (fr) * 2013-01-16 2014-07-23 Airbus Operations GmbH Appareil et procédé d'assemblage de pièces de travail
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101698899B1 (ko) * 2016-07-22 2017-02-01 백갑수 객체 클램핑 유닛 및 이를 포함하는 객체 로딩장치
US11173674B2 (en) 2017-02-07 2021-11-16 General Electric Company Applicator systems for applying pressure to a structure
US10639855B2 (en) 2017-02-07 2020-05-05 General Electric Company Applicator systems for applying pressure to a structure
CN108838987A (zh) * 2018-07-02 2018-11-20 华北科技学院 一种载有真空吸盘的单轴机器人移动臂架
CN112141695B (zh) * 2019-06-28 2022-09-02 因特利格雷特总部有限责任公司 物品搬运操纵器
US11203124B2 (en) 2019-06-28 2021-12-21 Intelligrated Headquarters, Llc Item handling manipulator
CN112141695A (zh) * 2019-06-28 2020-12-29 因特利格雷特总部有限责任公司 物品搬运操纵器
WO2021048105A1 (fr) 2019-09-12 2021-03-18 Syddansk Universitet Effecteur terminal comprenant des éléments élastiques entre des outils de maintien adjacents
KR102173072B1 (ko) * 2019-10-01 2020-11-02 강성호 헤드라이닝 폼 부착용 지그
CN112110199B (zh) * 2020-09-29 2021-07-30 嘉兴德基机械设计有限公司 布料抓取总成的针爪机构
CN112110199A (zh) * 2020-09-29 2020-12-22 俞珂立 布料抓取总成的针爪机构
CN117013045A (zh) * 2023-10-08 2023-11-07 宁德时代新能源科技股份有限公司 一种铺贴总成、贴胶方法和电池生产线
CN117013045B (zh) * 2023-10-08 2024-03-29 宁德时代新能源科技股份有限公司 一种铺贴总成、贴胶方法和电池生产线

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