WO2018046562A1

WO2018046562A1 - Gripping device and gripping method for gripping a spool

Info

Publication number: WO2018046562A1
Application number: PCT/EP2017/072390
Authority: WO
Inventors: Klaus Jung; Felix Hellmeier
Original assignee: Dieffenbacher GmbH Maschinen- und Anlagenbau
Priority date: 2016-09-08
Filing date: 2017-09-06
Publication date: 2018-03-15
Also published as: EP3509976B1; DE102016116800A1; EP3509976A1

Abstract

The invention relates to a gripping device (12) for gripping a spool (16), comprising the following: a holding element (26) for securing the spool (16); a clamping element (24) for clamping the beginning (38) of a strip (36) wound onto the spool (16) in order to hold the strip under tension; and a main part (28) on which the holding element (26) and the clamping element (24) are secured and which is designed to be coupled to a drive device (14) in order to move the spool (16). The holding element (26) and the clamping element (24) are designed to fix the spool (16) and clamp the strip beginning (38) when the spool (16) is provided in a feed device (18) for providing the spool (16) and to release the fixation of the spool (16) and the clamp of the strip beginning (38) when the spool is held in a material receiving area (20) of a processing system (46) and the strip beginning (38) is clamped. The invention additionally relates to a feed device (18), a transport device (10), a processing system (46), a gripping method, and a transport method.

Description

The present invention relates to a gripping device and a gripping method for gripping a spool, in particular a reel, a feeder for supplying the reel, and a transport system and a transport method for transporting a reel. In recent decades, fiber composites such as carbon fiber reinforced plastic (CFRP) have become more and more widespread in a variety of applications. Compared to metallic materials, these fiber composites offer greater design freedom and application-specific formulation options. Corresponding production systems for the production of molded parts usually comprise so-called preform manufacturing units, in which the mostly flat blanks are produced, press units and optionally injection units, post-processing units and a corresponding automation for the handling of the preforms.

The automated production of preforms is a key technology in the realization of efficient mass production with reproducible and stable component quality. Today, for the production of continuous fiber reinforced components predominantly semi-finished textile products, especially semi-finished fiber products, such as with a binder (hot melt) wetted and / or with a matrix partially or fully impregnated fiber yarns and / or fabrics (so-called prepregs), such as fiber fabric, fiber knits, fiber fabric or fiber mats used. Here, the matrix has the task of embedding the heavy-duty fibers (support function) and fill their gaps completely (blocking function).

Basically come as binder and / or matrix materials materials from the groups of thermoplastics or thermosets in question. Optionally, additional elasticizing components, such as elastomers, can be used. From the resulting semi-finished products, which are available as roll or plate goods in standard formats, blanks are produced in a cutting process, which usually completely line the formed component. When cutting can vary depending on Component geometry a not inconsiderable waste arise. To avoid this, so-called fiber or tape laying methods (tape laying method) are used. The tape is usually supplied on a roll (reel), cut to length to a tape or tape strip or strip and placed on a laying table or on a previously deposited on the laying table band structure. As the tape strip is deposited, it is connected pointwise to the underlying belt layer via a number of ultrasonic welding heads. Especially the use of tapes made of thermoplastic continuous fibers has proven to be an attractive process variant. In the processing of the bands often automatic laying devices are used, which are able to store a structured tape. Such a device is known, for example, from WO 2014/083196 A1. Disclosed is a lay-up machine for laying and adhering tape sections to a part to be manufactured, comprising a first material feeding unit for feeding tape tape material; first gripping means for drawing wall sections from the first material feed unit and for positioning the strip sections in guideways; a first cutting device for cutting to length of the band portions of the first material supply unit; a movement table; and at least one tape stitching unit for placing on a working surface of the moving table and for fixing the tape portions; the lay-up machine further comprising a second material supply unit for feeding strip material; second gripping means for drawing strip portions from the first material feeding unit and for positioning the strip portions in guideways; and a second cutter for cutting to length of the band portions from the first material supply unit.

In particular, when handling the wound on coils (reels) tapes (especially unidirectional fiber-reinforced tapes, so-called UD tapes), however, it often leads to difficulties and inefficiencies, since the band aufsprings on the tape reel without further attachment due to its internal stress and thus can handle. Due to the springing up, the beginning of the tape is at an undefined position, which makes further processing more difficult and often requires intervention by the operating personnel. In addition, on a rebounded band dirt can accumulate even on lower layers that the Quality of the preforms can affect. Therefore, it is often not possible to reuse a partially used up reel, which is formed, for example, when it is necessary to change the width of the reel in the tape laying apparatus at a later time. Object of the present invention is in this context to improve the handling of the coils, in particular the tape reels and to increase the efficiency of the production process of the production of tape structures, also referred to as tape structures. In particular, it is an object of the present invention to enable faster and more cost-effective production of tape structures as compared to previous approaches.

These and other objects are achieved by a gripping device for gripping a coil, comprising: a holding element for fixing the coil; a clamping element for clamping a material beginning of a material wound on the coil in order to keep the material under tension; and a base body to which the holding element and the tensioning element are fastened and which is adapted to be coupled to a drive device for moving the material, wherein the holding element and the tensioning element are designed to fix the coil and clamp the beginning of the material when the coil is in a feed device provided; and disengage the bobbin and the initial material restraint when the bobbin is held in a material receiver of a processing system.

Furthermore, these and other objects are achieved by a gripping device for gripping a tape reel, comprising: a holding member for fixing the tape spool; a tensioning member for clamping a tape leader of a tape wound on the tape spool to keep the tape under tension; and a base body to which the holding member and the tension member are fixed and which is coupled to a driving device for moving the tape spool, wherein the holding member and the tensioning member are adapted to set the tape spool and clamp the tape top when the tape spool in a feeding device is provided for providing the tape reel; and disengaging the tape reel and the beginning of tape restraint when the tape reel is held in a media take-up of a processing system. The gripping device is used in particular to automate the handling of a reel during processing in a corresponding processing system or in the supply to a processing system. The tape reel is provided by means of a feeding device so that it can be grasped and picked up by a gripping device. In order to fix the tape spool, the gripping device comprises at least one holding element, by means of which the tape spool can be fixed. Fixing is here understood to mean detachable fastening in the sense of coupling. By the tensioning element, a tape wound on the tape spool is kept tensioned when the tape spool is gripped by the gripping device. The tension element acts on the beginning of the tape, ie on the accessible end of the tape. The clamping element sets the beginning of the tape actively or passively, so that the tape remains taut and can not spring open. Clamping is understood herein to mean in particular a releasable fastening of the strip beginning on the clamping device with or without actively exerting a tensile force on the strip beginning. As long as the tape reel is in the gripping device, a springing is prevented by means of the clamping element. Holding element and clamping element thus act preferably as actuators. Retaining element and clamping element are attached to a base body which can be connected to a drive device. By the drive device, a force can be exerted on the main body, whereby the holding element, the clamping element and the fixed means of the holding element reel are moved. The tape reel is received by the gripping member in the feeder and then transported by the drive device in a material receptacle of a processing unit. Retaining element and clamping element are designed, that is to say in particular correspondingly arranged on the base body and relative to one another and can be correspondingly activated to correspond with and cooperate with the feed device and the material receptacle.

Compared to previous approaches, the present invention allows automation of the processes when changing a tape reel. The tape is kept tensioned without the need for manual intervention. By using the gripping device, it is no longer necessary for the operator to be present and actively involved in each reel change. Furthermore, it is avoided that a tape springs up on a reel and is no longer usable due to contamination. Accordingly, previous approaches improved in terms of cost and speed. By completely automating the reel change process, the change can be made very quickly.

In a preferred embodiment of the gripping device, the base body is formed substantially flat for application to a base of the body facing the reel flank of the tape reel; and the retaining element is designed to fix the tape reel on the reel flank facing the main body so that the reel flank facing away from the main body is accessible in a fixed state, wherein the retaining element in particular has a receiving profile for receiving the reed flank. The main body has at least one side on a surface or is preferably formed substantially as a disk or disk-shaped. The end face of the tape reel is applied to the main body. By applying directly a wobbling of the tape spool in the clamped state is prevented or at least reduced. In addition, it is ensured that the side facing away from the main body coil edge remains freely accessible in the specified state for recording or for passing the tape reel. As a result, the insertion into the material receptacle of the processing unit is facilitated. To hold the tape reel in the gripping device, the holding element cooperates with the reed flank. The holding element has an extension which is formed with a receiving profile and cooperates with the coil edge. In particular, the receiving profile encompasses or surrounds the coil flank or part of the circumference of the coil flank. Preferably, the receiving profile is designed as a U-profile. A contact between the holding element and the band, through which the band could be damaged or contaminated, is avoided. In a preferred embodiment, the holding element is arranged substantially on a side facing away from the tape spool of the base body and projects beyond the base body for fixing the tape spool parallel and orthogonal to the main body to set the tape spool on the main body facing the reed edge. Preferably, at least part of the retaining element projects beyond the base body in the direction of the tape reel. The supernatant causes the holding element with the main body facing the coil edge can cooperate at its periphery to set the tape reel on its coil edge. The main body facing away from the coil edge remains accessible. It also ensures that the retaining element does not come into contact with the tape and damage it. In a further embodiment, the gripping device comprises at least two further holding elements, wherein the holding element and the further holding elements are adapted to set the reel on the spool flank facing the main body in a staggered arrangement, preferably offset by approximately 90 °. The total of at least three holding elements cooperate to hold the tape reel. The holding elements are preferably arranged offset relative to each other with respect to the tape reel by about 90 ° and / or identical. The holder at three points a stable attachment is achieved. In particular, the tape reel can be clamped between the holding elements. Each individual holding element only needs to absorb a relatively small force.

In an advantageous embodiment of the main body is substantially circular, preferably annular with an inner circle radius which is greater than a radius of a central cylinder of the tape reel formed; and the holding member adapted to set the tape reel in concentric alignment with the main body. By an annular formation of the main body and by the concentric orientation of the tape reel is achieved that a central cylinder of the tape reel is accessible both on the side facing away from the base of the tape reel and on the base body side facing the tape reel. In this way, an attachment of the tape reel to the material receptacle on the central cylinder of the tape reel be made.

In a preferred embodiment, the holding element comprises a holding pneumatics or a holding hydraulics for clamping the reel; and / or the tensioning element a tensioning pneumatic or tensioning hydraulic for clamping clamping the beginning of the tape. Both the Haltepneumatik / hydraulic and the Spannpneumatik / hydraulic preferably cause the exercise of a translational clamping movement for clamping the tape reel or the beginning of the tape. Alternatively, however, also rotational movements or pivotal movements are possible. Pneumatics or hydraulics allow relatively large forces to be exerted in a small space and, in particular, enable efficient and simple control.

Another aspect of the invention relates to a feeding apparatus for providing a tape spool for gripping with a gripping device as described above, comprising: a biasing member for clamping a tape leader of a tape spooled on the tape spool to hold the tape under tension, the biasing member cooperating with the gripping member of the gripping device to provide tension of the tape upon gripping the tape spool in the feeding device; and the biasing member preferably comprises a biasing pneumatics or biasing hydraulics for clamping the beginning of the tape.

The feeding device according to the invention is designed to provide the reel in such a way that it can be gripped by the gripping device according to the invention. In particular, this includes an accessible orientation of the tape reel and the beginning of the tape in the provided state. The biasing member of the feeder causes the tape to be held in tension while the tape reel is in the feeder. The transport system according to the invention also comprises the drive device which can be coupled to the gripping device, by which, in particular, a translational and / or rotational movement of the gripping device and of a belt reel fixed thereto is generated. The transport system according to the invention forms part of a corresponding processing system for processing a belt, in particular a production unit for producing preforms. In an advantageous embodiment, the supply device comprises a storage device for providing a plurality of tape reels and / or at least as material wagon for receiving and for rolling transport a tape reel formed; and / or the feeding device comprises a conveyor belt system for feeding the reel from a storage area into a receiving area in which the reel is provided for gripping with the gripping device. The features mentioned can be used alone or in combination. Providing multiple tape reels requires fewer reels to re-stock, which can increase productivity. Advantageously, the feeding device is designed as a material cart with which one or more reels of tape can be transported from a storage area into the area of the gripping device. The reel or the reels can be removed directly from the material cart with the gripping device. Alternatively or in combination, it is possible that the feeding device Conveyor belt system comprises, can be supplied by the new tape reels without the involvement of the operating personnel.

Furthermore, an aspect of the invention relates to a transport system for transporting a reel, with a gripping device as described above; with a feeding device for providing a reel, in particular as described above; with a drive device for moving the reel, which can be coupled to the gripping device and which is designed to carry out a transport movement, by means of which the reel is transported by the feeder to the material receptacle of the processing system; and with a control unit for controlling the drive device, wherein the drive device is preferably designed as an industrial robot with a robot arm for coupling the gripping device.

In an advantageous embodiment of the transport system, the control unit for driving the tensioning element and the biasing element when gripping the tape reel in the feeding device is designed to match a release of the clamping of the tape by the biasing member and a clamping of the tape by the clamping element, so that the voltage of Bandes is obtained when gripping the tape reel. Clamp and biasing element are controlled so that at no time the tension of the tape is lost. In particular, a timing is necessary here. In addition, the corresponding mechanical design must be such that the actuators do not interfere with each other. In a further advantageous embodiment, the control unit is designed to drive the holding element to set the tape reel in the feed position and to solve the determination of the tape reel, when the tape reel is held in the material receptacle and the beginning of the tape is kept clamped. The control unit causes the tape spool to be fixed during movement by the drive device. A quick change of an empty tape reel is possible.

Preferably, the drive device is designed to guide the beginning of the strip from the material intake to a delivery unit for conveying the strip through the processing system when the strip reel is held in the material receptacle becomes. When changing a tape reel, it is usually necessary that the beginning of the tape is fed from the spool to a corresponding unit of the processing system, which then feeds or promotes the tape. This insertion process can also be performed by the drive device. This has the advantage that no manual intervention is required for this purpose.

In addition, one aspect of the invention relates to a processing system for processing a tape wound on a reel, comprising a transport system as described above; and with a material receptacle for holding the reel with a holding mandrel for receiving a central cylinder of the tape reel, wherein the retaining mandrel is preferably designed to unwind the tape.

A further aspect relates to a gripping method for gripping a spool with a gripping device, in particular as described above, comprising the steps of: fixing the spool to a holding element and clamping a material beginning of a material wound onto the spool with a tensioning element when the spool is provided in a feeding device becomes; and releasing the definition of the coil and the clamping of the beginning of the material when the coil is held in a material receptacle of a processing system and the beginning of the material is kept clamped. Another aspect relates to a gripping method for gripping a tape spool with a gripping device, in particular as described above, comprising the steps of: setting the tape spool with a holding member and clamping a tape leader of a tape spooled onto the tape spool with a tensioning member when the tape spool is provided in a feeding device becomes; and releasing the determination of the tape reel and the clamping of the tape beginning, when the tape reel in a

Material receiving a processing system held and the beginning of the tape is kept clamped.

Another aspect relates to a transport method for transporting a reel with a transport system, in particular as described above, with the steps:

Providing the tape reel in a feeder;

Securing the tape spool to a holding member and clamping a tape leader of a tape spooled onto the tape spool with a tension member when the tape spool is provided in the feeding apparatus; Carrying out a transport movement with a drive device, through which the tape reel from the feed device to a material receptacle of a

Processing system is transported; and releasing the setting of the tape reel and the clamping of the tape start, when the tape reel is held in the material receptacle of the processing system and the beginning of the tape is kept clamped.

The inventive method for gripping a reel and for transporting the reel can be carried out in particular with the previously described gripping device or with the transport system described above. The individual process steps are carried out by the corresponding parts or elements of the device or the system.

Preferred embodiments of the invention are described in the dependent claims. It is understood that the gripping device, the feeding device, the transporting and processing system and the methods according to the embodiments described for the gripping device, the feeding device or for the transport and the processing system in the dependent claims may be performed.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

The invention will be described in more detail below with reference to some selected embodiments in conjunction with the accompanying drawings and explained. Show it:

Fig. 1 is a schematic representation of a transport system according to a

Aspect of the present invention;

Fig. 2 is a schematic representation of a tape reel and a tape wound thereon;

3 is a schematic representation of a gripping device according to an aspect of the present invention; 4 shows a schematic detail view of a holding element for use in a gripping device according to the invention;

Fig. 5 is a schematic illustration of a feeder according to an aspect of the present invention, which is formed as a material cart; and FIG. 6 is a schematic representation of a processing system according to one

Aspect of the present invention.

FIG. 1 shows a transport system 10 according to the invention. A gripping device 12 is coupled to a drive device 14. At the gripping device 12, a tape reel 16 is fixed. By means of the drive device 14, the tape reel 16 is transported by a feed device 18 into a material receptacle 20 of a processing system. The drive device 14 is controlled by means of a control unit 22 in accordance with the execution of the movement. In particular, the transport system 10 according to the invention is suitable for use in the production of tape structures or tape structures which are used for reinforcement in fiber-reinforced components by means of the tape laying method.

In the case of corresponding laying apparatuses, there is the problem that the raw material to be processed and present on reels, in particular reels 16, which is in the form of a tape 36, which is also referred to as tape, springs up due to its inherent tension on the reel and can unwind, so that the beginning of the tape 38 is at an undefined position, which makes an automated loading of the tape reel 16 and threading the tape 36 impossible. When the tape reels 16 are supplied, the tape top 38 is usually connected to the underlying layer by a spot welding connection (in particular by means of ultrasonic welding) or the like. This connection must be resolved before further processing.

A previous approach to solving this problem is to attach the tape leader 38 of a new tape 36 to the tape end of a previously used tape spool 16, which is also known as splicing. In this approach, both bands 36 lie one above the other in a spliced area. This area can usually not be further processed and must be removed with additional effort and at the expense of additional material loss by means of a cutting device and be removed from the system. In addition, the problem persists that when removing a partially used tape reel 16 springs to the material remaining on the spool, making it unusable, since, among other things, dust and particles can attach to the rebound tape. In addition, the position of the beginning of the tape 38 is no longer well defined, whereby an automated reuse of the partially used tape reel 16 is not possible and thus partially used reels 16 can be traced back only by a manual process in the process for laying tape structures. According to the invention, a reel 16 is provided for further use by means of a feed device 18, which may be preferably designed as a material cart. The beginning of the tape 38 is clamped and the tape 36 is held tensioned while the tape reel 16 is in the feeder 18. By clamping the length and position of the belt 36, and in particular the beginning of the tape 38, are firmly defined. Subsequently, the tape reel 16 is received by means of the gripping device 12 according to the invention and fed to the material receptacle 20. In the illustrated embodiment, the material receptacle 20 can accommodate two tape reels 16. It is understood that other embodiments are possible, in particular for receiving only one or even further tape reels 16.

The gripping device 12 is moved by means of a drive device 14. By the drive device 14, the tape spool 16 is transported from a supply or feed position in the feeder 18 to a holding or receiving position in the material receiver 20 of the processing system 46. Preferably, the drive device 14, as shown, is designed as an industrial robot or as a robot arm of an industrial robot. The gripping device 12 is connected via a corresponding interface with the robot arm. In particular, the connection can be screwed on or releasably coupled by means of a tool coupling in order to enable a tool change, so that the robot can also assume other tasks in the area of the production of strip structures. The control of the drive device 14 is effected by a control unit 22 which generates a corresponding control signal. The control unit 22 is preferably also adapted to drive the drive device 14 after the transfer of the tape reel 16 to the material receptacle 20 for insertion of the tape start 38 in the processing system 46 for further processing of the belt 36. For this purpose, the band beginning 38 initially remain clamped by the clamping element 24 and the robot arm to which the gripping device 12 is coupled, can perform the appropriate insertion or Einfädelbewegung. However, it is also possible for a separate robot arm to be used and / or driven for the insertion or threading in of the band 38. Alternatively, it is also conceivable that, after transfer of the reel 16 to the material receptacle 20, the beginning of the tape 38 is held clamped by a tensioning device in the material receptacle 20 and the robot arm is a tool change from the gripping device 12 to a gripping device, which then the band 36 through the Lead material intake and the processing system 46 can supply. It is understood that in other embodiments, the drive device 14 may also be combined with the feed device 18 in a common device. In addition, a combination with the material receptacle 20 or with the processing system 46 is also conceivable. FIG. 2 schematically illustrates a tape reel 16. The tape reel 16 has reel flanks 32. The coil flanks close the tape reel 16 on their end faces 34. On the reel 16, a corresponding band 36, which is also referred to as a tape, wound, which preferably comprises continuous thermoplastic fibers. The coil flanks 32 prevent slipping or slipping of the belt 36 in the axial direction of the tape reel 16. In the schematic representation, a strip beginning 38, ie the end of the winding of the belt 36, also shown. The tape spool 16 has a central cylinder 17 suitable for coupling to a rotating device for driving the tape spool 16. FIG. 3 schematically illustrates a gripping device 12 according to the invention. The gripping device 12 has a clamping element 24, by means of which the beginning of the tape 38 can be gripped or clamped so that a wound on the reel 16 tape 36 is always under tension and can not unwind or rebound. The gripping device 12 further comprises a holding element 26, through a reel 16 can be fixed to the gripping device 12. In the illustrated preferred embodiment, the gripping device 12 also comprises two further holding elements 26a and 26b. Furthermore, the gripping device 12 comprises a base body 28 to which the holding elements 26, 26a, 26b and the clamping element 24 are attached. Also shown is the coupling 30 of the drive device 14.

In the illustrated embodiment, the base body 28 is formed substantially as a circular disc. The side facing away from the clamping element 24 and the holding elements 26, 26 a and 26 b side of the flat body 28 is flat and designed to be applied to an end face 34 of the tape spool 16. The reel 16 is applied on one of its end faces 34 to the contact surface of the base body 28 of the gripping device 12 and held by the holding elements 26, 26 a and 26 b. According to the invention, the holding elements 26, 26a and 26b and the clamping element 24 are arranged so that a tape reel 16 which is located in a feeding device 18 can be fixed and the tape leader 38 can be kept tensioned during setting and clamping. In the illustrated embodiment, the three holding elements 26, 26a and 26b are identically designed as actuators for carrying out a translatory (clamping) movement in the radial direction. The holding elements 26, 26a and 26b are offset relative to the main body 28 by 90 ° to each other, so that, due to the width of a holding member 26, 26a, 26b a total of an angular range of more than 180 ° is covered and the tape reel 16 does not solve in the specified state can. A part of each holding element 26, 26a, 26b projects radially and axially with respect to the main body 28 in the direction of the reel 16 via the main body 28 and thus projects beyond the main body 28. The projecting part is radially movable and allows the reel 16 to be fixed or clamped on the coil flank 32, without touching the belt 36. In addition, in this arrangement, the main body 28 facing away from end face 34 and coil edge 32 of the tape reel 16 in the fixed state for receiving and for passing the tape reel 16 free. The holding elements 26, 26 a and 26 b and the clamping element 24 are on the base body 28 corresponding to the configuration of the feed device 18 and der Material receiving 20 of the processing system 46 and arranged to cooperate with the supply device 18 and 20 material receiving actuated.

The illustrated embodiment with three identically formed active holding elements 26, 26a, 26b has proven to be particularly advantageous. It is understood, however, that other numbers of retaining elements 26, 26a, 26b and other arrangements or angles are possible. It is also possible to use only one or two holding elements 26, 26a, 26b designed as actuators and to use another or several other holding elements 26, 26a, 26b as a stop to which the reel 16 is pressed.

FIG. 4 schematically illustrates a holding element 26. The holding element 26 comprises a corresponding receiving profile 40 for fastening a voltage applied to its end face on the gripping device 12 tape reel 16. The receiving profile 40 is formed as a U-profile and surrounds a reed edge 32 of the adjacent tape reel 16. In the illustrated embodiment, the holding element 26 comprises a Haltepneumatik 42, which may be formed as a pneumatic element, such as working cylinder, which causes the exercise of a translational movement of the receiving profile 40 in the direction of the coil edge 32 and thus fixing the tape spool 16. It is understood that the holding element 26 can also be designed hydraulically and that other actuators can be used.

FIG. 5 schematically illustrates an inventive feeding device 18 in cooperation with a gripping device 12. The feeder 18 is adapted to receive a reel 16 in a form such that it can be picked up by a gripping device 12 and transported further. The gripping device 12 abuts with its flat side of the tape spool 16 and defines this. In the illustrated embodiment, the feeder 18 is configured as a stocker for receiving a total of four tape reels 16 provided in succession. The uppermost reel 16 in the illustration is accessible and can be fixed with the gripping device. There is a transfer of the tape reel from the feeder 18 to the gripping device 12th

The feeder has a biasing member 44 by which a leader 38 of a wound on the tape reel 16 belt 36 are kept under tension can. The biasing member 44 acts as an actuator for clamping the ribbon leader 38. In the present embodiment, the biasing member 44 is configured to hold the ribbon beginnings 38 of all four ribbon spools 16 under tension. The effect on the strip beginnings 38 takes place in each case separately by separate clamping elements, for example clamping jaws (not shown), so that a single release of the beginning of the strip 38 of the uppermost reel 16 is possible when this is gripped by the gripping device 12.

The reel 16 is fixed and the beginning of the tape 38 is clamped with the clamping element 24 while the tape reel 16 is in the feeder 18. The biasing member 44 and the clamping element 24 of the gripping device 12 are designed to correspond. When gripping the reel 16 biasing member 44 and clamping element 24 cooperate, so that the tension of the belt 36 is maintained during the gripping operation. The biasing element 44 only releases the beginning of the strip 38 when it is clamped by the tensioning element 24. Both the biasing element 44 and the clamping element 24 may be designed, for example, as pneumatic or hydraulic elements. By virtue of the force exerted therewith, in particular two clamping jaws can execute a clamping movement and clamp the band 36 or the band beginning 38. It is understood that other actuators and / or other constructions are possible.

FIG. 6 schematically illustrates a further processing of the reel 16 in a processing system 46. Shown is a tape laying device. A tape reel 16 is held in a corresponding material receptacle 20. For this purpose, a retaining pin 48 is provided, which engages as an extension in a central cylinder 17 of the tape spool 16. Advantageously, the retaining pin 48 is driven so that it can cause an active unwinding of the belt 36. For further processing, the band 36 is guided over one or more deflection rollers 50 through a dancer system 52. The dancer system 52 causes by means of a spring system a tape supply. In the further course, the band 36 is cut by a cutting device 54. For clean cutting it is necessary that the belt 36 is stopped for a short time. To still allow continuous unwinding of the tape reel 16, the dancer system 52 can compensate for this brief braking or stopping of the tape movement. Further provided is a Feed unit 56, which feeds the belt 36 and the cutting device 54 feeds. By means of one or more conveyor belts 58, which are preferably designed as vacuum conveyor belts, the belt 36 or a strip section separated from the belt 38 is then placed on a laying table 60, which is preferably also designed as a vacuum system. On the laying table 60, the band structures are produced by laying.

By band 36 or tape in the context of the present invention is preferably meant any type of sheet material, in particular a prepreg material having, for example, a width between 30 and 200 mm, which is suitable for being laid down by means of a tape laying device. In the present case, prepreg material means in particular fiber yarns (rovings), fiber scrims and / or fiber webs which are wetted with a binder and / or impregnated with a matrix, for example a thermoset matrix or thermoplastic matrix, partially or completely impregnated, in particular pre-impregnated.

The fibers are, in particular, carbon fibers, but are equally applicable to glass fibers or other, in particular artificially produced, fibers. The band 36 can be arranged on a carrier material, in particular a carrier foil or a carrier paper, which separates from the carrier material during the laying down of the tape to build up the laminate, wherein the carrier material is removed by means of a suitable device of the laying device, for example wound up. However, it is also preferable to use tapes which do not require carrier materials. The invention has been fully described and explained with reference to the drawings and the description. The description and explanation are to be considered as illustrative and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention and upon a thorough analysis of the drawings, the disclosure, and the following claims.

In the claims, the words "comprise" and "with" do not exclude the presence of further elements or steps. The undefined article "a" or A single element or unit may perform the functions of several of the units recited in the claims The mere mention of some measures in several different dependent claims is not to be understood as a combination of these Measures can not also be used advantageously Advantageous reference signs in the claims are not intended to be limiting.

Bezuaszeichenliste P1527

10 transport system

12 gripping device

14 drive device

16 reel

17 central cylinders

18 feeder

20 material intake

22 control unit

24 clamping element

26 holding element

26a holding element

26b retaining element

28 basic body

30 coupling

32 coil edge

34 faces

36 band

38 beginning of tape

40 recording profile

42 holding pneumatics

44 biasing element

46 processing system

48 thorn

50 pulley

52 dancer system

54 cutting device

56 Feed unit

58 conveyor belt

60 laying table

Claims

claims

Gripping device (12) for gripping a coil, comprising:

a holding element (26) for fixing the coil;

a biasing member (24) for clamping a material beginning of a material wound on the spool to hold the material under tension; and a base body (28) to which the retaining element (26) and the tensioning element (24) are fastened and which is adapted to be coupled to a drive device (14) for moving the material, wherein the retaining element (26) and the tensioning element (28) configured to set the spool and clamp the beginning of the material when the spool is provided in a feeder (18); and disengage the bobbin and the initial material restraint when the bobbin is held in a material receiver of a processing system.

Gripping device (12) for gripping a reel (16), in particular according to claim 1, with:

a holding member (26) for fixing the tape spool (16);

a tensioning member (24) for clamping a tape leader (38) of a tape (36) wound onto the tape spool (16) to hold the tape (36) under tension; and a base body (28) to which the holding element (26) and the clamping element (24) are attached and which can be coupled to a

Drive device (14) for moving the tape reel (16) is formed, wherein the holding element (26) and the clamping element (28) are adapted to fix the tape spool (16) and clamp the beginning of the tape (38) when the tape spool (16) in a feeder (18) for providing the tape reel (16); and the determination of the tape reel (16) and the

Loosening the beginning of the tape (38) to solve when the tape reel (16) is held in a material receptacle (20) of a processing system (46).

Gripping device (12) according to claim 1 or 2, characterized in that the base body (28) substantially flat for application to a

Base body (28) facing the coil edge (32) of the tape reel (16) is formed; and that the holding element (26) is adapted to fix the tape reel (16) on the reel flank (32) facing the main body (28), so that the main body (28) facing away from the coil edge (32) is accessible in a fixed state, wherein the holding element (26) in particular a

Receiving profile (40) for receiving the coil edge (32).

Gripping device (12) according to one of the preceding claims, characterized in that the holding element (26) substantially on one of the tape reel (16) facing away from the base body (28) is arranged and the main body (28) for fixing the tape reel (16). projecting parallel and orthogonal to the main body (28) in order to fix the tape reel (16) to the reel flank (32) facing the main body (28).

Gripping device (12) according to one of the preceding claims, with at least two further holding elements (26a, 26b), wherein the holding element (26) and the further holding elements (26a, 26b) are adapted to the tape reel (16) on the the main body ( 28) facing coil edge (32) in a staggered

Arrangement, preferably offset by about 90 ° set.

Gripping device (12) according to any one of the preceding claims, characterized in that the base body (28) is substantially circular, preferably annular with an inner circle radius which is greater than a radius of a central cylinder (17) of the tape reel (16) is formed; and that the holding member (26) is adapted to concentric the tape reel

Alignment with the body (28) set.

Gripping device (12) according to one of the preceding claims, characterized in that the holding element (26) comprises a holding pneumatics (42) or a holding hydraulics for clamping the reel (16); and / or that the tensioning element (24) is a tensioning pneumatic or

Clamping hydraulic for clamping clamping the beginning of the strip (38).

A feeding device (18) for providing a tape spool (16) with a

Gripping device (12) for gripping the reel (16) according to any of the preceding claims, comprising:

a biasing member (44) for clamping a tape leader (38) of a tape (36) wound on the tape spool (16) to tension the tape (36) the biasing member (44) cooperates with the tension member (24) of the gripping device (12) to provide tensioning of the belt (36) upon gripping the tape spool (16) in the feeder (18); and the biasing member (44) preferably a biasing pneumatics or a

Preload hydraulics for clamping the beginning of the tape includes.

9. feeding device (18) according to claim 8, characterized in that the

Feeding device (18) as a storage device for providing a plurality of tape reels (16) and / or as a material carriage for receiving and for rolling transporting at least one tape reel (16) is formed and one;

and / or a conveyor belt system for conveying the reel (16) from a storage area into a receiving area in which the reel (16) is provided for gripping with the gripping device (12).

10. Transport system (10) for transporting a reel (16), comprising:

a gripping device (12) according to any one of claims 1 to 7;

a feeding device (18) for providing a tape spool (16),

in particular according to one of claims 8 to 9;

a drive device (14), which can be coupled to the gripping device (12), for moving the reel (16), which is designed to carry a transport movement, through which the reel (16) from the feed device (18) to the material receptacle (20) of the processing system (46) is transported; and a control unit (22) for controlling the drive device (14), wherein the drive device (14) is preferably designed as an industrial robot with a robot arm for coupling the gripping device (12).

1 1. Transport system (10) according to claim 10, characterized in that the

Control unit (22) for driving the tensioning element (24) and the

Biasing member (44) is formed upon gripping of the tape reel (16) in the feeder (18) for releasing the restraint of the tape (36) by the biasing member (44) and clamping the tape (36) therethrough

Tightening element (24) to one another so that the tension of the belt (36) when gripping the tape spool (16) is obtained.

12. Transport system (10) according to any one of claims 10 to 1 1, characterized

characterized in that the control unit (22) is designed to drive the holding element (26) in order to fix the reel (16) in the feed position and release the fixing of the reel (16) when the reel (16) in the material receptacle (20 ) held and the beginning of the tape (38) is held clamped.

13. Transport system (10) according to any one of claims 10 to 12, characterized

characterized in that the drive device (14) is designed to guide the beginning of the strip (38) from the material receptacle (20) to a conveying unit (56) for conveying the strip (36) through the processing system (46) when the reel (16 ) is held in the material receptacle (20).

14. Processing system (46) for processing one onto a reel (16)

wound band (36), with:

a transport system (10) according to any one of claims 10 to 13; and a material receptacle (20) for holding the reel (16) with a holding mandrel (48) for receiving a central cylinder (17) of the reel (16), wherein the retaining mandrel (48) is preferably designed to unwind the tape (36).

15. gripping method for gripping a spool with a gripping device (12),

in particular according to one of claims 1 to 7, with the steps:

Fixing the coil with a holding element (26) and clamping a

Beginning of a material wound on the coil material with a

Tensioning member (24) when the spool is provided in a feeder (18); and releasing the fixing of the coil and the clamping of the

When the coil is in a material receptacle (20) of a

Processing system (46) is held and held the beginning of the material clamped.

16. Gripping method for gripping a reel (16), in particular according to claim 15, with a gripping device (12), in particular according to one of claims 1 to 7, with the steps: Fixing the tape reel (16) with a holding element (26) and clamping a beginning of the tape (38) of a wound on the tape reel (16) belt (36) with a clamping element (24) when the tape reel (16) in one

Supplying device (18) is provided; and releasing the fixing of the tape spool (16) and the clamping of the tape top (38) when the

Reel (16) held in a material receptacle (20) of a processing system (46) and the beginning of the tape (38) is held clamped.

17. Transport method for transporting a tape reel (16) with a

Transport system (10), in particular according to one of claims 10 to 13, with the steps:

Providing the tape reel (16) in a feeder (18);

Fixing the reel (16) with a holding element (26) and clamping a beginning of a strip (38) of a reel (36) wound on the reel (16) with a tensioning element (24) when the reel (16) in the feeder (18) provided;

Carrying out a transport movement with a drive device (14), by means of which the reel (16) is transported by the feed device (18) to a material receptacle (20) of a processing system (46); and

Release the definition of the tape reel (16) and the clamping of the

Beginning of tape (38) when the tape reel (16) is clamped in the material receptacle (20) of the processing system (46) and the beginning of the tape (38) is held clamped.