WO2018046562A1 - Dispositif de préhension et procédé de préhension pour saisir une bobine - Google Patents

Dispositif de préhension et procédé de préhension pour saisir une bobine Download PDF

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Publication number
WO2018046562A1
WO2018046562A1 PCT/EP2017/072390 EP2017072390W WO2018046562A1 WO 2018046562 A1 WO2018046562 A1 WO 2018046562A1 EP 2017072390 W EP2017072390 W EP 2017072390W WO 2018046562 A1 WO2018046562 A1 WO 2018046562A1
Authority
WO
WIPO (PCT)
Prior art keywords
tape
reel
gripping
spool
clamping
Prior art date
Application number
PCT/EP2017/072390
Other languages
German (de)
English (en)
Inventor
Klaus Jung
Felix Hellmeier
Original Assignee
Dieffenbacher GmbH Maschinen- und Anlagenbau
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 Dieffenbacher GmbH Maschinen- und Anlagenbau filed Critical Dieffenbacher GmbH Maschinen- und Anlagenbau
Priority to EP17781004.1A priority Critical patent/EP3509976B1/fr
Publication of WO2018046562A1 publication Critical patent/WO2018046562A1/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
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/02—Arrangements for removing spent cores or receptacles and replacing by supply packages at paying-out stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H16/00—Unwinding, paying-out webs
    • B65H16/02—Supporting web roll
    • B65H16/021—Multiple web roll supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H16/00—Unwinding, paying-out webs
    • B65H16/02—Supporting web roll
    • B65H16/028—Supporting web roll on its outer circumference
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/325—Orientation of handled material of roll of material
    • B65H2301/3251—Orientation of handled material of roll of material vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4131—Support with vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4139—Supporting means for several rolls
    • B65H2301/41392—Supporting means for several rolls moving in forced (kinematic) relationship
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/413—Supporting web roll
    • B65H2301/4139—Supporting means for several rolls
    • B65H2301/41398—Supporting means for several rolls juxtaposed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/41—Winding, unwinding
    • B65H2301/417—Handling or changing web rolls
    • B65H2301/4171—Handling web roll
    • B65H2301/4172—Handling web roll by circumferential portion, e.g. rolling on circumference
    • B65H2301/41722—Handling web roll by circumferential portion, e.g. rolling on circumference by acting on outer surface, e.g. gripping or clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2401/00—Materials used for the handling apparatus or parts thereof; Properties thereof
    • B65H2401/10—Materials
    • B65H2401/11—Polymer compositions
    • B65H2401/112—Fibre reinforced
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/10—Actuating means linear
    • B65H2555/11—Actuating means linear pneumatic, e.g. inflatable elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/10—Actuating means linear
    • B65H2555/12—Actuating means linear hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis
    • 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
    • B65H2701/30—Handled filamentary material
    • B65H2701/37—Tapes

Definitions

  • 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.
  • 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.
  • preforms are key technology in the realization of efficient mass production with reproducible and stable component quality.
  • 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.
  • prepregs partially or fully impregnated fiber yarns and / or fabrics
  • the matrix has the task of embedding the heavy-duty fibers (support function) and fill their gaps completely (blocking function).
  • additional elasticizing components such as elastomers
  • elastomers can be used.
  • blanks are produced in a cutting process, which usually completely line the formed component.
  • fiber or tape laying methods tape laying method
  • 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.
  • the tape strip 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present invention allows automation of the processes when changing a tape reel.
  • the tape is kept tensioned without the need for manual intervention.
  • the gripping device it is no longer necessary for the operator to be present and actively involved in each reel change.
  • 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.
  • 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.
  • the receiving profile encompasses or surrounds the coil flank or part of the circumference of the coil flank.
  • 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.
  • 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.
  • 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.
  • 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.
  • the tape reel can be clamped between the holding elements.
  • Each individual holding element only needs to absorb a relatively small force.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the feeding device Conveyor belt system comprises, can be supplied by the new tape reels without the involvement of the operating personnel.
  • 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.
  • 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.
  • a timing is necessary here.
  • the corresponding mechanical design must be such that the actuators do not interfere with each other.
  • 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.
  • 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.
  • a delivery unit for conveying the strip through the processing system when the strip reel is held in the material receptacle becomes.
  • This insertion process can also be performed by the drive device. This has the advantage that no manual intervention is required for this purpose.
  • 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
  • Another aspect relates to a transport method for transporting a reel with a transport system, in particular as described above, with the steps:
  • 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.
  • Fig. 1 is a schematic representation of a transport system according to a
  • Fig. 2 is a schematic representation of a tape reel and a tape wound thereon;
  • FIG. 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
  • FIG. 1 shows a transport system 10 according to the invention.
  • a gripping device 12 is coupled to a drive device 14.
  • a tape reel 16 is fixed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the tape reel 16 is received by means of the gripping device 12 according to the invention and fed to the material receptacle 20.
  • 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.
  • the 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.
  • 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.
  • 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.
  • 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 Einfädel Gay.
  • 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.
  • 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.
  • 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.
  • the gripping device 12 also comprises two further holding elements 26a and 26b.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a tape laying device Shown is a tape laying device.
  • a tape reel 16 is held in a corresponding material receptacle 20.
  • a retaining pin 48 is provided, which engages as an extension in a central cylinder 17 of the tape spool 16.
  • the retaining pin 48 is driven so that it can cause an active unwinding of the belt 36.
  • 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.
  • 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.
  • the dancer system 52 can compensate for this brief braking or stopping of the tape movement.
  • a Feed unit 56 which feeds the belt 36 and the cutting device 54 feeds.
  • 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.
  • the band structures are produced by laying.
  • 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.
  • 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.
  • a suitable device of the laying device for example wound up.
  • tapes which do not require carrier materials.

Landscapes

  • Advancing Webs (AREA)
  • Replacement Of Web Rolls (AREA)

Abstract

La présente invention concerne un dispositif de préhension (12) pour saisir une bobine de bande (16), ledit dispositif de préhension comprenant : un élément de fixation (26) pour fixer la bobine de bande (16); un élément de retenue (24) pour retenir le début de bande (38) d'une bande (36) enroulée sur la bobine de bande (16) de manière à maintenir la bande en tension, et un corps de base (28) sur lequel sont fixés l'élément de fixation (26) et l'élément de retenue (24) et qui est conçu de manière à pouvoir être accouplé à un dispositif d'entraînement (14) pour déplacer la bobine de bande (16), l'élément de fixation (26) et l'élément de retenue (24) étant conçus de manière à fixer la bobine de bande (16) et à retenir le début de bande (38) pendant le positionnement de la bobine de bande (16) dans un dispositif d'alimentation (18) pour la préparation de la bobine de bande (16), et à libérer la fixation de la bobine de bande (16) et la retenue du début de bande (38) une fois que la bobine de bande est maintenue dans un élément de réception de matériau (20) d'un système de traitement (46) et que le début de bande (38) est retenu en position. L'invention concerne en outre un dispositif d'alimentation (18), un système de transport (10), un système de traitement (46) ainsi qu'un procédé de préhension et un procédé de transport.
PCT/EP2017/072390 2016-09-08 2017-09-06 Dispositif de préhension et procédé de préhension pour saisir une bobine WO2018046562A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17781004.1A EP3509976B1 (fr) 2016-09-08 2017-09-06 Dispositif de préhension et procédé de préhension pour saisir une bobine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016116800.9A DE102016116800A1 (de) 2016-09-08 2016-09-08 Greifvorrichtung und Greifverfahren zum Greifen einer Bandspule
DE102016116800.9 2016-09-08

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EP (1) EP3509976B1 (fr)
DE (1) DE102016116800A1 (fr)
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020133137A1 (de) 2020-12-11 2022-06-15 Leicht Stanzautomation Gmbh Wickelmaschine zum Abwickeln von band- oder streifenförmigem Material sowie zugehöriger Tänzerarm

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4194384A1 (fr) * 2021-12-13 2023-06-14 Fameccanica.Data S.p.A. Robot de manipulation de bobine et procédé de manipulation de bobines de matériau en bande

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0254146A1 (fr) * 1986-07-18 1988-01-27 Agfa-Gevaert AG Dispositif pour ramasser et déposer des bobines
DE4119290A1 (de) * 1990-06-12 1992-02-06 Gd Spa Vorrichtung zum spulenwechsel in einer bandmaterial verarbeitenden maschine
DE102006060361A1 (de) * 2006-12-20 2008-06-26 Airbus Deutschland Gmbh Transportgreifer und Verfahren zum Transportieren eines flexiblen Flächenmaterials
EP2258643A1 (fr) * 2009-06-01 2010-12-08 Tetra Laval Holdings & Finance SA Procédé d'alimentation d'une station d'alimentation d'une unité de conditionnement avec une nouvelle bobine de matériau de conditionnement de feuilles, support de matériau de conditionnement de feuilles et chariot élévateur
WO2014083196A1 (fr) 2012-11-30 2014-06-05 Dieffenbacher GmbH Maschinen- und Anlagenbau Procédé et machine de pose destinés à la pose et à la fixation de sections de bande sur une pièce à fabriquer

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1242891B (it) 1990-12-24 1994-05-18 Gd Spa Metodo e dispositivo per il cambio di bobine in una macchina utilizzatrice di materiale in nastro.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0254146A1 (fr) * 1986-07-18 1988-01-27 Agfa-Gevaert AG Dispositif pour ramasser et déposer des bobines
DE4119290A1 (de) * 1990-06-12 1992-02-06 Gd Spa Vorrichtung zum spulenwechsel in einer bandmaterial verarbeitenden maschine
DE102006060361A1 (de) * 2006-12-20 2008-06-26 Airbus Deutschland Gmbh Transportgreifer und Verfahren zum Transportieren eines flexiblen Flächenmaterials
EP2258643A1 (fr) * 2009-06-01 2010-12-08 Tetra Laval Holdings & Finance SA Procédé d'alimentation d'une station d'alimentation d'une unité de conditionnement avec une nouvelle bobine de matériau de conditionnement de feuilles, support de matériau de conditionnement de feuilles et chariot élévateur
WO2014083196A1 (fr) 2012-11-30 2014-06-05 Dieffenbacher GmbH Maschinen- und Anlagenbau Procédé et machine de pose destinés à la pose et à la fixation de sections de bande sur une pièce à fabriquer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020133137A1 (de) 2020-12-11 2022-06-15 Leicht Stanzautomation Gmbh Wickelmaschine zum Abwickeln von band- oder streifenförmigem Material sowie zugehöriger Tänzerarm
EP4039383A1 (fr) 2020-12-11 2022-08-10 Leicht Stanzautomation GmbH Machine à enrouleur permettant de dérouler la matière en forme de bande ou de ruban, ainsi que bras danseur associé

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EP3509976A1 (fr) 2019-07-17
EP3509976B1 (fr) 2020-07-08

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