EP3066246B1 - Chargeur d'aiguille et dispositif automatique de chargement - Google Patents

Chargeur d'aiguille et dispositif automatique de chargement Download PDF

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Publication number
EP3066246B1
EP3066246B1 EP14805192.3A EP14805192A EP3066246B1 EP 3066246 B1 EP3066246 B1 EP 3066246B1 EP 14805192 A EP14805192 A EP 14805192A EP 3066246 B1 EP3066246 B1 EP 3066246B1
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EP
European Patent Office
Prior art keywords
needle
needles
placement
board
loader
Prior art date
Legal status (The legal status 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 status listed.)
Not-in-force
Application number
EP14805192.3A
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German (de)
English (en)
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EP3066246A1 (fr
Inventor
Jan Schneider
Rudolf Kuhn
Stefan Schlichter
Joachim BINNIG
Guido Herzog
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Autefa Solutions Germany GmbH
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Autefa Solutions Germany GmbH
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Publication date
Priority claimed from DE202013104925.5U external-priority patent/DE202013104925U1/de
Application filed by Autefa Solutions Germany GmbH filed Critical Autefa Solutions Germany GmbH
Publication of EP3066246A1 publication Critical patent/EP3066246A1/fr
Application granted granted Critical
Publication of EP3066246B1 publication Critical patent/EP3066246B1/fr
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    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
    • D04H18/00—Needling machines
    • D04H18/02—Needling machines with needles

Definitions

  • the invention relates to a Nadelbe thoroughlyungsautomaten and an automatic loading method for needle boards of needle machines with the features in the preamble of the method and device main claim.
  • a needle loading robot in the form of an articulated arm robot which performs insertion and removal of needles on and off a needle board of a nonwoven needling machine, the robot combining a needling device and a needling device and combining their functions.
  • the invention solves this problem with the features in the method and device main claim.
  • the claimed automatic needle placement technique in particular the needle placement machine and the automatic loading method, offer advantages in terms of economy, precision and economy in needle placement. Needle placement includes both needling and needling and combined needling and needling of a needle board.
  • the claimed automatic and linearly movable positioner technology has the advantage of easy controllability, short cycle times and possibly modular expandability of the needle placement machine.
  • the needle board is moved with its holding device by means of a biaxial positioning relative to a comparatively stationary Entnadelungs- and Benadelungs announced. This is advantageous for accurate and fast positioning as well as relatively simple and inexpensive control software.
  • the variants also have the advantage of good accessibility of the needle placement machine, in particular, the needle board can be moved out and changed laterally.
  • the loading and Entindadelungs might be arranged separately and on both sides of the needle board or its holding device.
  • these devices may perform only advancing movements with their needling or deburring tool to the needle board.
  • the needle placement technique provides a needle quality detection device that can be configured differently.
  • the detection can be combined with the needling, in particular the at least partial ejection of a needle. This saves time compared to a separate detection and the assembly process can be accelerated.
  • This embodiment has independent inventive significance and can also be used in other, in particular from the above-mentioned prior art known Nadelbe GmbHen and kinematics.
  • a separate detection is possible, e.g. with an optical inspection by a camera, a light barrier or the like.
  • Other non-contact or contacting sensors are possible, e.g. with an optical inspection by a camera, a light barrier or the like.
  • the needle placement technique may involve recovery of the removed needles, which may have different variants, particularly disposal and / or reuse of the needles, depending on their detected quality. This allows except a replacement of damaged, worn or otherwise unusable needles also targeted conversion of needles to other Nadelbrett Schemee. As a result, a homogenization of the needle wear can be achieved.
  • the needle loads and the wear are different at different pin board areas, in particular there is an increase in nonwoven direction of the needle machine. By equalizing the wear, the service life of the needles is increased and improved cost-effectiveness.
  • the assembly technique also allows a targeted identification and qualification of the individual needles and the assignment of a record for localization and description of the needle.
  • This can on the one hand a needle flow control with a controller and a corresponding program can be realized.
  • special causes of wear or damage to the needles which pile up on some needle board areas, for example, can be more easily and better understood and corrected.
  • the quality of the needle board and of the needle process carried out in the textile needle loom can thereby be improved. Any errors occurring on the needle punched nonwoven fabric can be traced back to specific needles and causes of defects and can be remedied in a targeted manner. This is accompanied by a particularly good and verifiable quality assurance.
  • This examination and recovery of needles has independent inventive significance and can also be used in other, in particular from the above-mentioned prior art known Nadelbe GmbHen and kinematics.
  • the claimed Benadelungstechnik allows targeted recording and subsequent rotational and / or translational alignment of a single needle, which can then be used with this orientation exactly in the receiving opening of the needle board. These process steps may be performed sequentially and on separate devices of the needling tool. This is advantageous for precision, reliability and cycle time. To protect the needle, it is advantageous to make the needle alignment before insertion into the needle board.
  • the Benadelungstechnikmaschinezeug is designed accordingly. This Benadelungstechnik also has independent inventive significance and can also be used in other, in particular from the above-mentioned prior art known Nadelbe GmbH GmbHen and kinematics.
  • the transfer and the further transport of the recorded needle between the devices of the Benadelungswerkmaschine can be done by means of transport devices and grippers.
  • the grippers can be adapted to the process requirements accordingly.
  • the alignment of the recorded needle can be done in a gripping position on a gripper. This is advantageous for the alignment process and the precision. For aligning a positive circumferential grip of the needle is low, the turning and / or moving the Needle allowed. Each needle can be individually aligned, for example, it can be brought into any desired rotational position with their Crank.
  • the insertion of a needle can be done in several stages, the needle is inserted while maintaining its previously set orientation in a receiving opening on the needle board and then pressed into the end position.
  • the gripper (s) may be frictionally engaged to maintain needle alignment, and the needle may e.g. hold in the terminal connection.
  • the separation of the needles can take place at a separating device, which may be part of the Benadelungstechnikmaschines or associated therewith. It can also be part of a possibly more complex delivery device.
  • the separation is preferably carried out with a lifting punch from a needle container. This has advantages for the precision and security and for the reduction of the building and expense expenditure as well as for the automation possibilities.
  • the singulation device can provide for a particularly fast and accurate singulation of needles from a disordered supply.
  • the construction cost and tax expense for the separating device is low.
  • the separation works very fast and reliable.
  • the Benadlungs can define an isolated and translationally and / or rotationally exactly aligned aligned and positioned needle engage and insert in any desired rotational position in the receiving opening of the needle board.
  • the alignment and pre-positioning of the isolated needle can alternatively be carried out subsequently on the already gripped needle.
  • the feeding device for the needles may also have a magazine, which may be adaptable in its functions. It can be used both to feed new needles and to temporarily clip removed needles for later reuse. Defective needles can be dropped.
  • the invention relates to a needle placement machine (1) for needles (4) on needle boards (2) of nonwoven needling machines and a loading method.
  • the said assembly includes needling or needling, or a combination of both.
  • the invention further relates to a needling device (13) and a needling method for inserting needles (4) on needle boards (2) of nonwoven needling machines.
  • the said needling involves the removal of partially ejected needles (4) from the needle board (2).
  • FIG. 1 to 3 show schematic representations of the needle placement machine (1) and its components with different kinematics. A preferred embodiment is in FIG. 1 shown.
  • the needle-loading machine (1) has a schematically indicated holding device (10), e.g. a clamping frame, for one or more needle boards (2), which are equipped with a plurality of receiving openings (3) for needles (4) (not shown), wherein the openings (3) are preferably distributed in a grid.
  • the needle board (2) takes e.g. an upright position.
  • the needle-loading machine (1) further comprises a needling device (12) and a needling device (13). With the needling device (13) needles (4) are inserted into receiving openings (3). The insertion can take place in several steps, e.g. a picking, alignment, insertion and subsequent impressions of the needle (4).
  • the needling device (12) is used to remove needles (4) from the receiving openings (3).
  • the needling device (12) can be used in particular for partially pushing out needles (4) from the receiving openings (3). With the needling device (13) and the ejected needles (4) can be gripped, removed from the receiving openings (3) and transported away or delivered.
  • the holding device (10) as well as the needling and desapping device (12, 13) can be moved and positioned linearly and relative to one another by means of an automatic uniaxial or multiaxial positioning device (11, 16).
  • the removal and Benadelungs worn (12,13) come in each case a working position on the needle board (2) and the acted upon receiving opening (3).
  • the needle placement machine (1) may further comprise a feed device (14) for needles (4), which optionally also has a positioning device (16). Furthermore, the needle placement machine (1) may comprise a needle quality detection device (20) and a remote needling device (21).
  • the needle placement machine (1) has a controller (22) which is connected to the aforementioned components of the automatic needle placement machine (1), in particular the positioning devices (11, 16), the debittering and Benadelungs worn (12,13) and the detection device (20) is.
  • the unloading and Benadelungs worn (12, 13) are arranged on opposite sides of the needle board (2) and are preferably aligned with the axis of the receiving openings (3) opposite.
  • the removal and Benadelungs achieved (12,13) each have a tool (17, 18) with a feed device (19) for delivery to the needle board (2).
  • An interaction can alternatively or additionally also occur when inserting needles (4).
  • the automatic positioning device (11, 16) has at least one linear positioning axis with a controllable drive and a measuring device for the path and / or the position.
  • at least one reference point may be provided on one of the relatively moving devices (10, 12, 13) with an associated detection device.
  • a reference to the position of the receiving openings (3) is made.
  • the needle board (2) with horizontal spatial axes (x, z) is moved horizontally and vertically relative to the preferably stationary or relative to the needle board (2) relatively stationary loading and Entadelingungs issued (13, 12).
  • the holding device (10) with a multi-axis positioning device (11) is connected, for example, has a cross slide with controllable drives and measuring devices together with connection to the controller (22).
  • FIG. 2 shows another kinematic variant, where otherwise at FIG. 1 shown and explained components are the same, even if they are not all shown for the sake of clarity.
  • the removal and BenadelungsUNE (12, 13) via a bow-shaped or annularly closed frame (15) are rigidly connected together or otherwise coupled.
  • On the frame (15) engages an example uniaxial vertical positioning device (16) of the type mentioned.
  • the needle board (2) is in turn moved in the horizontal by means of a positioning device (11).
  • the feeder (14) may also be connected to the frame (15).
  • FIG. 3 shows a variant with a relatively stationary needle board (2) and a portal-like frame (15), the debulking and Benadelungs adopteden (12, 13) and the feeder (14) interconnected and the one biaxial positioning device (16) for a biaxial linear motion in the horizontal and the vertical.
  • the needle loading machine (1) has the above-mentioned needle quality detection means (20). Here it is checked whether the needles (4) are damaged or worn or missing. Damaged needles (4) may e.g. be broken off or bent. It can also be distinguished whether the defect or wear is so great that the needles have become unusable or tolerable errors or signs of wear are present, allowing further use.
  • the detection device (20) can be designed differently. On the one hand, it can have an optical inspection device for the needle quality. This can e.g. a camera system, which performs a measurement of the needles (4), in particular the front tip and the subsequent shaft portion (5). As a result, broken needle areas, bends and other defects can be detected. Another possibility for inspection or surveying is the use of light barriers or other non-contact or contacting sensors.
  • the detection or inspection device (20) can be arranged on one or both sides of the needle board (2).
  • An optical needle inspection is preferably carried out on the board front side and with a view of the needle point, wherein also deformations or a lack of the needle (4) can be detected.
  • an optical inspection device eg a light barrier arrangement, determine whether a needle (4) has ever been expressed during needling.
  • the detection device (20) has a control device for the needle stroke during the at least partial removal, in particular during the ejection of a needle (4).
  • FIG. 14 shows a schematic example.
  • the Entnadelungswerkmaschine (17) of the Entnadelungs pain (12) is designed here as an ejection tool (24) in the form of a cylindrical ejection sleeve.
  • the ejection sleeve is adapted to the outer contour of the needle (4).
  • the needle (4) has a shaft (5) with a tip together with any barbs or the like. At the front end and a so-called needle crutch (7) at the rear end.
  • the crutch (7) is also referred to as Crank and is exemplified as a right-angled bend of the shaft end, whereby a mechanical stop on the edge of the receiving opening (3) is formed.
  • the shaft (5) also has varying thicknesses and possibly lengths.
  • the thin tip is followed by a first shoulder (6) and possibly another shoulder.
  • One or both shoulders (6) can serve as a mechanical stop for the ejection sleeve (24), so that the needle (4) is pushed at least partially backwards out of the receiving opening (3) by the associated feed device (19) during advancement of the ejection sleeve (24) becomes.
  • the needles (4) can be used on the needle board (2) with different predetermined rotational positions about its longitudinal axis. Accordingly different the tips can be oriented with their barbs and the Crank (7). When twisting, therefore, the rotational Crankauscardi is preferred set.
  • the insertion depth can be set in the receiving opening.
  • the needles (4) are preferably pushed to the stop of the cranks on the needle board (2). Alternatively, they can only be partially inserted.
  • the ejection sleeve (24), in particular its inner shape, is adapted to the outer contour of the needle (4).
  • the inner diameter of the sleeve is so large that during insertion the needle point is received with lateral play and as far as possible without contact or risk of damage in the sleeve opening and abuts the ejection sleeve (24) with the end-side sleeve edge (25) on one of the rear shoulders (6).
  • the feed device (19) which likewise has a drive and a measuring system for the path and / or position, is connected to the detection device (20) and further to the controller (22).
  • a lack or damage of the needle (4) can be detected by an unusual lifting behavior of the supplied ejection tool (24). If a needle (4) is missing, it will not come at the intended location to a sleeve stop.
  • a stop can be detected by a resistance force acting on the drive of the feed device (19), which can be detected by way of example via an increased current consumption of an electric drive motor, a force sensor or the like. The same occurs if the needle tip is broken off behind the first shoulder (6).
  • the ejection sleeve (24) then strikes only at the next shoulder (6) and leads to an unusually long delivery stroke, which can be detected and compared with a specification.
  • the needling device (12) may further comprise a controllable extraction device (26) for withdrawing an at least partially ejected needle (4) from the receiving opening (3).
  • the extraction device (26) is arranged on the opposite side of the needle board (2) and may be formed, for example, as a jaw gripper. FIGS. 11 to 14 clarify the arrangement.
  • the jaw gripper may in turn be part of the needling device (13).
  • the needle-loading machine (1) also has the above-mentioned utilization device (21) for remote needles. This allows a conversion reusable needles (4) to another location on the needle board (2). It can alternatively or additionally dispose of unusable needles (4) via a drop.
  • the utilization device (21) has e.g. a receptacle for unusable needles (4) and a magazine (37) for the temporary, defined and localized recording of reusable needles (4).
  • the controller (22) knows for all reusable needles (4), which quality they have and at which point in the magazine (37) they are temporarily stored in order to be able to be resorted to re-insertion if needed.
  • Each needle (4) when used in the needle placement machine (1), may be associated with a record of identification and information about properties of the needle. This information may relate to the nature and design of the needle (4), its history with places of use and performance on the needle board (2), possibly signs of wear or damage, etc.
  • the controller (22) may be included a program (23) for needle identification and for a needle flow control.
  • a zonewise conversion of needles (4) according to their current state of wear take place to a constant To obtain wear progress and a longer life.
  • the needle information also includes information about the temporary storage location and possibly the orientation of the needle (4) in the magazine (37). A conversion can also be carried out cyclically.
  • FIGS. 5 to 14 show a preferred structural configuration of the needle placement machine (1).
  • This can eg according to FIG. 4 be surrounded by a housing (9), which can be transported through frontal doors needle boards (2) in and out of the housing (9).
  • the removal and Benadelungs worn (12, 13) are preferably relatively stationary relative to the holding device (10). They are located on a machine frame (8), which forms a mechanical connection in the manner of the aforementioned frame (15) with permanent and exact mutual positioning of the devices (12, 13).
  • the Benadelungs worn (13) has the aforementioned Benadelungswerkmaschine (18) and a controllable feed device (19), with which at least a portion of the Benadelungswerkmaschines (18) can be delivered to a working position on the needle board (2).
  • the delivery device (19) has, for example, in the embodiment of FIGS. 1 to 14 a slide (35) which can be moved linearly in a horizontal and infeed direction on a frame (36) and a controllable feed drive with a measuring system for position and / or position detection.
  • the delivery device (19) can also be omitted.
  • the needling device (13) and the needle board (2) are positioned relative to one another by means of the positioning device (s), so that the longitudinal axes of the needle (4) and the receiving opening (3) are aligned with one another.
  • FIGS. 4 to 14 show a first embodiment of the needling device (13).
  • a second embodiment of the needling device (13) is shown.
  • the needle board (2) is in FIG. 15 and 16 fragmentary with three inserted needles (4) shown.
  • the controllable components of the needling device (13) are connected to the controller (22).
  • the needling device (13), in particular its needling tool (18), has in the first embodiment of FIGS. 4 to 14 a plug-in device (27) and a push-in device (28) for inserting a needle (4) in a receiving opening (3) of the needle board (2).
  • Both devices (27, 28) are preferably arranged jointly on the carriage (35) of the feed device (19) and are thereby delivered horizontally to the upright needle board (2).
  • the needling device (13), in particular the insertion device (27), has a needle holder (29 '), eg a controllable jaw gripper, as well as a translatory and / or rotary needle aligner (30).
  • the needle holder (29 ') can at the same time form the extractor device (26) for a needle (4) when it is moved counter to the feed device and away from the needle board (2).
  • the jaw gripper (29 ') grips a single needle (4) on the shaft (5) and holds it in a pre-aligned horizontal position.
  • the indenting device (28) can be effective, then the needle (4) axially open until the needle holder (29 ') is open or powerless to the stop of the crutch (7) on the needle board (2) advances.
  • the needle aligner (30) can bring about the axial alignment along the axis of a receiving opening (3), whereby on the other hand this can also be a function of the feed device (14) explained below.
  • a rotary needle aligner (30) ensures the correct rotational position of a needle (4) about its longitudinal axis for pre-positioning and when inserting into the receiving opening (3).
  • the Nadelausrichter (30) have a Vorpositionierer (31) which aligns the crutch (7) of the received needle (4) in a predetermined position, for example, it is directed vertically downwards.
  • a pre-positioner (31) may also cooperate with the feeder (14). He can eg according to FIG. 11 be designed as a stripper, which has two spaced brushes or fixed guide surfaces between which the needle (4) is moved in the supply to the needle holder (29 '), with a possibly inclined crutch (7) abuts and then by Nadelfelung along the Feeding direction is aligned.
  • a rotary needle aligner (30) may further comprise a rotary gripper (32) with a controllable rotary drive (33) for the needle crutch (7) for adjusting the rotational position when inserted in the needle board (2).
  • the rotary gripper (32) is e.g. as a slotted or grooved sleeve or the like. Formed, which engages over the rear needle end and the crutch (7) positively and rotationally.
  • the rotary gripper (32) can be rotated by the controllable rotary drive (33) about its longitudinal axis or the needle axis.
  • the rotary gripper (32) can also be in connection with the push-in device (28), in particular the push drive (34) and advanced by this become.
  • the spinning drive may, for example, have a piston rod or control rod, which passes through the rotary drive (33) centrally and axially and which is possibly also rotated.
  • FIGS. 8 to 11 illustrate this training and the horizontal orientation in the delivery direction.
  • the needle pick and place machine (1) in particular the needling device (13), has the aforementioned feed device (14), which serves for singling and positionally correct feeding of needles (4) to the needling tool (18).
  • the feeder (14) can be a magazine (37) for e.g. have new needles (4).
  • the magazine (37) can also be the magazine for the utilization device (21) at the same time.
  • the feeding device (14) also has a separating device (43) for the singulation and alignment as well as positionally correct feeding of the needles (4). There are different design options for this.
  • the magazine (37) has a conveyor (38) with one or more needle containers (39), each containing one or more new or reusable needles (4).
  • the feeding device (14) interacts with the insertion device (27) and the push-in device (28) and transports there the one or more needle containers (39) and the needles (4).
  • the conveyor (38) is designed for example as a circulation conveyor and arranged on a table (48). Arrows in FIG. 7 illustrate the horizontal direction of rotation.
  • the circulation conveyor (38) is designed for example as a belt conveyor and has a lying around with vertical axis of rotation arranged deflection and drive wheels rotating elastic strip on the outside a plurality of axially spaced carrier (49) for the positive and positionally accurate entrainment of a respective needle container (39).
  • the singulator (43) is adapted in the preferred embodiment to the needle container (39) and has a controllably driven lifting punch (44) which can move up and down in the vertical and thereby through a slot (42) in the bottom (40 ) of the positioned needle container (39).
  • the lifting ram (44) has a shaft which closes the slot (42) against undesired needle exit.
  • the lifting punch (44) has a support (45) with two or more support arms for a single needle (4), which is preferably arranged on the punch top.
  • the support (45) can serve for linear needle alignment and as a pre-positioner (31), extending horizontally and in the feed direction.
  • the separating device (43) furthermore has a movable, in particular controllable container guide (46) for receiving, positioning and supporting a needle container (39).
  • the slot (42) over the lifting ram (44) is positioned to pass through.
  • the needle container (39) may have on one side a connection (41) for positive engagement with a driver (49).
  • a mobility in the vertical can be present.
  • the container guide (46) can be connected to the positioning device (16) and can be raised and lowered in a controlled manner for receiving a needle container (39) sliding on the table surface.
  • the needle container (39) is thereby e.g. surrounded by an outside circumferential collar of the container guide (46) positive fit.
  • the needle container (39) has an adapted to the needle geometry and preferably elongated shape. He can supply a supply of needles (4) with a certain pre-alignment pick up along the container longitudinal axis.
  • the lifting punch (44) serves to singulate and feed a single needle (4) to the needling tool (18), in particular to the needle holder (29 '), and cooperates with these components (18, 29').
  • the supports (45) are adapted to the needle geometry and are designed, for example, as arms with upwardly open receiving troughs.
  • the container length corresponds substantially to the needle length, which ensures positioning of the needle container (39) for an axial pre-positioning of the needles (4) on the lifting ram (44).
  • a suitably located needle (4) is taken and gripped with two axially spaced supports (45) and held, the other needles (4) omitted.
  • the container bottom (40) can this have a receptive, trough-like down to the central slot (42) lowered shape.
  • the length of the slot (42) and the corresponding width of the Hubstkovs (44) may be shorter than the needle length.
  • the separating device (43) may have a in FIGS. 8 to 11 having sensor (47) shown, for example, a light barrier, for detecting the existence and location of an isolated needle (4) on the lifting ram (44) and in the supports (45).
  • the supports (45) may protrude slightly beyond the upper punch edge so that the needle (4) can be levitated and gripped by the needle holder (29 ').
  • the upper edge of the stamp can also be contoured for this purpose.
  • the lifting ram (44) can lower again and separate and pick up the next needle (4).
  • the needle containers (39) are detachably connected to the drivers (49), where they are attached there, for example, with their terminals (41). Slanted baffles on the parts (41, 49) provide centering and positive guidance. A lowering of the needle container (39) can be prevented by this form-fitting, on the other hand, an upward stroke movement and a corresponding entrainment by the container guide (46) are possible. In this case, the container guide (46) takes over the guiding and centering function, wherein any positioning inaccuracies of the conveyor (38) are compensated.
  • the needle containers (39) can be replaced as needed. This is e.g. the change from empty to full containers.
  • other containers or supports or other holding devices for one or more needles (4) can be used to form a temporary intermediate storage of the utilization device (21) and, if necessary, exchanged for needle containers (39) for new needles (4).
  • the second variant of the needling device (13) of FIGS. 15 to 19 has independent inventive meaning. It can also be used in other, in particular from the above-mentioned prior art known Nadelbe GmbHungsautomaten and kinematics.
  • the needle board (2) is preferably according to FIG. 1 with linear spatial axes (x, z) horizontally and vertically relative to the preferably stationary or relative to the needle board (2) relatively stationary loading and Entadelingung (13, 12) moves.
  • the holding device (10) with a multi-axis positioning device (11) is connected, for example, has a cross slide with controllable drives and measuring devices together with connection to the controller (22).
  • the second variant can alternatively be used in other kinematic variants.
  • the removal and Benadelungs adopted (12,13) by means of a positioning relative to a likewise moving or to a relatively stationary needle board (2) are moved.
  • the three kinematics variants there are other alternatives and hybrid forms.
  • the needling device (13), in particular its needling tool (18), likewise has an insertion device (27) and a push-in device (28) for inserting a needle (4) into a receiving opening (3) of the needle board (2).
  • the needling device (13), in particular its needling tool (18), also has a receiving device (29) for an isolated needle (4) and a device (30) for aligning a needle (4).
  • the alignment device (30) is also referred to as a needle aligner (30).
  • the needling device (13) may further include an integrated or otherwise associated separating device (43) for needles (4).
  • the separating device (43) can also be part of the feed device (14).
  • the receiving device (29) for a single needle (4) has a needle holder (29 '), eg a controlled driven jaw gripper, which grips a single needle (4) on the shaft (5) and preferably in a parallel to the receiving opening, in particular horizontal Location stops.
  • the needle holder (29 ') has, for example, two or more jaws acting on the needle shank (5) on the opposite side, which have a groove-like depression adapted to the shank region at the contact point.
  • the grip or grip of the needle (4) can be positive and with radial play. It can allow rotation and axial displacement of the needle (4) on the needle aligner (30).
  • the receiving device (29) further comprises a transport device (50), with which the needle holder (29 ') can be reversibly moved between a needle receiving point and the Nadelausrichter (30).
  • the needle receiving location is e.g. the receiving location on the separating device (43)
  • the transport device (50) has a controllable drive and has e.g. a pivot arm, at the end of the controllable needle holder or jaw gripper (29 ') is arranged.
  • a rotary needle aligner (30) provides e.g. for the correct rotational position of a needle (4) about its longitudinal axis for pre-positioning and for later insertion in the receiving opening (3).
  • the needle aligner (30) may also effect the axial needle alignment for said pre-positioning.
  • the jaw gripper (29 ') is moved with the positively held needle (4) in front of the Nadelausrichter (30).
  • the needle (4) after the rotational and / or translational alignment to a preferred combined insertion and Eindrückvorraum (27,28) are moved on.
  • a further controllable, reversibly movable transport device (51) is provided, which may also be designed as a pivoting device or in another suitable manner.
  • the transport device (51) has a controllable gripper (52) with which the aligned needle (4) can be taken over by the needle holder (29 ').
  • the gripper (52) can also be designed as a controlled driven jaw gripper of the aforementioned type. He holds the needle (4) preferably in the frictional connection or clamping closure, so that their axial and rotathari alignment is maintained.
  • the transport devices (50, 51) and their jaw grippers (29 ', 52) are arranged one behind the other in the longitudinal direction of the needle for the transfer operation.
  • the insertion and Eindrückvoriques (27,28) also has a controllable gripper (53), which is preferably designed as a driven and controllable jaw gripper and engages the transferred needle (4) with traction to maintain their orientation.
  • a controllable gripper (53) is preferably designed as a driven and controllable jaw gripper and engages the transferred needle (4) with traction to maintain their orientation.
  • an offset of the grippers (52, 53) in the needle longitudinal direction is also provided here.
  • the gripper (53) can have the same arrangement and jaw width as the needle holder (29 ').
  • the separating device (43), the Nadelausrichter (30) and the combined insertion and Eindrückvorides (27, 28) are arranged at a distance next to each other, wherein the needle (4) by means of the transport devices (50,51) transported and handed over becomes.
  • the transport devices (50, 51) can be arranged on a common frame (36). They can have separate controllable drives or a common drive.
  • the pivot arms are preferably arranged hanging and move in a plane parallel to the preferably upright needle board (2).
  • the Nadelausrichter (30) has a rotary gripper (32) and a controllable rotary drive (33) and a feed or push drive (34) for adjusting the rotational position of the needle crutch (7).
  • the rotary gripper (32) is formed, for example, as a cylindrical pressing head with a bolt arranged axially and eccentrically on its end face.
  • the parallel or preferably coaxial with the needle shaft (5) aligned rotary gripper (32) is delivered by the feed drive from a retracted position to the needle (4) in the needle holder (29 ') and at the same time or subsequently by the rotary drive (33) rotated about its longitudinal axis ,
  • the axial bolt engages behind the crutch or the crank (7) and takes this with rotation of the needle (4), until the predetermined and by the rotary drive (33) controlled rotational position is reached.
  • the translatory alignment of the needle (4) can be effected via the axial feed. In this aligned position, it is then taken over in the manner described above by the gripper (52) and transferred to the insertion and Eindrückvorraumraum (27, 28).
  • the push-in and push-in device (27, 28) can be coupled to the feed device (19).
  • This has a in the feed direction to the needle board (2) movable and by a controllable feed drive (35 ') acted upon carrier (35), e.g. a movable carriage, on.
  • carrier 35
  • the push drive (34) is arranged in alignment behind the gripper (53) and acts on the needle (4), in particular the crank (7), on the rear side with an extendable pressure stamp or the like.
  • the feed direction is aligned parallel to the longitudinal axis of the receiving opening (3).
  • the carriage (35) is slidably mounted on a frame (36) and is acted upon by a controllable feed drive (35 '), which may have a measuring system for position and / or position detection.
  • the held by the gripper (53) in the set orientation needle (4) is aligned with the receiving opening (3) and is inserted by the carrier or carriage feed into the receiving opening (3).
  • the needle (4) can then be further advanced while maintaining its rotational orientation by the push drive (34) and pressed into the final needle position in the needle board (2), wherein the gripper (53) is opened.
  • the insertion depth can be chosen and set as desired.
  • the Crank (7) can be brought into abutment with the needle board (2).
  • the insertion and Eindrückvoriques (27,28) can be used in the manner mentioned above as a puller (26) for withdrawing partially ejected needles (4).
  • the extraction device (26) advances with the gripper (53) open to the needle board (2).
  • the subsequently closed gripper (53) grips the needle (4), which is then pulled out of the receiving opening (3) by a return stroke movement of the carriage (35).
  • the transport means (51, 50) and its gripper (52,29 ') back to the needle container (39) or to another Place brought and the recovery device (21) are supplied.
  • the Benadelungswerkmaschine (18) may comprise a monitoring device (54), for example, designed as a digital camera and the frame (36) is arranged. It can be assigned to the needle aligner (3). It can there on the needle holder (29 '), the held needle (4) and possibly the Crank (7) and the extended rotary gripper (32) look and visually detect their presence, position and function.
  • the monitoring device (54) can be connected to the controller (22).
  • the needle pick and place machine (1) in particular the needling device (13), has the aforementioned feed device (14), which serves for singling and positionally correct feeding of needles (4) to the needling tool (18).
  • the feeder (14) can be a magazine (not shown) for e.g. have new needles (4).
  • the magazine can also be the magazine for the utilization device (21) at the same time.
  • the feed device (14) or the needling tool (18) also has a separating device (43) for the singulation and alignment as well as positionally correct feeding of the needles (4). There are different design options for this.
  • the magazine has e.g. Similar to the first embodiment, a conveyor (not shown) with one or more needle containers (39), each containing one or more new or reusable needles (4).
  • the feeding device (14) cooperates with the needling tool (18) and transports there the one or more needle containers (39) and the needles (4).
  • the singulator (43) is adapted in the preferred embodiment to the needle container (39) and has a controllably driven lifting punch (44) which can move up and down in the vertical and thereby through a slot (42) in the bottom (40 ) of the positioned needle container (39).
  • the lifting ram (44) has a shaft which closes the slot (42) against undesired needle exit.
  • the lifting punch (44) has a support (45) with two or more support arms for a single needle (4), which is preferably arranged on the punch top.
  • the support (45) can serve for linear needle alignment, extending horizontally and in the feed direction.
  • the separating device (43) may further comprise a movable, in particular controllable container guide (not shown) for receiving, positioning and supporting a needle container (39).
  • the slot (42) over the lifting ram (44) is positioned to pass through.
  • the needle container (39) may have on one side a connection (41) for positive engagement with a driver of the aforementioned conveyor.
  • a mobility in the vertical can be present.
  • the container guide (46) can be connected to the positioning device (16) and can be raised and lowered in a controlled manner for receiving a needle container (39) sliding on a table surface.
  • the needle container (39) is thereby e.g. embraced by a form-fitting border of a container guide on the outside.
  • the needle container (39) has an adapted to the needle geometry and preferably elongated shape. He can record a supply of needles (4) with a certain advance direction along the container longitudinal axis.
  • the lifting punch (44) is used to singulate and feed a single needle (4) to the needling tool (18), in particular to the receiving device (29), and cooperates with these components (18,29).
  • the supports (45) are adapted to the needle geometry and are e.g. designed as arms with upwardly open receiving troughs.
  • the container length corresponds substantially to the needle length, which ensures positioning of the needle container (39) for an axial pre-positioning of the needles (4) on the lifting ram (44).
  • a suitably located needle (4) is taken and gripped with two axially spaced supports (45) and held, the other needles (4) omitted.
  • the container bottom (40) can do this a receptive, trough-like down to the central slot (42) lowered form.
  • the length of the slot (42) and the corresponding width of the Hubstkovs (44) may be shorter than the needle length.
  • the singulator (43) may comprise a sensor, not shown, e.g. a camera, for detecting the existence and location of an isolated needle (4) on the lifting ram (44) and in the supports (45).
  • the supports (45) may protrude slightly beyond the upper punch edge so that the needle (4) can be levitated and gripped by the needle holder (29 ').
  • the upper edge of the stamp can also be contoured for this purpose.
  • the needle containers (39) can be replaced as needed. This is e.g. the change from empty to full containers.
  • other containers or supports or other holding devices for one or more needles (4) can be used to form a temporary intermediate storage of the utilization device (21) and, if necessary, exchanged for needle containers (39) for new needles (4).
  • the needle-loading machine (1) also has the above-mentioned utilization device (21) for remote needles. This allows a conversion reusable needles (4) to another location on the needle board (2). It can alternatively or additionally dispose of unusable needles (4) via a drop.
  • the utilization device (21) has, for example, a receptacle for unusable needles (4) and a magazine for the temporary, defined and localized recording of reusable needles (4).
  • the controller (22) knows for all reusable needles (4), which quality they have and at what point in the magazine they are temporarily stored, in order to be able to be used for re-insertion purposeful.
  • Each needle (4) when used in the needle placement machine (1), may be associated with a record of identification and information about properties of the needle. This information may relate to the nature and design of the needle (4), its history with places of use and performance on the needle board (2), possibly signs of wear or damage, etc.
  • a program (23) for needle identification and for a needle flow control may be included in the controller (22).
  • a program (23) for needle identification and for a needle flow control e.g. a zone-wise conversion of needles (4) according to their current state of wear in order to obtain a constant wear progress and a longer life.
  • the needle information also includes information about the temporary storage location and possibly the orientation of the needle (4) in the magazine. A conversion can also be carried out cyclically.
  • the needle loading machine (1) has the above-mentioned needle quality detection means (20). Here it is checked whether the needles (4) are damaged or worn or missing. It can also be distinguished whether the defect or wear is so great that the needles have become unusable or tolerable errors or signs of wear are present, allowing further use.
  • the detection device (20) can be designed differently. On the one hand, it can have an optical inspection device for the needle quality. This can be, for example, a camera system which measures the needles (4), in particular the front one Tip and the subsequent shaft portion (5), performs. Another possibility for inspection or surveying is the use of light barriers or other non-contact or contacting sensors.
  • the detection or inspection device (20) can be arranged on one or both sides of the needle board (2).
  • An optical needle inspection is preferably carried out on the board front side and with a view of the needle point, wherein also deformations or a lack of the needle (4) can be detected.
  • an optical inspection device e.g. a camera, determine whether there is a needle (4) present during loading and Entadadeln and correctly arranged. This includes testing whether a needle (4) was expressed during needling.
  • the loading and Ent Nadelungs worn (13, 12) may be present multiple times and work alternately or together in the manner of a set tool. As a result, several needles (4) can be inserted or removed simultaneously on the needle board (2).
  • the receiving device (29) may e.g. with a corresponding needle holder (29 ') several needles (4) next to each other and hold an arrangement corresponding to the opening grid.
  • the other devices (37, 28, 30) of the needling tool (18) can be adapted accordingly.
  • the described components of the needling device (13) can be structurally modified.
  • the plug-in and push-in device (27, 28) can be used as be formed spatially, functionally and structurally separate devices.
  • all or individual devices (27, 28, 29, 30) of the needling tool (18) can be grouped together to constructional and functional units.
  • the Nadelausrichter (30) and the insertion and Eindrückvorides (27,28) can be combined into one unit.
  • the transport devices (50, 51) are adjusted accordingly, possibly a transport device can be omitted.
  • the separating device (43) with the lifting punch (44) can also be used without a magazine (37) and without a conveyor (38). Furthermore, in a modification of the examples shown, the separation of the needle holder can be separated. Said separating device (43) can first feed the separated needle (4) to a clipboard or the like, the needle holder (29) receiving the needle (4) from there.
  • an orientation of the needle (4) and in particular of the crutch (7) after singulation and in the gripped position on the needle holder (29) take place.
  • the Nadelausrichter (30) and its Vorpositionierer (31) are designed and arranged accordingly differently.
  • the needling device (13) can have a different type of separating device (43).
  • This can be designed, for example, as a vibrating conveyor, conveyor belt or the like with an upstream separation and pre-alignment of needles (4).
  • different variants of a detection device (20), a utilization device (21), a feed device (14) as well as a needling and needling device (12, 13) can be combined with one another.
  • a needle insertion machine (1) does not have to have all of these aforementioned facilities.
  • the utilization device (21) only a drop or the like.
  • ejection and magazine (37) are coexistent to provide freedom of choice and to permit zone-by-needle transfer of needles (4) for wear compensation or other reasons.

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  • Engineering & Computer Science (AREA)
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  • Nonwoven Fabrics (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Transplanting Machines (AREA)

Claims (15)

  1. Chargeur d'aiguilles automatique (1) pour des aiguilles (4) sur des planches à aiguilles (2) d'aiguilleteuses pour non-tissés, le chargeur d'aiguilles automatique (1) présentant un dispositif de fixation (10) pour la planche à aiguilles (2), un dispositif d'enlèvement d'aiguilles (12) et un dispositif de montage d'aiguilles (13) pour enlever et insérer des aiguilles (4) hors et dans des ouvertures de réception (3) de la planche à aiguilles (4), et les dispositifs de fixation, de montage d'aiguilles, et d'enlèvement d'aiguilles (10, 12, 13) pouvant être déplaçables et positionnables linéairement et les uns par rapport aux autres au moyen d'un dispositif de positionnement automatique (11, 16), caractérisé en ce que le dispositif de fixation (10) présente un dispositif de positionnement à plusieurs axes (11), les dispositifs de montage d'aiguilles et d'enlèvement d'aiguilles (12, 13) étant disposés de manière relativement fixe sur un cadre (15) ou sur un bâti de machine (8).
  2. Chargeur d'aiguilles automatique selon la revendication 1, caractérisé en ce que les dispositifs de montage d'aiguilles et d'enlèvement d'aiguilles (12, 13) sont disposés sur des côtés opposés de la planche à aiguilles (2) et présentent chacun un outil (17, 18) avec un dispositif d'attribution (19) pour l'attribution à la planche à aiguilles (2), les dispositifs de montage d'aiguilles et d'enlèvement d'aiguilles (12, 13) coopérant avec leurs outils (17, 18) lors de l'enlèvement et/ou lors de l'insertion d'aiguilles (4).
  3. Chargeur d'aiguilles automatique selon la revendication 1 ou 2, caractérisé en ce que le chargeur d'aiguilles automatique (1) présente un dispositif de détection (20) pour la qualité des aiguilles, le dispositif de détection (20) présentant un dispositif d'inspection optique pour la qualité des aiguilles et/ou un dispositif de contrôle pour la course des aiguilles lors de l'enlèvement, en particulier lors de l'éjection d'une aiguille (4).
  4. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le chargeur d'aiguilles automatique (1) présente une commande (22) avec un programme (23) pour l'identification des aiguilles et le contrôle du flux des aiguilles.
  5. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de montage d'aiguilles (13) présente un outil de montage d'aiguilles (18) qui est réalisé de manière à recevoir une aiguille séparée (4), puis pour l'orienter et ensuite pour l'insérer exactement dans une ouverture de réception (3).
  6. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de montage d'aiguilles (13), en particulier l'outil de montage d'aiguilles (18) présente un dispositif de réception (29) pour une aiguille individuelle (4), un dispositif d'orientation (30) pour l'orientation en rotation et/ou axiale de l'aiguille (4) et un dispositif d'insertion et d'enfoncement (27, 28) pour l'aiguille (4) dans la planche à aiguilles (2).
  7. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif d'insertion et éventuellement le dispositif d'enfoncement (27, 28) sont réalisés sous forme de dispositif d'extraction (26) pour des aiguilles (4) au moins en partie poussées hors de la planche à aiguilles (2) .
  8. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif d'orientation (30) présente un dispositif de préhension rotatif (32) pour une manivelle (7) d'aiguille (4) avec un entraînement en rotation commandable (32) et un entraînement de pressage (34).
  9. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de montage d'aiguilles (13) présente un dispositif de surveillance (54).
  10. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le chargeur d'aiguilles automatique (1), en particulier le dispositif de montage d'aiguilles (13), présente un dispositif d'alimentation (14) pour séparer et éventuellement acheminer en position correcte des aiguilles (4) à l'outil de montage d'aiguilles (18) ou un dispositif de séparation (43) pour des aiguilles (4) est associé au dispositif de montage d'aiguilles (13).
  11. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de séparation (43) effectue la séparation des aiguilles (4) avec un poinçon de levage (44) à partir d'un récipient d'aiguilles (39), le poinçon de levage (44) coopérant avec l'outil de montage d'aiguilles (18), en particulier le dispositif de réception (29), et positionnant les aiguilles séparées (4) de manière correcte pour leur préhension.
  12. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif d'alimentation (14) présente un magasin (37) avec un transporteur (38), en particulier un transporteur en boucle, et un ou plusieurs récipients d'aiguilles (39).
  13. Chargeur d'aiguilles automatique selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de séparation (43) effectue la séparation des aiguilles (4) avec un poinçon de levage (44) à partir d'un récipient d'aiguilles (39), le dispositif de séparation (43) présentant un capteur (47) pour détecter une aiguille séparée (4) sur le poinçon de levage (44) .
  14. Procédé de chargement d'aiguilles (4) sur des planches à aiguilles (2) d'aiguilleteuses pour non-tissés au moyen d'un chargeur d'aiguilles automatique (1) qui présente un dispositif de fixation (10) pour la planche à aiguilles (2), un dispositif d'enlèvement d'aiguilles (12) et un dispositif de montage d'aiguilles (13) pour enlever et insérer des aiguilles (4) hors et dans des ouvertures de réception (3) de la planche à aiguilles (4), les dispositifs de fixation, de montage d'aiguilles, et d'enlèvement d'aiguilles (10, 12, 13) étant déplacés et positionnés linéairement et les uns par rapport aux autres au moyen d'un dispositif de positionnement automatique (11, 16), caractérisé en ce que la planche à aiguilles (2) est déplacée par le dispositif de fixation (10) au moyen d'un dispositif de positionnement à plusieurs axes (11), les dispositifs de montage d'aiguilles et d'enlèvement d'aiguilles (12, 13) étant disposés de manière relativement fixe sur un cadre (15) ou sur un bâti de machine (8).
  15. Procédé selon la revendication 14, caractérisé en ce que les aiguilles enlevées de la planche à aiguilles (2) sont identifiées et évaluées en termes de qualité, les aiguilles pouvant être réutilisées (4) étant récupérées, en particulier étant replacées sur la planche à aiguilles (2).
EP14805192.3A 2013-11-04 2014-11-04 Chargeur d'aiguille et dispositif automatique de chargement Not-in-force EP3066246B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE202013104925.5U DE202013104925U1 (de) 2013-06-04 2013-11-04 Nadelbestückungsautomat
DE201320105980 DE202013105980U1 (de) 2013-12-30 2013-12-30 Benadelungseinrichtung
PCT/EP2014/073708 WO2015063328A1 (fr) 2013-11-04 2014-11-04 Automate d'implantation d'aiguilles et procédé automatique d'implantation

Publications (2)

Publication Number Publication Date
EP3066246A1 EP3066246A1 (fr) 2016-09-14
EP3066246B1 true EP3066246B1 (fr) 2019-01-02

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EP (1) EP3066246B1 (fr)
CN (1) CN105683435B (fr)
DE (1) DE202013105980U1 (fr)
WO (1) WO2015063328A1 (fr)

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CN105683435B (zh) 2019-03-22
US20160273143A1 (en) 2016-09-22
CN105683435A (zh) 2016-06-15
WO2015063328A1 (fr) 2015-05-07
US9909242B2 (en) 2018-03-06
EP3066246A1 (fr) 2016-09-14
DE202013105980U1 (de) 2015-03-30

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