WO2017162633A1 - Dispositif de manipulation pour des éléments souples - Google Patents

Dispositif de manipulation pour des éléments souples Download PDF

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Publication number
WO2017162633A1
WO2017162633A1 PCT/EP2017/056634 EP2017056634W WO2017162633A1 WO 2017162633 A1 WO2017162633 A1 WO 2017162633A1 EP 2017056634 W EP2017056634 W EP 2017056634W WO 2017162633 A1 WO2017162633 A1 WO 2017162633A1
Authority
WO
WIPO (PCT)
Prior art keywords
elements
needle
handling device
needle elements
carrier
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.)
Ceased
Application number
PCT/EP2017/056634
Other languages
German (de)
English (en)
Inventor
Christian Dörsch
Oliver Bagemiel
Florian Sayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
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 Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Publication of WO2017162633A1 publication Critical patent/WO2017162633A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/52—Translation screw-thread mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/60—Penetrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2601/00—Problem to be solved or advantage achieved
    • B65H2601/20—Avoiding or preventing undesirable effects
    • B65H2601/25—Damages to handled material
    • B65H2601/254—Permanent deformation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/174—Textile; fibres

Definitions

  • the invention is in the field of mechanical engineering and can be used with particular advantage in manufacturing and processing technology. It relates to a handling device for flexible elements.
  • Pliable elements for example in the form of sheet-like textile fabrics, semifinished fiber products or generally preforms or sandwich structures, are processed more and more frequently with the progress of manufacturing and processing technology.
  • a material / limp element is changed with respect to its position or orientation, for example, recorded or stored, thereby optionally also formed or folded.
  • sandwich structures can be accepted and stored as intermediates, such structures may contain core materials and pliable elements, for example in the form of textile semi-finished products. Core materials are also to be handled accordingly.
  • pliable elements are used as insert elements, for example in the form of textile layers.
  • needle grippers are known from the prior art, in the use of which one or more layers of fabrics are penetrated by needles and retained by the needle gripper. By manipulating the needles, the elements can be selectively deposited again at a later time, at a different location and in a different position.
  • DE 20 20 121 042 75 41 discloses a needle gripper with a drive device for the needle elements, as well as from US Pat
  • EP 2 716 585 A2 describes a needle gripper in which an electrodynamic actuator reverses the drive direction of the needles.
  • Vacuum grippers (for example from DE 10 20 1300 9344 A1) are also known, which suck in and hold flexible elements by vacuum.
  • the simultaneous holding multiple layers is difficult and depends on the gas permeability of the layers. In addition, this requires a high pumping capacity and thus a high energy wall.
  • the present invention is based on the background of the prior art the object to provide a handling device for pliable elements, which avoids the disadvantages of the prior art as possible and with a limited number of elements in a controlled manner, the gripping and releasing of one or more Layers of limp elements allows, while avoiding a change or damage to the limp elements as much as possible.
  • the claims 14 and 15 show embodiments of the method.
  • the invention relates to a handling device for flat and / or preformed, textile and / or pliable elements, in particular semi-finished textile products or sandwich structures, with a carrier and one or more at least temporarily protruding from the carrier needle elements.
  • one or more of the needle elements has a profiled in its longitudinal direction contour, in particular in the form of a thread, and individually oscillating together or in groups, in particular in the longitudinal directions of the needle elements oscillating, or about their respective longitudinal axes driven in rotation are.
  • the profiled contour of the needle elements which is provided in particular in the longitudinal section in which the needle elements are to pierce the elements to be handled, ie in the tips of the needle elements adjacent, front areas, which protrude from the support for receiving the elements, is a improved hold of the limp elements te reached at the needle elements.
  • the number of necessary needle elements which is necessary for a secure gripping, be surprisingly greatly reduced.
  • a relatively low profiling of the needle elements is sufficient for a greatly improved grip of the limp elements on the needle elements.
  • Diameter or cross-sectional profiles along the longitudinal direction of the needle elements account for less than 50% variation of the maximum value of the diameter or a cross-sectional dimension, advantageously less than 20%, more advantageously less than 10% variation between the longitudinal sections with the largest dimensions and longitudinal sections with the smallest dimensions.
  • the retraction and extension of the needles in the pliable elements in and out of these can be done by a special drive of the needle elements particularly advantageous and with very little damage to the elements, as will be explained in more detail below in the description of the method.
  • the protruding from the carrier free length of the needle elements can remain unchanged during the drive movement or oscillate around an average, for example, with frequencies between a few hertz and a few 10 hertz, for example, below 100 hertz.
  • the Oszillationsweg can be between 0.1 mm and 5 mm, in particular between 0.1 mm and 2 mm. This may refer to single, multiple or all needle elements.
  • the movement of the needle elements upon penetration into the male material is, apart from the oscillating or rotating movement of the needle elements, effected by an overall movement of the or the carrier.
  • the separate drive of the needle elements serves to overcome the penetration resistance of the needle elements and the protection of the material to be picked when piercing.
  • At least one of the needle elements has a diameter increasing and decreasing alternately along its longitudinal direction. It may also be provided that the contour or the diameter of the needle element (s) along the longitudinal direction of the respective needle element alternately increase and decrease alternately at least in a longitudinal section, so that a wave-shaped contour is formed.
  • the said contour is only an example, it can also significantly more irregular
  • the needle elements each have a wavy contour in a side view along their longitudinal direction, which greatly increases the pull-in resistance when piercing the non-rigid elements and the extension resistance.
  • the holding strength of limp elements on the handling device according to the invention is significantly improved.
  • the penetration points created in the elements to be gripped are not increased as much as was expected.
  • provision may be made, for example, for at least one of the needle elements to have a thread in at least one of its longitudinal sections.
  • the thread ridge of the thread has a rounded edge
  • a limp element By means of such a thread, a limp element can be pierced in a particularly simple manner and with a low penetration force, in particular with rotation of the needle element. Under opposite rotation of the needle element this can be removed from the pliable element again and between the picking up and releasing the connection between the needle element and limp element is a good connection with a large holding force. By rounding the threaded ridge injuries to the male limp element are minimized.
  • a sharp-edged thread can be used.
  • the use of commercially available screws for the needle elements is conceivable. Diameter of such barriers may for example be 1 or more millimeters.
  • One or more or all needle elements may be assigned separate drive means, which may also be separately controllable. In this case, the needle elements may also be assigned sensors for detecting the mechanical resistance, which the male material opposes to the needle elements.
  • At least one of the needle elements which is not round in cross-section, has along its longitudinal direction in at least one longitudinal section alternately increasing and decreasing thickness.
  • the needle elements may be formed in this case, for example, as rectangular in cross-section strips, which are along a selected longitudinal section with a wavy outer contour with alternately larger and smaller cross-section (one or both sides sawtooth).
  • At least one of the needle elements along its longitudinal direction in different (for example, perpendicular to each other and the cross-section of the needle member) longitudinal sections alternately increasing and decreasing thickness, wherein in each longitudinal section in which the needle element with respect to a first longitudinal section a has smaller thickness than in adjacent longitudinal sections, each with respect to a different longitudinal section has a greater thickness than in the adjacent longitudinal sections.
  • at least one of the needle elements has a circular, oval or rectangular cross-section.
  • the handling device can be constructed in such a way that a plurality of needle elements are arranged on the carrier, whose respective longitudinal directions are inclined relative to one another.
  • the holding force for holding rigid elements is further increased.
  • the mutually inclined needle elements must perform separate piercing movements to enforce the pliable elements.
  • individual drives for the needle elements or groups of the needle elements summarizing drives can be provided.
  • the carrier may also, in particular also exclusively, comprise needle elements that are parallel to one another.
  • the carrier has at least two carrier parts, on each of which one or more needle elements are arranged, and that the carrier parts are mutually movably arranged, in particular relative to each other are pivotable.
  • the pliable elements in the carrier by pivoting the various support members against each other, for example, folded or deformed in other ways.
  • the limp elements can be adapted to the intended use during handling.
  • each of the needle elements In order to allow the needle elements to penetrate into the limp elements in a particularly simple manner and with particularly low destructive effects, provision can also be made for each of the needle elements to be turned around its longitudinal axis. rotatably arranged, in particular driven about its longitudinal direction.
  • each of the needle elements individually or more together is assigned a drive device.
  • each needle element may be associated with a single motor or a controllable solenoid or a coupling with a gearbox through which a plurality of needle elements are driven.
  • chain drives or toothed belt drives come into question, by means of which a plurality of needle elements in each case can be driven in rotary or oscillatory manner.
  • a drive can also bring about continuous or jerky movements in their individual longitudinal directions, so that the needle elements can be jerked through the limp elements in a steady motion or in a dithering movement that is superimposed on the translatory movement in the longitudinal direction.
  • the drives described in this context each cause a drive of the needle elements relative to the male Good and also relative to the / the carrier (s).
  • the method for operating a handling device for flexible elements may provide for one or more, in particular all needle elements, to be driven during a puncturing motion or a pulling movement of the needle elements relative to one or more elements to be picked up.
  • the needle elements are driven in their longitudinal directions translationally steady or jerky, in particular alternately in opposite directions.
  • the profiling can also be designed time-dependent that the contour can be changed in one or more longitudinal sections of the needle elements, for example after piercing the limp elements. This can be done for example by retractable retaining elements, which are extendable, for example by means of a provided inside the needle elements drive mechanism or extend independently in the manner of a barb.
  • the retaining elements may be, for example, hooks or crossbars which are extendable or levers which are folded out in the manner of an umbrella mechanism.
  • Fig. 1 in a side view a handling device with a
  • FIG. 2 schematically shows a carrier of a handling device in one
  • FIG. 3 shows a side view of a handling device which has two pivotable carrier parts
  • FIG. 7 is a side view of a carrier of a handling device with inclined needle elements
  • 8 is a detail view of an inclined needle element with a drive
  • 9 is a detail view of a second needle element with a drive
  • Fig. 10 is a side view of a third needle element, as well
  • Fig. 11 is a detail view of a fourth needle element with a drive.
  • FIG. 1 shows a handling device 1 for flexible elements 2, which are indicated by dashed lines, with a carrier 3 and one or more needle elements 4, 5, 6, 7.
  • the needle elements 4, 5, 6, 7 pass through openings in the carrier. 3 and are for example movable relative to the carrier 3 in the longitudinal direction 8 of the needle elements.
  • the needle elements 4, 5, 6, 7, Due to the mobility in the longitudinal direction, the needle elements 4, 5, 6, 7, a pile of limp elements, such as tissues, which rests on a base 9, pierced and hold the various layers of limp elements with the needle elements 4, 5, 6, 7 ,
  • the needle elements 4, 5, 6, 7 are profiled in their longitudinal direction 8, i. a cross-sectional dimension of the individual needle elements 4, 5, 6, 7 alternately increases and decreases viewed in the longitudinal direction 8 of the needle elements.
  • the dimensions mentioned may be, for example, a diameter or a cross-sectional area.
  • the individual needle elements can, for example, have a sawtooth structure on one side or on several sides or a circumferential sawtooth structure.
  • the individual needle elements 4, 5, 6, 7 can, as indicated in FIG. 1, both rotated about their longitudinal axes 8 and in the longitudinal direction 8
  • the oscillation can have a frequency between a few hertz and 100 hertz.
  • FIG. 2 shows a plan view of the distribution of the individual needle elements 4, 5 in the carrier 3.
  • a dashed line 10 a possible joint is indicated in the carrier, along which two carrier parts 3a, 3b are mutually pivotable.
  • Fig. 3 it is shown that the two support members 3a, 3b are pivoted together with the held in them needle elements 4, 5, 6, 7 against each other around the line 10 after the needle elements have impaled a pliable element 2a.
  • the carrier parts 3a, 3b against each other thus the pliable element 2a can be folded or it can be brought into a different, non-planar shape, in which it is further processed.
  • pliable elements can be used as fiber inserts for producing curved composite materials and inserted into corresponding casting molds.
  • the profiled shape of the needle elements 4, 5, 6, 7 allows the simultaneous retention of a large number of layers of limp elements 2, without these falling by their own weight.
  • the holding forces on the needle elements are significantly increased compared to known smooth needle elements.
  • the profiling on the individual needle elements can be designed in the form of annular thickenings which follow one another in the longitudinal direction of the individual needle elements at a distance from one another.
  • the profiling can also in the simplest case by a helical rotating Bridge be formed on the circumference of the needle elements.
  • the needle elements may be formed directly as screws. In this case, the threaded ridge of the screws can be rounded so that it does not hurt the material to be pierced.
  • the needle elements Located inside the carrier 3 in each of the threaded through the needle elements openings an internal thread, the needle elements, if they are helical, can be simultaneously rotated in such shaped threaded holes and moved axially.
  • FIG. 4 shows a circular cross section of a needle element
  • FIG. 5 shows an oval cross section of a needle element.
  • Thickenings can, for example, rotate symmetrically in the circular cross section.
  • corresponding thickenings can also be arranged on the longitudinal sides 13, 14.
  • the thickenings on each side of the needle element can each be arranged at the same height or they can also be offset from one another on different longitudinal sides of the needle elements.
  • Fig. 6 shows a rectangular cross section of a needle element, which in this way has a knife shape. Even with such a shape cantilevered noses can be provided either on the narrow sides 15, 16 or on the long sides 17, 18 or on all sides.
  • FIG. 7 shows a carrier 3, in which a plurality of needle elements 19, 20, 21, 22 is shown, which respectively do not pass through the plate-shaped carrier perpendicularly but at an angle.
  • the pliable elements can be kept very good.
  • the needle elements against each other is also a loosening of the limp elements of the needle elements very difficult, without the needle elements to move back individually.
  • an increased holding security can be achieved, in particular when using profiled needle elements.
  • FIG. 8 shows in detail a needle element 19 which is moved in the longitudinal direction 23 through a limp element 2. It is a friction wheel 24 indicated that rotates in the directions shown by the arrow 25 and thus the needle member 19 in the longitudinal direction 23 drives. The drive of the friction wheel
  • the needle element 19 may be configured in such alternating manner that the needle element 19 is superimposed in a kind of dithering movement as well as one of these
  • FIG. 8 shows a controllable electromagnet 101, which is fastened to the carrier and can be fed by means of an AC voltage controller 102.
  • the electromagnet 01 acts on a magnetic element 100 which is fixed to the needle element 19.
  • the profiling of the needle element 19 in the region adjacent to its tip can either be formed in a thread-like manner or in the form of circumferential thickening rings or else in the form of individual protruding lugs which are distributed on the circumference of the needle element 19.
  • FIG. 9 shows a detailed view of a needle element 20, which has a thread 26.
  • the needle element 20 passes through the carrier 3 at an angle and is guided in a thread in a threaded bore 27 of the carrier 3.
  • a gear arrangement with a first arranged on the needle element gear 28 and a second mounted on a motor 29 gear 30, the needle element 20 is rotated about its longitudinal axis and simultaneously moved in the direction of arrow 31 in the limp elements 2. If the drive 29, 30 operated in opposite directions, the needle element 20 is pulled out of the stack of limp elements.
  • the gear 30 should be sufficiently thick to allow engagement of the gear 28 in various translational positions of the needle member 20.
  • Fig. 10 shows a side view of a portion of a needle member 21 with annular thickenings 40, 41 along its longitudinal direction 32, which form the profiling.
  • FIG. 11 shows, in a detailed view, the guidance of a threaded needle element 22, which is rotationally driven by means of a drive belt 33, by driving the drive belt 33 circumferentially by a drive wheel 34, which is driven by a motor 35.
  • the drive belt 33 rotatably drives the needle element 22 on its circumference, which additionally rotates in its longitudinal direction.
  • the needle element 22 can also be rotatably mounted only in a non-threaded bore of the carrier 3 and secured against longitudinal displacement so that it only rotates and does not move in its longitudinal direction.
  • pliable elements can be grasped and manipulated with a handling device more securely than before. It can thereby be handled simultaneously a larger number of layers of limp elements. Destruction of the limp elements, such as liners are minimized by the application process with rotary drive of the needle elements or application of jerky dithering.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

Dispositif de manipulation pour des éléments plats et/ou souples (2), notamment des demi-produits textiles, des composants textiles et/ou des préformes ou structures sandwich, comportant un support et un ou plusieurs éléments aiguille (4, 5, 6, 7, 19, 20, 21, 22) faisant saillie hors du support au moins temporairement, un ou plusieurs éléments aiguille présentant un contour profilé dans sa direction longitudinale (8, 23, 32), notamment sous forme d'un filet, et pouvant être entraînés en rotation, individuellement, ensemble ou en groupes de façon oscillante ou autour de leurs axes longitudinaux respectifs. Il est ainsi possible de simplifier l'introduction sans dommages des éléments aiguilles dans le produit à recevoir.
PCT/EP2017/056634 2016-03-21 2017-03-21 Dispositif de manipulation pour des éléments souples Ceased WO2017162633A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016204659.4 2016-03-21
DE102016204659.4A DE102016204659B4 (de) 2016-03-21 2016-03-21 Handhabungsvorrichtung für biegeschlaffe Elemente

Publications (1)

Publication Number Publication Date
WO2017162633A1 true WO2017162633A1 (fr) 2017-09-28

Family

ID=58401551

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/056634 Ceased WO2017162633A1 (fr) 2016-03-21 2017-03-21 Dispositif de manipulation pour des éléments souples

Country Status (2)

Country Link
DE (1) DE102016204659B4 (fr)
WO (1) WO2017162633A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117088110A (zh) * 2023-10-07 2023-11-21 佛山市科华智缝设备有限公司 一种面料上料抓取装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2207660A (en) * 1987-06-30 1989-02-08 Secretary Trade Ind Brit Fabric lifting device
US5653430A (en) * 1995-10-10 1997-08-05 Meinan Machinery Works, Inc. Veneer hoisting apparatus
DE202012104275U1 (de) 2012-02-03 2012-11-30 Ibg Automation Gmbh Nadelgreifer für Textil- und Schaumstoffplatten
DE102012017659A1 (de) 2012-09-07 2013-03-21 Daimler Ag Nadelgreifer
EP2716585A2 (fr) 2012-10-08 2014-04-09 Günther Stephan Zimmer Préhenseur à aiguille doté d'un actionneur électrodynamique
DE102013009344A1 (de) 2013-06-04 2014-12-04 Festo Ag & Co. Kg Sauggreifer

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4838536A (en) 1987-10-13 1989-06-13 Nabil Kamal Fabric picker and separator
US5275451A (en) * 1991-11-27 1994-01-04 Gencorp Inc. Material handling apparatus for transporting lay-out patterns
DE102008002751A1 (de) * 2007-01-17 2008-07-24 Wati Patentverwertungsgesellschaft Mbh Vorrichtung zum Transport eines Formkörpers aus einer tonartigen Dichtungsmasse

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2207660A (en) * 1987-06-30 1989-02-08 Secretary Trade Ind Brit Fabric lifting device
US5653430A (en) * 1995-10-10 1997-08-05 Meinan Machinery Works, Inc. Veneer hoisting apparatus
DE202012104275U1 (de) 2012-02-03 2012-11-30 Ibg Automation Gmbh Nadelgreifer für Textil- und Schaumstoffplatten
DE102012017659A1 (de) 2012-09-07 2013-03-21 Daimler Ag Nadelgreifer
EP2716585A2 (fr) 2012-10-08 2014-04-09 Günther Stephan Zimmer Préhenseur à aiguille doté d'un actionneur électrodynamique
DE102013009344A1 (de) 2013-06-04 2014-12-04 Festo Ag & Co. Kg Sauggreifer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117088110A (zh) * 2023-10-07 2023-11-21 佛山市科华智缝设备有限公司 一种面料上料抓取装置
CN117088110B (zh) * 2023-10-07 2024-02-09 佛山市科华智缝设备有限公司 一种面料上料抓取装置

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DE102016204659B4 (de) 2025-11-13
DE102016204659A1 (de) 2017-09-21

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