Hold-down device, effector and method for producing a layer structure from planar thermoplastic fiber-matrix semi-finished product layers

Abstract

Hold-down device (100, 202) for planar thermoplastic fiber matrix semi-finished product layers (102, 204, 208), wherein the hold-down device (100, 202) has a predetermined minimum self-weight, at least one holding section (108) for a fiber matrix semi-finished product layer (102, 204, 208), at least one recess (122) for partial access to a held-down fiber matrix semi-finished product layer (102, 204, 208) and at least one connecting section (128) for detachably connecting the hold-down device (100, 202) to an effector (104, 200), in particular for an industrial robot.

Description

[0001] The invention relates to a hold-down device for planar thermoplastic fiber-matrix semi-finished product layers. The invention also relates to an effector, particularly for an industrial robot, for picking up, handling, and / or depositing planar thermoplastic fiber-matrix semi-finished product layers. Furthermore, the invention relates to a method for producing a layer structure from planar thermoplastic fiber-matrix semi-finished product layers using such an effector and such a hold-down device.

[0002] From the publication by M. Kühnel, A. Schuster, A. Buchheim, M. Kießig, T. Gerngross, M. Kupke (2015): Automated Near-net-shape preforming of carbon fiber reinforced thermoplastics using robotic semi-finished product placement, German Society for Aeronautics and Astronautics - Lilienthal-Oberth eV, Bonn, 2015, a gripper for an industrial robot is known. The gripper has a suction frame with vacuum suction cups, a vacuum generator and a valve manifold, an ultrasonic generator, a linear axis with an ultrasonic stapling unit on a vertical feed unit, a control computer for the linear axis, a camera for cut-size recognition, and sensors. A hold-down unit is arranged on the suction frame, which, by ejecting a flat rubber mat, ensures that the placed cut-size pieces are pressed flat into a mold during a stapling process.The rubber mat is ejected and retrieved by electro-permanent magnets, which, for safety reasons, grip without current and are always centered in the same position by a conical receiving device.

[0003] From DE 101 29 514 A1 a method is known for the automated laying of thermoplastic ribbons onto a tool platform, wherein the tool platform is heated during the laying process in the range of 50°C below to 40°C above the crystallization temperature of the thermoplastic to be processed and the laid thermoplastic ribbon adheres to the tool surface and after completion of the laying process the tool platform with the component laid on it cools down and the component can be detached from the tool platform.

[0004] From DE 100 12 378 A1 a method is known for the automated laying of fiber-reinforced thermoplastic tapes using the tape laying method, wherein the application of an electrical voltage to generate an electric field between the tool platform and the fiber-reinforced thermoplastic tape enables the adhesion of fiber-reinforced plastic tapes to an electrically insulated tool surface as a result of the electrostatic field and the electrical polarization.

[0005] From DE 10 2013 109 857 A1, a device is known for cutting and handling a planar blank of woven or non-woven fabric for the production of components made of fiber composite material, comprising a cutting device and a handling device, wherein the cutting device is a punching device with at least one punching knife forming a contour, a punching table on which the woven or non-woven fabric is placed, and a punching press which, by performing a punching stroke, presses the punching knife against the punching table and through the woven or non-woven fabric, and wherein the handling device has at least one activatable holder integrated within the contour of the at least one punching knife, which is designed in such a way that the blank separated from the woven or non-woven fabric according to the contour can be lifted from the punching table.Liftable and lowerable hold-down devices are provided around the contour so that any remaining die-cutting waste and / or the fiber fabric or fiber mat located there is retained on the die-cutting table outside the contour of the die-cutting blade. The hold-down devices are arranged on the die-cutting table and / or on the die-cutting blade and are positioned at least partially outside the contour and / or at least partially around the contour.

[0006] From DE 10 2013 214 480 A1, a method is known for manufacturing a workpiece from a blank or a preform, comprising the following process steps: Inserting a blank or a preform into a cavity of a forming tool using means for securing the blank or preform, fixing the blank or preform to the tool, and closing the tool. Before closing the tool, the blank is pressed onto a die of the tool by a hold-down device.

[0007] From EP 2 246 160 A1, a device is known for cutting glass or carbon fiber textile webs into preferably elongated blanks, comprising a material support, at least one cutter head carrying a cutting blade, which is movable at a constant distance from the material support in the direction of an X-axis and a Y-axis of an orthogonal coordinate system over a glass or carbon fiber textile web resting on the material support, and at least one hold-down device which holds the glass or carbon fiber textile web against the material support in the immediate vicinity of the cutting blade, wherein the cutter head is movable in the direction of the Y-axis relative to the hold-down device, and wherein the cutting blade moves along the hold-down device.

[0008] From DE 10 2011 056 029 A1, a transport device for transporting fiber mats is known, comprising: a spatially movable handling unit, at least one gripping unit for grasping the top side of a fiber mat, wherein the gripping unit has a contact area at its end for grasping the fiber mat, at least one support structure by means of which the handling unit is connected to the gripping unit, wherein the transport device further comprises at least one shaped body having a contact surface that can be brought into contact with the fiber mat, which is arranged on the support structure, and whose contact surface is adapted or adaptable to the three-dimensional contour of the workpiece carrier, and the contact surface of the shaped body is displaceable in relation to the workpiece carrier.so that the fiber mat on the workpiece carrier and / or another fiber mat located on the workpiece carrier can preferably be pressed onto the entire surface of the molded body and / or fixed in position there.

[0009] From DE 20 2007 015 153 U1 a handling device is known for multi-layered workpieces, in particular veneers and panels, which has at least one gripping tool with a connection for connection to a manipulator, wherein the gripping tool has a movable support element surrounding the gripping element(s) and which can be pressed against the gripped workpiece.

[0010] From DE 10 2011 076 152 A1, a device is known for transporting a fiber contour cut from a planar fiber fabric during the production of a single- or multi-layer preform as a preliminary step for the production of fiber-reinforced plastic molded parts, using a suction gripper that is multiaxially movable by a suitable device, wherein at least one suction device is arranged on the suction gripper on a first surface side of a transport plate, wherein the second surface side is suitable for suctioning a fiber contour through openings in the transport plate corresponding to the suction device, and the transport plate is essentially designed in its outer contour like the cut fiber contour.wherein the hold-down plate, when arranged in one plane with the transport plate, essentially encloses the latter, forming a gap, and wherein the hold-down plate and / or the transport plate is movable in at least two different planes by means of at least one suitable positioning device.

[0011] The invention is based on the objective of improving the structure and / or function of a aforementioned hold-down device. Furthermore, the invention is based on the objective of improving the structure and / or function of an aforementioned effector.

[0012] The problem is solved with a hold-down device for planar thermoplastic fiber-matrix semi-finished product layers, wherein the hold-down device has a predetermined minimum self-weight, at least one holding section for a fiber-matrix semi-finished product layer, at least one recess for partial access to a held-down fiber-matrix semi-finished product layer, and at least one connecting section for detachably connecting the hold-down device to an effector, in particular for an industrial robot.

[0013] Furthermore, the problem underlying the invention is solved with a hold-down device for planar thermoplastic fiber-matrix semi-finished product layers, wherein the hold-down device has a predetermined minimum dead weight, at least one holding section for a fiber-matrix semi-finished product layer, at least one recess for partial access to a held-down fiber-matrix semi-finished product layer and at least one connecting section for detachably connecting the hold-down device to an effector, in particular for an industrial robot, and wherein the hold-down device is designed to be multi-layered and / or plate-like.

[0014] The fiber-matrix semi-finished layer can be made of a fiber-reinforced composite material. The fiber-matrix semi-finished layer can be thermoformable. The fiber-matrix semi-finished layer can be uneven, at least in sections, when cold. The fiber-matrix semi-finished layer can have a textile structure embedded in a thermoplastic matrix. The textile structure can be a woven, knitted, braided, sewn, or tape fabric. The textile structure can contain organic fibers, such as aramid fibers, carbon fibers, polyester fibers, nylon fibers, polyethylene fibers, or Plexiglas fibers, and / or inorganic fibers, such as basalt fibers, boron fibers, glass fibers, ceramic fibers, or silica fibers. The fibers can be filaments. The filaments can be bundled into rovings. The matrix may contain polyetheretherketone (PEEK), polyphenylene sulfide (PPS), polysulfone (PSU), polyetherimide (PEI) and / or polytetrafluoroethene (PTFE).

[0015] The hold-down device has a minimum weight sufficient to flatten an uneven fiber-matrix layer when placed on it, and / or to prevent unintentional deformation and / or movement of the fiber-matrix layer when placed on it. The at least one holding section can be flat. The at least one holding section can be planar. The at least one recess can be round. The hold-down device can have multiple recesses. The recesses can be evenly distributed. The recesses can be arranged in a matrix pattern. Access to a held fiber-matrix layer can be provided for tack welding multiple layers.

[0016] The hold-down device can have a retaining plate. The retaining plate can be rigid. At least one holding section can be formed by the retaining plate. The retaining plate can be rectangular. The retaining plate can have vacuum channels. The vacuum channels can run in a plane of extension of the retaining plate. The vacuum channels can be arranged intersecting each other. The vacuum channels can be arranged in a grid pattern.

[0017] The holding plate can have recesses for section-by-section access to a held-down fiber-matrix preform layer. The recesses in the holding plate can serve as recesses for the hold-down device. The vacuum channels can run between the recesses in the holding plate.

[0018] The retaining plate can have a perforated cover layer for tightly holding a fiber-matrix semi-finished product layer. The cover layer can be made of an elastic material. The cover layer can be made of a sealing material. The cover layer can be perforated in the area of ​​the vacuum channels.

[0019] The hold-down device may include a connecting plate. The connecting plate may be rigid. The connecting plate may be rectangular. The connecting plate may have recesses for sectional access to a held-down fiber-matrix semi-finished product layer. The recesses in the connecting plate may serve to form recesses in the hold-down device. The connecting plate may, at least in sections, be made of a ferromagnetic material.

[0020] The contours of the retaining plate and the connecting plate can correspond at least approximately to each other. The recesses of the retaining plate and the recesses of the connecting plate can correspond at least approximately to each other. The recesses of the retaining plate and the recesses of the connecting plate can be arranged at least approximately congruently. The retaining plate and the connecting plate can be spaced apart from each other and arranged parallel to each other.

[0021] At least one spacer element can be arranged between the retaining plate and the connecting plate. The at least one connecting section of the hold-down device can be integrated into the at least one spacer element. The at least one spacer element can have a cylindrical shape on its outer surface. The at least one spacer element can have a conical section for centering the connection of the hold-down device to an effector for an industrial robot. The conical section can be designed as an internal cone that opens towards the connecting plate.

[0022] A vacuum line can be integrated into at least one of the connecting sections. At least one spacer element can have a passage and serve as the vacuum line.

[0023] Furthermore, the problem underlying the invention is solved with an effector, in particular for an industrial robot, for picking up, handling and / or depositing planar thermoplastic fiber matrix semi-finished product layers, wherein the effector has at least one connecting section corresponding to the at least one connecting section of a hold-down device according to at least one of the preceding claims for releasably connecting the hold-down device to the effector.

[0024] The effector can be mounted on a manipulator, particularly an industrial robot. The effector can have a connection flange for connecting to the manipulator. The effector can include a tool for joining multiple layers of fiber-matrix semi-finished products. The effector can include a sonotrode. The effector can have a power connection, such as a vacuum connection and / or a current connection. The effector can have a signal connection. The effector can serve as an end effector. The industrial robot can include a manipulator. The industrial robot can have a connection flange for connecting to the effector. The industrial robot can include a control unit. The control unit can be used to control the effector.

[0025] The effector can have at least one counter-cone section corresponding to a conical section of at least one spacer element of the hold-down device. The counter-cone section can be designed as an external cone whose tip points towards the hold-down device. A vacuum line can be integrated into the at least one connecting section of the effector. The at least one counter-cone section can have a through-pass and serve as the vacuum line. The effector can have an electrically switchable magnetic device corresponding to a connecting plate of the hold-down device. The effector can have a switchable vacuum device. The vacuum device can include a vacuum pump. The vacuum pump can be connected to the at least one connecting section of the effector.

[0026] Furthermore, the problem underlying the invention is solved by a method for producing a layer structure from planar thermoplastic fiber-matrix semi-finished product layers using such an effector and such a hold-down device, wherein the method comprises at least one of the following steps: holding a second fiber-matrix semi-finished product layer flat against a holding surface using an activated first vacuum device; positioning the effector with the hold-down device and a second vacuum device on the second fiber-matrix semi-finished product layer; deactivating the first vacuum device and activating the second vacuum device; picking up the second fiber-matrix semi-finished product layer from the holding surface and positioning the second fiber-matrix semi-finished product layer on a previously deposited first fiber-matrix semi-finished product layer; releasing the hold-down device from the effector;Joining the first fiber-matrix semi-finished product layer and the second fiber-matrix semi-finished product layer together.

[0027] A fiber-matrix semi-finished layer or a layer structure of planar thermoplastic fiber-matrix semi-finished layers can also be referred to as an organosheet. A fiber-matrix semi-finished layer can be a contoured part. A fiber-matrix semi-finished layer can be a blank. A fiber-matrix semi-finished layer can be produced from a fiber-matrix semi-finished product by a cutting process. The holding surface can be a holding surface of a cutting device. The second vacuum device can be effective at the effector. The previously deposited first fiber-matrix semi-finished layer can be deposited on a further holding surface. The further holding surface can be subjected to vacuum to hold the first fiber-matrix semi-finished layer against the further holding surface. The first fiber-matrix semi-finished layer and the second fiber-matrix semi-finished layer can be joined together by ultrasonic welding.The first fiber matrix semi-finished product layer and the second fiber matrix semi-finished product layer can be joined together by spot welding.

[0028] To join the first and second fiber-matrix semi-finished product layers, a tool for joining the fiber-matrix semi-finished product layers can be guided through at least one recess of the hold-down device to the fiber-matrix semi-finished product layers to be joined. The tool can be a sonotrode. The process can be repeated.

[0029] In summary, and in other words, the invention provides, among other things, a method and an apparatus for the automated production of thermoplastic organosheets.

[0030] Undesired deformation of a blank can be prevented throughout the entire process using this apparatus, thus eliminating associated problems. An additional weighting element can play a key role in this. A weight / hold-down can be positioned on the blank both when it is unrolling from a cutting device and when it is being stapled. Its weight ensures that the blank cannot deform or move unintentionally. To allow the blank to be gripped by, for example, suction cups, and to provide access to a stapling unit's surface, the weight can have corresponding cutouts. To enable stapling at different points or cutouts, a mechanism can be provided that allows the weight to be detached from an end effector, essentially "dropped off."This allows a robot to move the stapling unit to any desired position and thus set any desired stapling points. After stapling, the weight can be picked up again via the mechanism and a cycle can continue with the next cut.

[0031] The problem of self-deformation in thermoplastic fiber composite blanks can be solved process-wide. An additional element (weight) of an end effector, which allows free movement of the end effector relative to a blank and thus arbitrary positioning of the stapling points, can be ejected and retrieved. Automatic repositioning and sealing of a detachable vacuum line can be integrated into a single component. A suction contact or holding surface and a weighting function can also be integrated into a single component.

[0032] The term "may" is used to denote, in particular, optional features of the invention. Accordingly, there is an embodiment of the invention that includes the respective feature or features.

[0033] The invention facilitates or enables the automated handling and / or processing of fiber-matrix semi-finished product layers. The hold-down device allows a fiber-matrix semi-finished product layer to be picked up, handled, and / or held in place, as well as held flat. This facilitates or enables the production of a layered structure of a multi-layered organosheet. Undesired self-deformation of a fiber-matrix semi-finished product layer is prevented. Precise positioning and / or layer-specific processing, such as cutting and / or tacking, is facilitated or enabled. Undesired deformation of a fiber-matrix semi-finished product layer is prevented throughout the entire process. Undesired deformation of a fiber-matrix semi-finished product layer is prevented not only in the first layer but also in subsequent layers. Tacking of even complexly shaped fiber-matrix semi-finished product layers is made possible.Tack welding is possible at points that deviate from a straight line. Fiber-matrix semi-finished product layers can be picked up in a defined position and shape. Uneven fiber-matrix semi-finished product layers can be pressed flat or held in place using the hold-down device and / or the effector.

[0034] Exemplary embodiments of the invention are described in more detail below with reference to the figures. Further features and advantages will become apparent from this description. Specific features of these exemplary embodiments may represent general features of the invention. Features of these exemplary embodiments combined with other features may also represent individual features of the invention.

[0035] They show schematically and by example: Fig. 1 a multi-layered plate-like hold-down device for planar thermoplastic fiber matrix semi-finished product layers, Fig. 2 an effector with a multi-layered plate-like hold-down device detached from the effector for planar thermoplastic fiber-matrix semi-finished product layers, Fig. 3 an effector with a multi-layered plate-like hold-down connected to the effector for planar thermoplastic fiber matrix semi-finished product layers, Fig. 4. Picking up a planar thermoplastic fiber matrix semi-finished product layer from a holding surface, Fig. 5. Placing and holding down a flat thermoplastic fiber-matrix semi-finished product layer on a previously placed fiber-matrix semi-finished product layer, Fig. 6. Joining two planar thermoplastic fiber-matrix semi-finished product layers together, Fig. 7 a resumption of a hold-down device for planar thermoplastic fiber matrix semi-finished product layers and Fig. 8 an access of a tool for joining two planar thermoplastic fiber matrix semi-finished product layers together through recesses of a hold-down device.

[0036] Fig. Figure 1 shows a multi-layered plate-like hold-down device 100 for planar thermoplastic fiber matrix semi-finished product layers 102 from below. Fig. Figure 2 shows an effector 104 with the hold-down device 100 released from the effector 104. Fig. Figure 3 shows the effector 104 with the hold-down device 100 connected to the effector.

[0037] The hold-down device 100 has such a minimum self-weight that an uneven fiber-matrix semi-finished product layer 102 is pressed flat when the hold-down device 100 is placed on the fiber-matrix semi-finished product layer 102 and / or that a fiber-matrix semi-finished product layer 102 does not unintentionally deform and / or move when the hold-down device 100 is placed on the fiber-matrix semi-finished product layer 102.

[0038] The hold-down device 100 has a rigid, rectangular, flat retaining plate 106. The retaining plate 106 forms a retaining section 108 of the hold-down device 100. The retaining plate 100 has grid-like arranged vacuum channels 110 that extend in a plane of the retaining plate 106.

[0039] A perforated cover layer 112 is arranged on the retaining plate 106 for tightly holding a fiber-matrix semi-finished product layer 102. The cover layer is made of a sealing and elastic material and has holes 114 in the area of ​​the vacuum channels 110.

[0040] The hold-down device 100 has a rigid, rectangular, flat connecting plate 116. The retaining plate 106 and the connecting plate 116 have corresponding contours. The retaining plate 106 and the connecting plate 116 each have matrix-like arranged round recesses 118, 120. The recesses 118, 120 of the retaining plate 106 and the connecting plate 116 form recesses 122 of the hold-down device for section-by-section access to a held-down fiber-matrix semi-finished product layer 102.

[0041] The retaining plate 106 and the connecting plate 116 are spaced apart from each other and arranged parallel to each other by means of spacer elements 124. Each spacer element 124 has a cylindrical shape on its outer side and an inner conical section 126 opening towards the connecting plate 116 for centering the connection of the hold-down device 100 to the effector 104. The inner conical sections 126 each form a connecting section 128 of the hold-down device 100 integrated into the spacer element 124. Each spacer element 124 has a passage opening into the vacuum channels 110 and thus serves as a vacuum line.

[0042] The effector 104 has connecting sections 130 with external conical sections 132 for detachably connecting the hold-down device 100 to the effector 104. The external conical sections 132 of the effector 104 correspond to the internal conical sections 126 of the hold-down device 100. The external conical sections 130 each have a passage and thus serve as a vacuum line. The connecting sections 130 are each designed like a pipe fitting and can be pressurized using a vacuum pump.

[0043] When the hold-down device 100 is connected to the effector 104, the outer cone sections 130 fit into the inner cone sections 126. This ensures a centered connection. Furthermore, the outer cone sections 130 and the inner cone sections 126 seal against each other. This creates a closed vacuum line between the effector 104 and the hold-down device 100.

[0044] The connecting plate 116 is made of a ferromagnetic material. The effector 104 has an electrically switchable magnetic device corresponding to the connecting plate 116 of the hold-down device 100 in order to connect the hold-down device 100 to the effector 104 or to detach it from the effector 104.

[0045] Fig. Figure 4 shows an effector 200, like effector 104 according to Fig. 1 to 3, with a hold-down device 202, like hold-down device 100 according to Fig. 1 to 3, during the picking up of a planar thermoplastic fiber-matrix semi-finished product layer 204 from a holding surface 206. The fiber-matrix semi-finished product layer 204 is held flat against the holding surface 206 by means of an activated vacuum device. The effector 200 with the hold-down device 202 and a vacuum device is positioned on the fiber-matrix semi-finished product layer 204. Subsequently, the vacuum device of the holding surface 206 is deactivated, the vacuum device of the effector 200 is activated, and the fiber-matrix semi-finished product layer 204 is picked up from the holding surface 206.

[0046] Fig. Figure 5 shows the placement and holding of the fiber-matrix semi-finished product layer 204 on a previously placed fiber-matrix semi-finished product layer 208. The previously placed fiber-matrix semi-finished product layer 208 is held flat against a holding surface 210 by means of an activated vacuum device. The fiber-matrix semi-finished product layer 204 is positioned on the previously placed fiber-matrix semi-finished product layer 208, and the hold-down device 202 is released from the effector 200.

[0047] Fig. Figure 6 shows the joining of the fiber-matrix semi-finished product layers 204 and 208. The effector 200 has a tool 212 for joining the fiber-matrix semi-finished product layers 204 and 208. In this case, the tool is a sonotrode for spot ultrasonic welding of the fiber-matrix semi-finished product layers 204 and 208.

[0048] Fig. Figure 7 shows the re-positioning of the hold-down device 202 from the interconnected fiber-matrix semi-finished product layers 204, 208. This with Fig. 4 to Fig. The 7 shown and described procedures are repeated to create a layered structure.

[0049] Fig. Figure 8 shows an access point for the tool 212 to join the fiber-matrix semi-finished product layers 204, 208 together through recesses 214 of the hold-down device 202. To join the fiber-matrix semi-finished product layers 204, 208 together, the tool 212 is guided through the recesses 214 of the hold-down device 202 to the fiber-matrix semi-finished product layers 204, 208 to be joined together.

[0050] Furthermore, it will be said that Fig. 4 to Fig. 8 additionally, in particular on Fig. 1 to Fig. 3 and the associated description are referenced. Reference sign 100 hold-down devices 102 Fiber-matrix semi-finished product layer 104 Effector 106 Mounting plate 108 Stop section 110 Vacuum channel 112 Top layer 114 holes 116 Connecting plate 118 Exclusion 120 Exclusion 122 Exclusion 124 spacer element 126 Cone section, inner cone section 128 Connecting section 130 connecting section 132 Counter cone section, outer cone section 200 effector 202 hold-down devices 204 Fiber-matrix semi-finished product layer 206 holding area 208 Fiber-matrix semi-finished product layer 210 holding area 212 tools

Claims

[1] A hold-down device (100, 202) for flat thermoplastic fiber-matrix semi-finished product layers (102, 204, 208), wherein the hold-down device (100, 202) has a predetermined minimum dead weight, at least one holding section (108) for a fiber-matrix semi-finished product layer (102, 204, 208), at least one recess (122) for section-wise access to a held-down fiber-matrix semi-finished product layer (102, 204, 208) and at least one connecting section (128) for releasably connecting the hold-down device (100, 202) to an effector (104, 200), in particular for an industrial robot. [2] A hold-down device (100, 202) for flat thermoplastic fiber-matrix semi-finished product layers (102, 204, 208), wherein the hold-down device (100, 202) has a predetermined minimum dead weight, at least one holding section (108) for a fiber-matrix semi-finished product layer (102, 204, 208), at least one recess (122) for section-wise access to a held-down fiber-matrix semi-finished product layer (102, 204, 208) and at least one connecting section (128) for releasably connecting the hold-down device (100, 202) to an effector (104, 200), in particular for an industrial robot, and wherein the hold-down device (100, 202) is designed to be multi-layered and / or plate-like. [3] Hold-down device (100, 202) according to one of the preceding claims, characterized by that the hold-down device (100, 202) has a holding plate (106) and a connecting plate (116). [4] Hold-down device (100, 202) according to claim 3, characterized by that the holding plate (106) has vacuum channels (110). [5] Hold-down device (100, 202) according to claim 4, characterized by that the vacuum channels (110) run in an extension plane of the holding plate (106). [6] Hold-down device (100, 202) according to at least one of claims 4 to 5, characterized by that the holding plate (106) has recesses (118) for a section-by-section access to a held-down fiber-matrix semi-finished product layer (102, 204, 208) and the vacuum channels (110) run between the recesses (118). [7] Hold-down device (100, 202) according to at least one of claims 3 to 6, characterized by that a perforated cover layer (112) for tightly holding a fiber-matrix semi-finished product layer (102, 204, 208) is arranged on the holding plate (106). [8] Hold-down device (100, 202) according to at least one of claims 3 to 7, characterized by that the connecting plate (116) comprises a ferromagnetic material at least in sections. [9] Hold-down device (100, 202) according to at least one of claims 3 to 8, characterized by that the connecting plate (116) has recesses (120) for section-wise access to a held-down fiber-matrix semi-finished product layer (102, 204, 208). [10] Hold-down device (100, 202) according to at least one of claims 3 to 9, characterized by that the holding plate (106) and the connecting plate (116) are spaced apart from one another and arranged parallel to one another. [11] Hold-down device (100, 202) according to at least one of claims 3 to 10, characterized by that at least one spacer element (124) is arranged between the holding plate (106) and the connecting plate (116). [12] Hold-down device (100, 202) according to claim 11, characterized by that the at least one connecting section (128) of the hold-down device (100, 202) is integrated into the at least one spacer element (124). [13] Hold-down device (100, 202) according to at least one of claims 11 to 12, characterized by that the at least one spacer element (124) has a conical section (126) for the centered connection of the hold-down device (100, 202) to an effector (104, 200) for an industrial robot. [14] Hold-down device (100, 202) according to at least one of the preceding claims, characterized by that a vacuum line is integrated into the at least one connecting section (128). [15] Effector (104, 200), in particular for an industrial robot, for picking up, handling and / or depositing flat thermoplastic fiber-matrix semi-finished product layers (102, 204, 208), characterized bythat the effector (104, 200) has at least one connecting section (130) corresponding to the at least one connecting section (128) of a hold-down device (100, 202) according to at least one of the preceding claims for releasably connecting the hold-down device (100, 202) to the effector (104, 200). [16] Effector (104, 200) according to claim 15, characterized by that the effector (104, 200) has at least one counter-cone section (132) corresponding to a cone section (126) of at least one spacer element of the hold-down device (100, 202). [17] Effector (104, 200) according to at least one of claims 15 to 16, characterized by that a vacuum line is integrated into the at least one connecting section (130) of the effector (104, 200). [18] Effector (104, 200) according to at least one of claims 15 to 17, characterized bythat the effector (104, 200) has an electrically switchable magnetic device corresponding to a connecting plate (116) of the hold-down device (100, 202). [19] Effector (104, 200) according to at least one of claims 15 to 18, characterized by that the effector (104, 200) has a switchable vacuum device. [20] Method for producing a layer structure from flat thermoplastic fiber-matrix semi-finished layers (102, 204, 208) using an effector (104, 200) according to at least one of claims 15 to 19 and a hold-down device (100, 202) according to at least one of claims 1 to 14, characterized bythat the method comprises the following steps: holding a second fiber-matrix semi-finished product layer (204) flat on a holding surface (206) using an activated first vacuum device; positioning the effector (104, 200) with the hold-down device (100, 202) and a second vacuum device on the second fiber-matrix semi-finished product layer (204); deactivating the first vacuum device and activating the second vacuum device; picking up the second fiber-matrix semi-finished product layer (204) from the holding surface (206) and positioning the second fiber-matrix semi-finished product layer (204) on a previously deposited first fiber-matrix semi-finished product layer (208); releasing the hold-down device (100, 202) from the effector (104, 200); Connecting the first fiber-matrix semi-finished layer (208) and the second fiber-matrix semi-finished layer (204) to each other. [21] Method according to claim 20, characterized byin that, in order to connect the first fiber-matrix semi-finished product layer (208) and the second fiber-matrix semi-finished product layer (204) to one another, a tool (212) for connecting the fiber-matrix semi-finished product layers (204, 208) is guided through the at least one recess (122) of the hold-down device (100, 202) to the fiber-matrix semi-finished product layers (204, 208) to be connected to one another. [22] Method according to at least one of claims 20 to 21, characterized by that the procedure is carried out repeatedly.

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