Handling device for flexible elements

Abstract

Handling device for flat and / or flexible elements (2), in particular semi-finished textile products, textile components and / or so-called preforms or sandwich structures, with a carrier and one or more needle elements (4, 5, 6, 7, 19, 20, 21, 22), characterized in that one or more of the needle elements has / have a profiled contour in its longitudinal direction (8, 23, 32), that at least one of the needle elements has a thread in at least one of its longitudinal sections, that each of the needle elements is rotatably arranged about its longitudinal direction and can be driven in its longitudinal direction relative to the carrier, and that each of the needle elements is individually assigned a drive device.

Description

[0001] The invention lies in the field of mechanical engineering and is particularly advantageous in manufacturing and processing technology. It relates to a handling device for flexible elements.

[0002] Flexible elements, such as sheet-like textiles, fiber semi-finished products, or more generally preforms or sandwich structures, are increasingly being processed mechanically as manufacturing and processing technologies advance. In this process, such a material / flexible element is changed with respect to its position or orientation, for example, picked up or placed down, and possibly also reshaped or folded.

[0003] Sandwich structures can also be assumed and stored as intermediate products, whereby such structures can contain core materials and flexible elements, for example in the form of semi-finished textile products.

[0004] Core materials themselves must also be handled accordingly.

[0005] Furthermore, the handling of parts is also a task in other areas, such as in woodworking, with plastic sheets or similar materials containing flexible elements, whether these have a textile structure or not, as long as they exhibit a certain robustness or tolerance to damage.

[0006] Flexible elements, such as textile layers, are used as insert elements, particularly in the production of composite components.

[0007] Needle grippers are known from the prior art, for example, in which one or more layers of fabric are pierced by needles and held in place by the needle gripper. By manipulating the needles, the elements can be selectively placed again at a later time, in a different location, and in a different position.

[0008] For example, a needle gripper with a drive device for the needle elements is known from DE 20 20 121 042 75 U1, as well as from DE 10 20 1201 7659 A1. EP 2 716 585 A2 describes a needle gripper in which an electrodynamic actuator reverses the drive direction of the needles.

[0009] Document DE 10 2008 002 751 A1 discloses a handling device with a plurality of needles, wherein the needles can be driven together and serve to pick up an object.

[0010] Document DE 10 2012019638 A1 discloses a handling device with several groups of needles, each of which can be moved longitudinally.

[0011] Document US 5275451 A discloses a handling device with several needles that can be driven in a rotating motion together.

[0012] US patent US 5 653 430 A describes a handling device for veneers with a needle that pierces the veneer to be picked up and is movably mounted to reduce leverage effects that could detach the veneer from the needle.

[0013] Document GB2207660 A discloses a handling device with needles that are bent in the shape of helical springs and rotatable about their longitudinal axis to facilitate penetration into objects to be picked up.

[0014] Document US 4 838 536 A describes a handling device with a driven needle for picking up layers of fabric.

[0015] Vacuum grippers are also known (e.g., from DE 10 20 1300 9344 A1) that use negative pressure to suction and hold flexible elements. However, holding multiple layers simultaneously is difficult and depends on the gas permeability of the layers. Furthermore, this requires a high pumping capacity and therefore a high energy input.

[0016] In the well-known needle grippers, needles that cross over each other or are angled towards each other are guided through the flexible elements to be handled.

[0017] However, there is a problem in securely gripping and holding multi-layered stacks of flat and / or flexible elements, and on the other hand, in not damaging the elements and the substrate from which the elements are to be picked up more than necessary when piercing them with needles.

[0018] Against the background of the prior art, the present invention is based on the objective of creating a handling device for flexible elements which avoids the disadvantages of the prior art as far as possible and enables the controlled gripping and releasing of one or more layers of flexible elements with a limited number of elements, while avoiding as far as possible any change or damage to the flexible elements.

[0019] The problem is solved by means of a handling device and a method according to claim 10, in accordance with the features of the invention. The dependent claims describe advantageous embodiments.

[0020] Accordingly, the invention relates to a handling device for flat and / or flexible elements, in particular semi-finished textile products or sandwich structures, comprising a carrier and one or more needle elements. It is provided that one or more of the needle elements have a profiled contour in its longitudinal direction, that at least one of the needle elements has a thread in at least one of its longitudinal sections, that each of the needle elements is rotatably arranged about its longitudinal direction and can be driven in its longitudinal direction relative to the carrier, and that each of the needle elements is individually assigned a drive device.

[0021] The profiled contour of the needle elements, particularly in the longitudinal section where they pierce the elements to be handled—that is, in the front areas adjacent to the tips of the needle elements, which protrude from the carrier to receive the elements—achieves improved grip of the flexible elements on the needle elements. This allows for a surprisingly significant reduction in the number of needle elements required for secure gripping. It is also surprising that a relatively shallow profile of the needle elements is sufficient for this significantly improved grip.For example, the diameters or cross-sectional profiles along the longitudinal direction of the needle elements can represent less than 50% variation in the maximum value of the diameter or cross-sectional extent, advantageously less than 20%, and further advantageously less than 10% variation between the longitudinal sections with the largest dimensions and longitudinal sections with the smallest dimensions.

[0022] The insertion and removal of the needles into and out of the flexible elements can be achieved particularly advantageously and with particularly little damage to the elements by means of a special drive for the needle elements, as will be explained in more detail below in the description of the process.

[0023] It may further be provided that at least one of the needle elements has a diameter that alternately increases and decreases along its longitudinal direction.

[0024] It can also be provided that the contour or diameter of the needle element(s) alternately and continuously increases and decreases along the longitudinal direction of the respective needle element, at least in one longitudinal section, such that a wave-like contour is formed. The aforementioned contour is only an example; significantly more irregular contours are also possible.

[0025] The needle elements each have a wave-like contour along their longitudinal direction when viewed from the side, which significantly increases both the insertion resistance when piercing the flexible elements and the extension resistance. This considerably improves the holding strength of flexible elements on the handling device according to the invention. Surprisingly, the puncture marks created in the elements to be gripped are not enlarged as much as expected.

[0026] To create a contour profiled in the left direction, it can be provided, for example, that at least one of the needle elements has a thread in at least one of its longitudinal sections.

[0027] For example, to protect the elements being gripped, the threaded web of the thread may have a rounded cross-sectional area.

[0028] Using such a thread, a flexible element can be pierced particularly easily and with low penetration force, especially when the needle element is rotated. By rotating the needle element in the opposite direction, it can be removed from the flexible element. A secure connection with high holding force is maintained between the insertion and removal of the needle element and the flexible element. The rounded thread shank minimizes damage to the flexible element being inserted. However, a sharp-edged thread can also be used. For example, standard screws can be used for the needle elements. The diameter of such threads can be, for example, 1 millimeter or more.

[0029] As an embodiment of the invention, it can also be provided that at least one of the needle elements, which is not round in cross-section, has an alternatingly increasing and decreasing thickness along its longitudinal direction in at least one longitudinal section.

[0030] In this case, the needle elements can, for example, be designed as rectangular strips in cross-section, which are equipped along a selected longitudinal section with a wavy outer contour with an alternatingly larger and smaller cross-section (single- or double-sided sawtooth contour).

[0031] Such a contour also enables an increased holding force of the needle elements in the flexible elements.

[0032] It can also be provided that at least one of the needle elements has alternatingly increasing and decreasing thickness along its longitudinal direction in different longitudinal sections (for example, perpendicular to each other and to the cross-section of the needle element), wherein in each longitudinal section in which the needle element has a smaller thickness with respect to a first longitudinal section than in neighboring longitudinal sections, there is a larger thickness with respect to a different longitudinal section than in the neighboring longitudinal sections.

[0033] This connects different waveforms in different cross-sectional planes of the longitudinal sections of the needle elements, so that the surface contour of the needle elements is profiled differently in different surface areas, but always in a wave-like shape in the longitudinal direction.

[0034] In principle, it can be provided that at least one of the needle elements has a circular, oval or rectangular cross-section.

[0035] For rotating needle elements, a circular cross-sectional shape is of course the most suitable option.

[0036] The handling device can be constructed in such a way that several needle elements are arranged on the carrier, the respective longitudinal directions of which are inclined relative to each other.

[0037] When needle elements are positioned at an angle to each other, the holding force for gripping flexible elements is further increased.

[0038] In this case, the needle elements, positioned at an angle to each other, must perform separate piercing movements to penetrate the flexible elements. Individual drives for the needle elements or drives that combine groups of needle elements can be provided for this purpose.

[0039] However, the carrier can also, and in particular exclusively, have needle elements that are parallel to each other.

[0040] The handling device may also be provided that 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 arranged to be movable relative to each other, in particular pivotable relative to each other.

[0041] This allows the flexible elements within the beam to be folded or otherwise deformed by pivoting the various beam sections against each other. In this way, the flexible elements can be adapted to the intended use during handling.

[0042] In order to allow the needle elements to penetrate the flexible elements particularly easily and with particularly low destructive effects, it can also be provided that each of the needle elements is arranged to be rotatable about its longitudinal direction, and in particular can be driven about its longitudinal direction.

[0043] It may be provided that each of the needle elements is assigned a drive device individually or several together.

[0044] For example, each needle element can be assigned its own motor, or it can be coupled to a gearbox that drives multiple needle elements. Chain drives or toothed belt drives are suitable options, each capable of rotating multiple needle elements.

[0045] In addition to rotation of the needle elements, a drive can also cause continuous or jerky movements in their individual longitudinal directions, so that the needle elements can be pushed through the flexible elements continuously or jerkily in a quivering motion superimposed on the translational movement in the longitudinal direction.

[0046] The method for operating a handling device for flexible elements can provide that, during a piercing or withdrawal movement of the needle elements relative to one or more elements to be received, one or more, in particular all, needle elements are individually rotated and driven in their longitudinal directions.

[0047] It can be more specifically planned that the needle elements are driven by rotation.

[0048] To generate a jerky movement in the longitudinal direction, it can also be provided alternatively or additionally that the needle elements are driven translationally continuously or jerkily in their longitudinal directions, and furthermore, in particular, alternately in opposite directions.

[0049] Furthermore, it should be noted that when designing the needle elements in a profiled form, the profiling can also be time-dependent by changing the contour in one or more longitudinal sections of the needle elements, for example, after the flexible elements have been penetrated. This can be achieved, for example, by extendable retaining elements, which can be extended by means of a drive mechanism provided inside the needle elements or extend independently like a barb. The retaining elements can be, for example, extendable hooks or crossbars, or levers that fold out like an umbrella mechanism.

[0050] The invention is shown below with reference to exemplary embodiments in figures of a drawing and described in detail below. Fig. 1 in a side view a handling device with a carrier and needle elements, Fig. 2 schematically a carrier of a handling device in a top view, Fig. 3 a side view of a handling device having two swiveling support parts, Fig. 4 a first needle element in cross-section, Fig. 5 a second needle element in cross-section, Fig. 6 a third needle element in cross-section, Fig. 7 in a side view a carrier of a handling device with inclined needle elements, Fig. 8 a detailed view of an inclined needle element with a drive, Fig. 9 a detailed view of a second needle element with a drive, Fig. 10 a side view of a third needle element, as well as Fig. 11 a detailed view of a fourth needle element with a drive.

[0051] The Fig. Figure 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.

[0052] Due to their longitudinal movement, the needle elements 4, 5, 6, 7 can pierce a stack of flexible elements, for example, fabrics, resting on a base 9 and hold the various layers of flexible elements in place with the needle elements 4, 5, 6, 7. According to the invention, the needle elements 4, 5, 6, 7 are profiled in their longitudinal direction 8, i.e., a cross-sectional dimension of the individual needle elements 4, 5, 6, 7 alternately increases and decreases in the longitudinal direction 8 of the needle elements. These dimensions can, for example, be a diameter or a cross-sectional area. The individual needle elements can, for example, have a sawtooth structure on one or more sides or a circumferential sawtooth structure.

[0053] The individual needle elements 4, 5, 6, 7 can be arranged as in the Fig. 1 indicated, they can be rotated about their longitudinal axes 8 and moved translationally in the longitudinal direction 8. A rotational movement can also be provided by means of which the individual needle elements, through threads provided in the carrier 3, automatically perform a movement in the axial direction 8 in order to be pushed into or pulled out of the stack of flexible elements 2.

[0054] However, the rotary movement may be superimposed with a jerky up-and-down movement in the direction of the longitudinal axes of the individual needle elements, or it may be exclusively a translational and a jerky trembling movement in the longitudinal direction of the needle elements in order to pierce the flexible elements 2 or to pull the needle elements out of the flexible elements.

[0055] In the Fig. Figure 2 shows a top view of the distribution of the individual needle elements 4, 5 in the support 3. A possible joint in the support is indicated by a dashed line 10, along which two support parts 3a, 3b can pivot relative to each other.

[0056] In the Fig. Figure 3 shows that the two support parts 3a, 3b, together with the needle elements 4, 5, 6, 7 held within them, are pivoted relative to each other about line 10 after the needle elements have impaled a flexible element 2a. By pivoting the support parts 3a, 3b relative to each other, the flexible element 2a can be folded or formed into another, non-planar shape for further processing. For example, such flexible elements can be used as fiber inserts for the production of curved composite materials and placed into appropriate molds.

[0057] The profiled shape of the needle elements 4, 5, 6, 7 allows for the simultaneous retention of a large number of layers of flexible elements 2 without them falling off due to their own weight. The holding forces on the needle elements are significantly increased compared to known smooth needle elements.

[0058] The profiling on the individual needle elements can take the form of ring-like thickenings that follow one another at intervals along the length of the individual needle elements. In the simplest case, however, the profiling can also be formed by a helical, circumferential ridge around the circumference of the needle elements. In a simpler case, the needle elements can be designed directly as screws. In this case, the threaded ridge of the screw can be rounded in such a way that it does not damage the material to be penetrated.

[0059] If there is an internal thread in each of the openings through which the needle elements are penetrated within the carrier 3, the needle elements, if they are designed in a screw-like manner, can be simultaneously rotated and moved axially in such threaded bores.

[0060] In the Fig. Figure 4 shows a circular cross-section of a needle element, while the Fig. Figure 5 shows an oval cross-section of a needle element. Thickenings can, for example, run symmetrically around the circular cross-section. This also applies to the oval cross-section of the Fig. 5. Thickenings can encircle the elliptical shape. However, it is also possible to provide for thickenings projecting only at the narrow ends 11, 12 of the elliptical shape. Alternatively, corresponding thickenings can also be arranged on the long sides 13, 14. The thickenings can be arranged at the same height on all sides of the needle element, or they can be offset from each other on different long sides of the needle elements.

[0061] The Fig. Figure 6 shows a rectangular cross-section of a needle element, which thus has a knife shape. Even with such a shape, projecting noses can be provided either on the narrow sides 15, 16 or on the long sides 17, 18 or on all sides.

[0062] The Fig. Figure 7 shows a support 3 in which a plurality of needle elements 19, 20, 21, 22 are depicted, each of which penetrates the plate-shaped support not perpendicularly but obliquely. The needle elements, positioned obliquely relative to each other and to the support, provide particularly good support for the flexible elements. However, in order for the flexible elements to be penetrated by the needle elements 19, 20, 21, 22, it is important that the needle elements are driven individually or in groups and that the flexible elements cannot be penetrated by the needle elements simultaneously lowering with the support 3. The oblique positioning of the needle elements relative to each other also makes it very difficult to detach the flexible elements from the needle elements without retracting the needle elements individually. This allows for increased holding security, especially when using profiled needle elements.

[0063] In the Fig. Figure 8 shows in detail a needle element 19 that is moved longitudinally 23 through a flexible element 2. A friction wheel 24 is indicated, which rotates in the directions shown by arrow 25 and thus drives the needle element 19 longitudinally 23. The drive of the friction wheel 24 can be designed to alternate such that the needle element 19 bores longitudinally through the flexible element 2 in a kind of quivering motion as well as a superimposed translational motion. A rotational motion can be combined with the simple translational motion as well as with these combined motions by means of a suitable drive, so that ultimately any type of motion in which the needles penetrate the object to be grasped can be useful.

[0064] The profiling of the needle element 19 in the area adjacent to its tip can either be thread-like or in the form of circumferential thickening rings or in the form of individual protruding noses distributed around the circumference of the needle element 19.

[0065] The Fig. Figure 9 shows a detailed view of a needle element 20, which has a thread 26. The needle element 20 passes obliquely through the support 3 and is guided in a thread in a threaded bore 27 of the support 3. By means of a gear arrangement with a first gear 28 arranged on the needle element and a second gear 30 mounted on a motor 29, the needle element 20 is set into rotation about its longitudinal axis and simultaneously moved into the flexible elements 2 in the direction of arrow 31. If the drive 29, 30 is operated in the opposite direction, the needle element 20 is pulled out of the stack of flexible elements. The gear 30 should be sufficiently thick to allow the gear 28 to engage in various displacement positions of the needle element 20.

[0066] The Fig. Figure 10 shows a side view of a section of a needle element 21 with ring-shaped thickenings 40, 41 along its longitudinal direction 32, which form the profile.

[0067] In the Fig. Figure 11 shows a detailed view of the guide of a threaded needle element 22, which is driven rotationally by means of a drive belt 33. The drive belt 33 is driven around its circumference by a drive wheel 34, which is driven by a motor 35. The drive belt 33 rotates the needle element 22 around its circumference, which, while rotating, also moves longitudinally.

[0068] With the aforementioned embodiments of the invention, flexible elements can be gripped and manipulated more securely than before using a handling device. This allows a larger number of layers of flexible elements to be handled simultaneously. Damage to the flexible elements, for example, interlining textiles, is minimized by the application method with rotary drive of the needle elements or the use of jerky, quivering movements.

Claims

[1] Handling device for flat and / or flexible elements (2), in particular textile semi-finished products, textile components and / or so-called preforms or sandwich structures, with a carrier and one or more needle elements (4, 5, 6, 7, 19, 20, 21, 22), characterized by , that one or more of the needle elements has / have a profiled contour in its longitudinal direction (8, 23, 32), that at least one of the needle elements has a thread in at least one of its longitudinal sections, that each of the needle elements is rotatably arranged about its longitudinal direction and can be driven in its longitudinal direction relative to the carrier, and that each of the needle elements is individually assigned a drive device. [2] Handling device according to claim 1, characterized by , that at least one of the needle elements (4, 5, 6, 7, 19, 20, 21, 22) has a diameter that alternately increases and decreases along its longitudinal direction (8, 23, 32). [3] Handling device according to claim 1 or 2, characterized by , that the contour or diameter of the needle element(s) (4, 5, 6, 7, 19, 20, 21, 22) along the longitudinal direction (8, 23, 32) of the respective needle element alternately and continuously increases and decreases at least in one longitudinal section, such that a wave-like contour is formed. [4] Handling device according to claim 1, characterized by , that the thread web of the thread has a rounded cross-sectional area. [5] Handling device according to claim 1, 2 or 3, characterized by , that at least one of the needle elements (4, 5, 6, 7, 19, 20, 21, 22), which is not round in cross-section, has an alternating increasing and decreasing thickness along its longitudinal direction (8, 23, 32) in at least one longitudinal section (e.g. saw contour). [6] Handling device according to claim 5, characterized by, that at least one of the needle elements (4, 5, 6, 7, 19, 20, 21, 22) has alternating increasing and decreasing thickness along its longitudinal direction in different longitudinal sections, wherein in each longitudinal section in which the needle element has a smaller thickness with respect to a first longitudinal section than in neighboring longitudinal sections, there is a larger thickness with respect to a different longitudinal section than in the neighboring longitudinal sections. [7] Handling device according to claim 1 or any of the following, characterized by , that at least one of the needle elements (4, 5, 6, 7, 19, 20, 21, 22) has a circular, oval or rectangular cross-section. [8] Handling device according to claim 1 or any of the following, characterized by , that several needle elements (19, 20, 21, 22) are arranged on the carrier (3), the respective longitudinal directions (8, 23, 32) of which are inclined relative to each other. [9] Handling device according to claim 1 or any of the following, characterized by , that the support (3) has at least two support parts (3a, 3b) on each of which at least one needle element (4, 5, 6, 7) is arranged, and that the support parts (3a, 3b) are arranged to be movable relative to each other, in particular pivotable relative to each other. [10] Method for operating a handling device for flexible elements according to any one of claims 1 to 9, characterized by , that during a piercing or withdrawal movement of the needle elements (4, 5, 6, 7, 19, 20, 21, 22) relative to one or more elements to be received (2) one or more needle elements are individually rotated and driven translationally in their longitudinal directions (8, 23, 32). [11] Method for operating a handling device according to claim 10, characterized by, that the needle elements (4, 5, 6, 7, 19, 20, 21, 22) are driven translationally jerkily in their longitudinal directions (8, 23, 32).

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