Gripper, in particular for applying a honeycomb-shaped element to a target surface, and machine provided with such a gripper
Patent Information
- Application Number
- EP2023713718
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-03-15
- Filing Date
- 2023-03-09
- Publication Date
- 2025-01-22
AI Technical Summary
Existing grippers for composite part manufacturing are ineffective in handling honeycomb parts due to the internal cells, which hinder gripping or suction mechanisms.
A gripper with laterally movable gripping elements that insert into honeycomb cells, using a combination of movable tips, inflatable bladders, and articulated points to securely grip and deposit honeycomb parts on a target surface, adapting to various cell shapes and sizes.
Enables effective gripping and deposition of honeycomb parts with precise adaptation to internal cell shapes, ensuring secure handling and placement without altering the target surface.
Smart Images
Figure 1.1
Abstract
Description
[0001] DESCRIPTION
[0002] TITLE: Gripper, in particular for applying a honeycomb part to a target surface and automaton provided with such a gripper
[0003] Technical field
[0004] The present invention relates to the gripping or handling of parts and in particular the gripping and deposition of parts on a target surface during the manufacture of composite parts.
[0005] The invention relates more particularly to a gripper for gripping and depositing honeycomb parts on a target surface during the manufacture of composite parts.
[0006] Previous techniques
[0007] A gripper of an automatic draping machine called "pick and place" is classically made up of an effector mounted on a carrier which includes for example a robotic arm, or which is controlled by a numerically controlled machine or an automaton.
[0008] In the context of the production of composite parts, we already know, in the state of the art, automatons comprising pneumatic grippers capable of gripping a patch by suction by creating a depression which allows the patch to be pressed against the gripper until the gripper is positioned facing the part on which the patch is to be positioned. The patch is then pressed and slightly compacted against the part, the depression is stopped and the gripper withdraws, leaving the patch on the target surface to be draped. The patch is for example an adhesive.
[0009] The automaton is programmed to carry out successive phases of gripping patches and depositing the patches on a target surface.
[0010] Electrostatic or mechanical grippers are also known.
[0011] Although these techniques are advantageous for gripping and depositing patches of fibrous material, dry, i.e. not impregnated with resin, powdery, i.e. having a particulate filler, or pre-impregnated with resin, they generally do not allow for the efficient handling of honeycomb parts, due to the presence of internal cells which make ineffective, in particular, gripping by suction.
[0012] Statement of the invention
[0013] The aim of the invention is therefore to propose a gripper which is particularly suitable for gripping and depositing honeycomb parts on a target surface.
[0014] The invention therefore relates to a gripper for gripping a honeycomb part and depositing the part on a target surface, comprising gripping elements mounted on a support and each intended to be inserted into an internal cell of the honeycomb part, said gripping elements comprising a gripping surface movable laterally relative to the support so as to come into contact with a lateral wall element of the internal cell.
[0015] Thus, the gripping surface can be moved laterally during the gripping phase until the part deposition phase, so as to hold the part by pressing the gripping element against the wall element of the honeycomb part cell.
[0016] In one embodiment, the gripping elements comprise a set of laterally movable spikes.
[0017] The gripping elements can also be movable relative to the support so as to adapt to the shape of the part.
[0018] In another embodiment, the gripper comprises a set of tip-shaped gripping elements each provided with an internal passage opening axially and an inflatable bladder disposed in the internal passage and capable of deforming laterally, by inflation, outside the tip.
[0019] According to yet another embodiment, the gripper comprises a set of gripping elements each comprising a pair of tips articulated by one of their ends and a control element acting on the pair of tips so as to separate them laterally in an internal cell of the part. The gripper may, in another embodiment, comprise a bladder deformable under the action of a differential pressure applied between the bladder and the honeycomb part so as to press the bladder laterally against the internal cell wall element of the part.
[0020] In various embodiments, the gripper may include a deformable material provided on a face of the support on which the gripping elements are mounted.
[0021] In one embodiment, the gripping elements are mounted on plates axially movable relative to the support between a first deployed position in which the gripping elements are positioned in the internal cells of the part and a second retracted position in which the gripping elements are extracted from the internal cells of the part.
[0022] In another embodiment, the gripper comprises a part release member comprising a pusher acting on the honeycomb part so as to release the gripping elements from the internal cells of the part.
[0023] The invention also relates to an automaton for gripping and depositing honeycomb parts on a target surface, comprising a gripper as defined above.
[0024] Brief description of the drawings
[0025] Other aims, characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings in which:
[0026] [Fig 1] and
[0027] [Fig 2] show examples of honeycomb parts intended to be handled by means of a gripper according to the invention;
[0028] [Fig 3] ,
[0029] [Fig 4], and [Fig 5] illustrate the kinematics of an automaton during the gripping and deposition of a honeycomb part on a target surface;
[0030] [Fig 6a]
[0031] [Fig 6b] and
[0032] [Fig 6c] illustrate an exemplary embodiment of a first embodiment of a gripper according to the invention;
[0033] [Fig 7] shows an example of the distribution of the gripping elements on the gripper support;
[0034] [Fig 8a]
[0035] [Fig 8b]
[0036] [Fig 8c] and
[0037] [Fig 8d] illustrate a variant of the embodiment of figures 6a, 6b and 6c;
[0038] [Fig 9a]
[0039] [Fig 9b] and
[0040] [Fig 9c] illustrate an exemplary embodiment of a second embodiment of a gripper according to the invention;
[0041] [Fig 10a] and
[0042] [Fig 10b] illustrate an exemplary embodiment of a third embodiment of a gripper according to the invention;
[0043] [Fig lia]
[0044] [Fig 1 1b] and
[0045] [Fig 1 1 c] illustrate an exemplary embodiment of a third embodiment of a gripper according to the invention;
[0046] [Fig 12] illustrates alternative embodiments of a gripper according to the invention; and
[0047] [Fig 13], [Fig 14], [Fig 15] and [Fig 16] illustrate another aspect of the gripper according to the invention. Detailed description of at least one embodiment
[0048] We will first refer to figures 1 and 2 which illustrate various shapes of parts intended to be handled for the production of parts in composite material by means of a gripper according to the invention.
[0049] As shown, the parts P are made of honeycomb and are capable of adopting various shapes, various formats, different masses and comprising internal cells C having different shapes.
[0050] The gripper is thus capable of adapting to any type of internal cell, in particular hexagonal or trapezoidal, whatever their dimension, and to any type of part, whatever their format, geometry, mass, or material.
[0051] The pieces may, for example, measure less than 0.10 m on each side or, on the contrary, measure up to at least 1 meter on each side, or be flat or in volume.
[0052] Referring to figures 3, 4 and 5, such parts are handled by an automaton 1 comprising a gripper 2 mounted at the end of a carrier 3 constituted for example by a robot arm.
[0053] The automaton is generally programmed to control the movement and operation of the gripper so that, in a first step, illustrated in FIG. 4, it grips a honeycomb part P on a provisioning device 5, for example, a supply table, a conveyor belt or a drawer system; so that, in a second step, illustrated in FIG. 5, the carrier moves the gripper to a target surface 6; and so that, in a third step not shown, the carrier withdraws and the part P is detached from the gripper 2.
[0054] In various embodiments, the gripper includes gripping members that have a laterally movable gripping surface to laterally engage a wall member of a cell of the honeycomb.
[0055] Referring firstly to figures 6a, 6b and 6c, in which a first embodiment of a gripper 2 is schematically represented, in this embodiment, the gripper comprises a rigid support 10 and a set of points such as 11 mounted on the support 10 and extending in projection from one of the faces of the support intended to be applied against the honeycomb part.
[0056] The tips 1 1 are each intended to be inserted into a cell C of the part P. For this purpose, they have, for example, a round section of appropriate dimensions to be able to be inserted into a cell, whatever its shape, in particular hexagonal or trapezoidal.
[0057] The tips 11 are mounted so as to be able to move laterally, that is to say in a direction parallel to the plane of the support 10 and comprise a gripping surface constituted by the external peripheral surface of the tips.
[0058] As illustrated in Figure 6b and Figure 6c, the tips 11 can be moved laterally (arrow F) until their peripheral surface comes to bear against an element 12 of the wall of a cell C so as to apply a friction force against this wall sufficient to hold the honeycomb part P on the gripper and allow it to be gripped.
[0059] Preferably, the tips 11 are chosen to be shorter than the thickness of the honeycomb, so as to prevent them from coming into contact with the target surface on which the honeycomb is to be deposited in order to avoid damaging it.
[0060] As seen in Figure 7, the support 10 may comprise any number of such tips, these tips being able to be distributed on the support depending on the configuration of the part to be gripped.
[0061] It will also be noted, with reference to figures 8a, 8b, 8c and 8d, that the tips 11 can also be movable according to the conformation of the part to be gripped. In other words, they can be locally retracted, elongated or oriented so as to adapt to the shape of the part to be gripped, in particular to the locally concave, convex or hollow conformation of the part, or to adapt to the shape of the target surface.
[0062] As illustrated, the gripper may be provided with a set of rods 11a each provided with a jack and preferably provided with an articulation, at the end of which is mounted a gripping device similar to the arrangement illustrated in figure 7 and comprising a support 11b on which points 11c are distributed.
[0063] With reference to Figures 9a, 9b and 9c, in another embodiment, the gripping elements are produced in the form of fixed hollow tips 14 mounted on the fixed support 10. These tips 14 are provided with an internal passage 15 opening through the free end of the tips and connected at the opposite end 16 to a source of pressurized air (not shown), an inflatable bladder 17 which constitutes the gripping surface of the gripping elements being arranged in the internal passage while being connected to the source of pressurized air.
[0064] In this embodiment, the inflatable bladders are inflated after insertion of the fixed tips 14 into the cells C of the honeycomb and deform laterally outside the hollow tip until they are pressed against the peripheral wall of the cells of the honeycomb (Figure 9c). It will be noted that this embodiment can be combined with the embodiment described previously with reference to Figures 6a, 6b, 6c and 7, the tips 14 also being able to be laterally movable in order to improve the pressing of the inflatable bladders against the peripheral surface of the cells of the honeycomb.
[0065] Furthermore, as in the embodiment described above, the tips 14 have a section of dimensions and shape suitable for penetrating into the cells of the honeycomb. Their length is chosen so as to prevent them from coming into contact with the target surface in order to avoid altering it.
[0066] According to a third embodiment, illustrated in figures 10a and 10b, the gripping elements, which are also intended to be inserted into the cells of the honeycomb, each comprise, for each cell of the honeycomb, a pair of points 18 and 19 each articulated on an axial rod 20 around an axis perpendicular to the general axis of the cells.
[0067] The tips 18 and 19 thus comprise a first free end by which they are inserted into a cell of the honeycomb and an opposite end by which they are articulated on the rod 20.
[0068] The gripping elements further comprise a control element 21 configured to exert a force on the tips 18 and 19 so as to separate them against an element of the peripheral wall of the cells (figure 10b). As in the embodiment described previously with reference to figures 6a to 6c, the gripping of the part is obtained by pressing the external peripheral surface of the articulated tips against a wall element of the cells C.
[0069] According to a fourth embodiment visible in figures 11a, 11b, and 11c, the gripping element comprises a bladder 23 mounted on the support 10, this bladder comprising an active gripping surface 24 facing the part P deformable under the action of a differential pressure applied between the bladder and the cells of the honeycomb.
[0070] Advantageously, the bladder is made of a sufficiently flexible material, for example silicone, in which it is possible to create a vacuum.
[0071] When the bladder is crushed onto the honeycomb (Figure 1 1b), a depression is created inside the bladder, for example by the Venturi effect, the Coanda effect or by means of a vacuum pump, which causes the bladder to be pressed against certain walls of the cell and therefore grip the honeycomb (Figure 1 1c).
[0072] It will be noted that, in the various embodiments, and in particular in the first, second and fourth embodiments, in which the gripping elements are made from tips, deformable bladders arranged in a hollow tip or a deformable bladder mounted on the support, a deformable material 25 (figure 12) can be provided on the face of the support from which the gripping elements extend, for example of the foam or silicone block type, in order to improve the pressing of the honeycomb against the target surface, after the pressure applied to the gripping elements is released.
[0073] In the various embodiments described above, the honeycomb part P is held by means of the gripping elements which are laterally movable relative to the support so as to come into contact with a side wall element of an internal cell of the part. In other embodiments visible in Figures 13 to 16, which can be used with the embodiments described above with reference to Figures 8a, 8b, 8c and 8d, Figures 9a, 9b, and 9c, Figures 10a and 10b as well as Figures 11a, 11b, 11c and 12, the gripper can be equipped with means for releasing the part from the gripping elements.
[0074] Referring firstly to figures 13 and 14, which correspond, by way of example, to the embodiment of figure 12, and in which the support 10, the deformable material 25 as well as the gripping elements, such as 11, are recognized, the means serving to release the part from the gripping elements comprise a release member 26 separate from the gripping elements.
[0075] This member 26 has the form of a stud provided with an end head 27 acting on the part P so as to release the gripping elements from the internal cells C.
[0076] This release member 26 is thus movable under the action of motor means, for example under the action of jacks or any other type of pneumatic, hydraulic, electrical or mechanical actuator so as to exert a force on the part P, preferably after having replaced the gripping elements in an initial rest position in which they are released from the side wall element of the cell.
[0077] In another embodiment visible in figures 15 and 16, the part P is released by retracting the gripping elements so as to release them from the internal cells of the part.
[0078] In this embodiment, the gripping elements, such as 11, are grouped on support plates 28 in housings 29 made in the deforming material 25 under the action of jacks or any other type of pneumatic, hydraulic, electrical or mechanical actuator.
[0079] Thus, the gripping elements can be released from the cells after they have been repositioned in their rest position in which they are laterally released from the wall element of each cell, so that they are extracted from the honeycomb part (figure 16).
Claims
DEMANDS 1. Gripper for gripping a honeycomb part (P) and depositing the part on a target surface (6), characterized in that it comprises gripping elements (11; 14; 18, 19; 23) mounted on a support (10) and each intended to be inserted into an internal cell (C) of the honeycomb part, said gripping elements comprising a gripping surface movable laterally relative to the support so as to come into contact with a lateral wall element of the internal cell, a deformable material (25) being provided on a face of the support on which the gripping elements are mounted.
2. Gripper according to claim 1, characterized in that the gripping elements comprise a set of laterally movable points (11).
3. Gripper according to any one of claims 1 and 2, wherein the gripping elements are movable relative to the support so as to adapt to the shape of the part.
4. Gripper according to any one of claims 1 to 3, characterized in that it comprises a set of gripping elements (14) in the shape of a point, each having an internal passage (15) opening axially and an inflatable bladder (17) disposed in the internal passage and capable of deforming laterally, by inflation, outside the point.
5. Gripper according to claim 1, characterized in that it comprises a set of gripping elements each comprising a pair of points (18, 19) articulated at one of their ends and a control element acting on the pair of points so as to spread them laterally in an internal cell of the part.
6. Gripper according to claim 1, comprising a bladder (23) deformable under the action of a differential pressure applied between the bladder and the honeycomb part so as to press the bladder laterally against the wall element (12) of internal cells of the part.
7. Gripper according to any one of claims 1 to 6, wherein the gripping elements (11) are mounted on plates (28) axially movable relative to the support between a first deployed position in which the gripping elements are positioned in the internal cells of the part and a second retracted position in which the gripping elements are extracted from the internal cells of the part.
8. Gripper according to any one of claims 1 to 6, comprising a part release member (26) including a pusher acting on the honeycomb part (P) so as to release the gripping elements from the internal cells of the part.
9. Automated system for gripping and depositing honeycomb parts onto a target surface, characterized in that it comprises a gripper according to any one of claims 1 to 8.