Support component for a device for handling a load, system and method for producing the support component

Abstract

The invention relates to a support component (30) for a device (10; 100) for use when handling a load, to a system (40), and to a method for producing the support component (30). The support component (30) has at least two holders (31) which are arranged at a distance from one another in a first direction (X), at least one hollow insert part (33) which extends at least partially in the first direction (X) and is arranged in the at least two holders (31), and a fibre structure (32) which is held on the at least two holders (31), wherein each of the at least two holders (31) has at least one first opening (311) for receiving one insert part (33) of the at least one insert part (33), such that the at least two holders (31) receive the insert part (33) in the at least one first opening (311) of the holder and hold the insert part at two positions of the insert part (33) spaced apart from each other in the first direction (X), wherein the at least one first opening (311) additionally has a gap (3111) for introducing a fibre (321) of the fibre structure (32), and wherein the fibre structure (32) is arranged in at least one second direction (Y; Z), which extends transversely to the at least one insert part (33).

Description

[0001] Supporting component for a device for handling a load, as well as system and method for producing the supporting component

[0002] Description

[0003] The present invention relates to a support component for a device for handling a load, as well as a system and a method for producing the support component. The support component is particularly suitable for use in a production system for a device for handling a load, for example, a vehicle part.

[0004] Load-bearing components are used for structural constructions that are either statically arranged or can be incorporated into devices capable of handling loads. Such devices can, in particular, grip or move loads.

[0005] For example, in a production facility, individual components are typically treated and / or handled to produce an object. A particular example of such a production facility is a production line for a vehicle. In general, such a production facility can be used for any industrially manufactured object, such as motor vehicles, media devices, furniture, etc. During production, individual components of the object to be manufactured are typically moved from one location to another and / or the component is pivoted about its axis. Alternatively or additionally, individual components are held in a specific position during production for a specific treatment method, such as welding, drilling, screwing, riveting, painting, etc. Robots having a specially designed gripping and / or clamping device for gripping components can be used in such production.EP 2 810749 A1 shows a device for use in handling a load, which can be used as such a gripping and / or clamping device in a production plant. The device is constructed in a lightweight manner from planar individual parts and a covering such that the device is sufficiently stable to support the load. Despite its high stability and load-bearing capacity, the device is nevertheless so lightweight that a robot requires only a moderate load-bearing capacity to move the device compared to other designs. Therefore, the robot can be constructed relatively compactly and maneuverably. Thus, the device is so light and handy that it can be moved quickly and cost-effectively within the room.

[0006] Such a device is provided with gripping and / or clamping tools with which a component can be gripped, held and / or clamped at suitable points.

[0007] Depending on the weight of the component to be handled, the load, and the number of gripping and / or clamping tools, a device containing the gripping and / or clamping tool must be designed for a large handling load. Furthermore, the drive force required to drive such a gripping and / or clamping tool must be taken into account and may be relatively high.

[0008] In addition, the system must be adapted to the specific requirements of the production task. This may require different gripping and / or clamping tools, or different tool positions. The associated downtime of the production system should be kept as short as possible.

[0009] Therefore, it is an object of the present invention to provide a support component for a device for use in handling a load, as well as a system and a method for producing the support component, with which the aforementioned problems can be solved. In particular, a support component for a device for use in handling a load, as well as a system and a method for producing the support component, are to be provided, in which the support component enables a lightweight device compared to conventional devices, which is also very flexibly adaptable and cost-effective to manufacture.

[0010] This task is achieved by a supporting component for a device for handling a load according to

[0011] Claim 1 is solved. The support component has at least two holders that are arranged spaced from one another in a first direction, at least one hollow insert part that extends at least partially in the first direction and that is arranged in the at least two holders, and a fiber structure that is held on the at least two holders, wherein each of the at least two holders has at least one first opening for receiving an insert part of the at least one insert part, so that the at least two holders receive the insert part in their at least one first opening and hold it at two positions of the insert part that are spaced from one another in the first direction, wherein the at least one first opening also has a gap for inserting a fiber of the fiber structure, and wherein the fiber structure is arranged in at least one second direction that extends transversely to the at least one insert part.

[0012] Due to its described design, the support component is lighter than conventional support components. A weight reduction of up to approximately 26% is possible. Nevertheless, the support component can be constructed very compactly. These properties of the support component also lead to a very compact device. As a result, such a device is easier to move and thus very suitable for handling loads.

[0013] The hollow insert has the effect that the lightweight hollow insert can replace a heavier fiber strand without impairing the load-bearing or supporting properties of the load-bearing component.

[0014] The savings in fiber material due to the at least one hollow insert of the supporting component also has the advantage of reducing the time required to manufacture the supporting component. This can reduce operating costs for the production facility, which in turn lowers the costs for manufacturing the supporting component.

[0015] Another advantage is that by using the hollow insert, which is designed in particular as a linear hollow profile, the cross-sectional geometry of a circular ring can be used to save irrelevant volume with regard to the moment of resistance against bending and torsion around the neutral fiber.

[0016] This makes the supporting component versatile, particularly in a device for

[0017] When used to handle a load, the supporting component can provide stability and flexibility when

[0018] The device can be converted to increase the load-bearing capacity so that the device is suitable for carrying loads of different weights and / or sizes and / or shapes. Such loads can be, for example, vehicle body parts, in particular metal body parts of a motor vehicle, metal body parts of a truck, metal body parts of a rail vehicle, or components with a comparable load.

[0019] A previously described device with at least one previously described support component, in a configuration with, for example, two or three or more arms, which can be used for handling, for example, a body part of a vehicle, has a significantly reduced weight compared to the prior art. The same applies to other applications of the support component.

[0020] Advantageous further embodiments of the supporting component are specified in the dependent claims.

[0021] In the support component described above, each of the at least two holders can have at least two first openings, which are arranged in the holder at a distance from one another in a third direction, wherein the third direction is arranged transversely to the at least one insert part. In this case, each of the at least two holders may have T-shaped projections, wherein the T-shaped projections project from the holder in different directions, such that two of the T-shaped projections form one of the at least two first openings and the gap. In this case, each of the at least two holders can have a second opening, around which the T-shaped projections are arranged.

[0022] It is conceivable that at least one of the T-shaped projections has a planar element as the outer side of the holder, wherein at least one third opening is arranged in the planar element for mounting the holder on a system for producing the support component and / or on the device for handling a load.

[0023] In one embodiment, the at least two holders are identical parts.

[0024] In one embodiment, the at least one holder is made of metal and / or plastic.

[0025] In one embodiment, the at least one insert part is an extruded hollow body. In one embodiment, the fiber structure has crossed fibers between the at least two holders.

[0026] The fiber structure may comprise carbon fiber and / or glass fiber and / or basalt fiber and / or a continuous fiber and / or continuously continuous fiber-reinforced organic material as fiber, wherein the fiber of the fiber structure is activated to be dimensionally stable, in particular coated with a fiber-reinforcing plastic.

[0027] The above-described at least one supporting component may be part of a device for handling a load, wherein the device further comprises at least one handling tool for handling the load.

[0028] The at least one handling tool may be attached to a support component of the at least one support component, such that the at least one handling tool projects from the support component.

[0029] Optionally, the device also has at least one connector for mounting the at least one handling tool on the device and / or the at least one support component, wherein the at least one handling tool is fastened to an insert part of the at least one support component, so that the at least one handling tool projects from the support component.

[0030] It is conceivable that at least two handling tools are mounted in such a way as to cooperate to handle a part usable in the production of an object. The aforementioned object is also achieved by a system for producing a previously described support component according to claim 15.The system has at least one supporting component receptacle for receiving at least two holders such that the at least two holders are arranged in a first direction on the at least one supporting component receptacle, a winding head for winding at least one fiber around the at least two holders into a fiber structure that connects the two holders, a first transport device for transporting the winding head in the first direction when winding the at least one fiber around the at least two holders, and a second transport device for transporting the winding head in at least a second direction, which is arranged transversely to the first direction, when winding the at least one fiber around the at least two holders. The system described enables, through the arrangement and movable mounting of the supporting component to be produced, a time-optimized and thus very cost-efficient production of the previously described supporting component.

[0031] The system can operate fully automatically, so that predetermined properties for the manufactured load-bearing components can be achieved with high repeatability.

[0032] In addition, the at least two brackets of the previously described support component are very easy to install. The system is also very flexible and can be easily adapted to support components of different sizes.

[0033] The aforementioned object is also achieved by a method for producing a support component according to claim 16. The method is designed for producing a support component for a device for handling a load and has the steps of arranging at least two holders spaced apart from one another in a first direction, arranging at least one hollow insert part in the at least two holders such that the at least one hollow insert part extends at least partially in the first direction, and winding a fiber structure onto the at least two holders, wherein each of the at least two holders has at least one first opening for receiving an insert part of the at least one insert part, such that the at least two holders receive the insert part in their at least one first opening and hold it at two positions of the insert part spaced apart from one another in the first direction.wherein a fiber of the fiber structure is introduced into a gap of the at least one first opening during winding, and wherein the fiber structure is arranged in at least one second direction extending transversely to the at least one insert part.

[0034] The process achieves the same advantages as previously mentioned for the plant.

[0035] Further possible implementations of the invention also include combinations of features or embodiments described above or below with respect to the exemplary embodiments not explicitly mentioned. Those skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention. The invention is described in more detail below with reference to the accompanying drawings and exemplary embodiments. They show:

[0036] Fig. 1 is a highly simplified view of a production plant in which a device according to a first embodiment is used;

[0037] Fig. 2 is a three-dimensional plan view of a supporting component according to a first embodiment;

[0038] Fig. 3 shows a section through the supporting component of Fig. 2;

[0039] Fig. 4 is a three-dimensional perspective view of the supporting component of Fig. 2;

[0040] Fig. 5 is a three-dimensional view of a variant of the supporting component according to the first embodiment;

[0041] Fig. 6 to Fig. 8 each show a three-dimensional view of a system for producing a supporting component according to the first embodiment;

[0042] Fig. 9 is a three-dimensional view of a holding device of the system of Fig. 6 to Fig. 8 prepared for producing the supporting component;

[0043] Fig. 10 and Fig. 11 each show a three-dimensional detailed view of the ends of the holding device of Fig. 9;

[0044] Fig. 12 is a three-dimensional view of a winding head of the system for producing a supporting component according to the first embodiment;

[0045] Fig. 13 is a front view of the winding head of Fig. 12; and

[0046] Fig. 14 is a three-dimensional bottom view of a device according to a second

[0047] Embodiment on which grippers for handling a load are mounted. In the figures, identical or functionally equivalent elements are provided with the same reference numerals unless otherwise indicated.

[0048] Fig. 1 shows, as an example, a production facility 1 for producing or manufacturing an object 2 from multiple components. In Fig. 1, the object 2 is, as an example, a motor vehicle, and the production facility 1 is a production line for a vehicle, in particular a motor vehicle, truck, rail vehicle, aircraft, etc. However, the production facility 1 is not limited to this and can be a production facility for any other industrially manufactured object.

[0049] The production plant 1 in Fig. 1 has a device 10 with support arms 11, 12, 13 for handling a load. The load is, for example, a component of the object 2. The component can, in particular, be a body part of the object 2 shown as a motor vehicle in Fig. 1.

[0050] Alternatively, the component is a clamping frame or framer that can be used to clamp components of a vehicle during the manufacture of the body of a vehicle.

[0051] "Handling" is to be understood in particular as grasping, sucking, holding, transferring, positioning in a specific place, moving, such as pivoting, turning, pushing, lifting, etc., carrying, supporting, etc.

[0052] In Fig. 1, the production plant 1 also has a movement device 20 on which the device 10 is arranged. The device 10 is attached to the movement device 20 in such a way that the movement device 20 can move the device 10 in space. As a result, a load handled by the device 10 is also moved in space, as explained in more detail with reference to Fig. 2.

[0053] In the example of Fig. 1, the movement device 20 is depicted as a robot. However, the movement device 20 may additionally or alternatively have any other form. For example, the movement device 20 has or is a pivoting arm, a lifting device with a telescopic arm, or another movement device.

[0054] Fig. 2 shows a support component 30 that is used in the device 10 of Fig. 1, for example, for the support arm 11 or one of the other support arms 12, 13. However, the support component 30 is not limited thereto. The support component 30 can alternatively be used for any other device or structure.

[0055] According to Fig. 2, the support member 30 has a plurality of holders 31, a fiber structure 32, and inserts 33. The holders 31 are configured to receive the fiber structure 32 and the inserts 33. The support member 30 of Fig. 2 has four inserts 33. However, the support member 30 is not limited thereto.

[0056] In the example of Fig. 2, the supporting component 30 is a rectangular, in particular square, profile component. The supporting component 30 has a significantly longer length in the X direction (first direction) than in the Y direction (second direction) or Z direction (third direction). The X direction, the Y direction, and the Z direction are each arranged transversely, in particular perpendicularly, to one another.

[0057] The holders 31 are arranged spaced apart from one another. The holders 31 are arranged at predetermined intervals, in particular equidistantly, along the length of the support profile 30. The holders 31 are arranged at predetermined intervals, in particular equidistantly, along the length of the fiber structure 32. The holders 31 are arranged at the predetermined intervals along the length of the insert parts 33. The fiber structure 32 is arranged at least partially between the insert parts 32.

[0058] The holders 31 have a rectangular cross-section. In the example of Fig. 2, the holders 31 have an approximately square cross-section. In Fig. 2, the holders 31 are identical parts, but the holders 31 are not limited to this. The holders 31 can have different external dimensions and / or shapes.

[0059] For example, the holders 31 or at least one holder 31 are made of a rigid material, in particular at least one metal, for example iron and / or steel.

[0060] In particular, the holders 31 or at least one holder 31 are made of a lightweight metal, such as aluminum or titanium. Alternatively or additionally, at least one holder 31 is made of plastic that is fiber-reinforced and / or has a fiber composite. Alternatively or additionally, at least one holder 31 is manufactured using 3D printing. Alternatively or additionally, at least one holder 31 is manufactured by welding or soldering. In general, the materials and / or manufacturing processes can be freely selected to form a clamping framework for the fiber structure 32 with the holders 31. All four outer sides of the holder 31 can be designed identically. In Fig. 2, only two of the outer sides are completely visible.

[0061] The holders 31 have openings 313 and gaps 3111. In the example of Fig. 2, three openings 313 are arranged in a row next to one another and spaced from one another in the holder 31 on the two visible outer sides. In addition, the three openings 313 can be arranged in a row next to one another and spaced from one another in all four outer sides of the holder 31. At least one of the openings 313 can be used in the manufacture of the support component 30, as described in more detail below with reference to Fig. 6 to Fig. 13. Alternatively, at least one of the openings 313 can be used to mount the holder 31 on another component, in particular for mounting on or for the device 10. The openings 313 are also referred to below as third openings.

[0062] The gap 3111 can be used to produce the fiber structure 32. Two outer sides of the holder 31 are spaced apart from each other by a gap 3111. Each gap 311 is located at an outer corner of the holder 31. In other words, each gap 311 forms an outer corner of the holder 31. The holder 31 is open at its outer corners. In other words, the holder 31 is open at its outer corners.

[0063] The fiber structure 32 is constructed from individual fibers. However, it is possible for the fiber structure 32 to be constructed from at least one thread. The fiber structure 32 has a crossed structure. The crossed structure resembles a latticework. The individual fibers are wound around the holders 31. This is described in more detail below.

[0064] The fiber structure 32 can comprise carbon fiber and / or glass fiber and / or basalt fiber. The fiber(s) can be impregnated with plastic, in particular resin. The fiber structure 32 is thus a fiber-reinforced plastic. In particular, the fiber structure is made of continuous fiber. The fiber structure 32 can be configured depending on the desired or required strength and / or rigidity. The crossed structure shown on the supporting component 30 in Fig. 2 to Fig. 5 is not mandatory for the fiber structure 32.

[0065] Each of the four insert parts 33 is arranged at one of the corners of the holder 31. In the example of Fig. 2, the insert parts 33 are each hollow tubes. The length of the insert parts 33 extends in the direction (X direction or first direction) in which the holders 31 are arranged at a distance from one another. The four insert parts 33 are arranged approximately parallel to one another in the holder 31. However, at least one of the hollow-shaped insert parts can extend only at least partially in the first direction X, in particular be L-shaped, etc.

[0066] The insert parts 33 and the holders 31 are arranged transversely to one another. The holders 31 are arranged transversely to the length of the insert parts 33. In the example of Fig. 2, the holders 31 are narrower than they are wide or high. Thus, the holders 31 have a smaller dimension in the direction (X direction or first direction) in which the holders 31 are arranged spaced from one another than in a direction arranged transversely thereto (Y direction or Z direction). The holders 31 have a smaller thickness than they are long. In other words, the length of a holder 31 in the X direction is shorter than its length in the Y direction or Z direction.

[0067] Fig. 3 shows the support component 30 of Fig. 2 in cross-section through one of the holders 31. Accordingly, the holder 31 also has openings 311, each of which has one of the gaps 3111 already mentioned with reference to Fig. 2. Furthermore, the holder 31 has an opening 312 located in the center of the holder 31. As a result, the holder 31 is a hollow body. The openings 311 are also referred to below as first openings 311. The opening 312 is also referred to below as second opening 312.

[0068] In the example of Fig. 2, each of the openings 311 is partially adapted to the shape of the insert part 33. As a result, the insert part 33 and the opening 311 abut one another in sections along their circumference.

[0069] The opening 312 is defined and / or formed by four T-shaped projections 314 that are interconnected. Part of the fiber structure 32 is visible from the inside through the opening 312. The T-shaped projections 314 are arranged around the opening 312. The T-shaped projections 314 are arranged relative to one another such that the head of each T forms one of the outer sides 3141 of the holder 31. The feet of the T-shaped projections 314 are each interconnected. As a result, the T-shaped recesses 314 form the opening 312 on the one hand and a cross on the other. The holder 31 is a cross-shaped holder. The outer sides 3141 of the holder 31 are planar elements, in particular plates. Fig. 4 shows the support component 30 in a perspective view. Here, of some holders 31, both the first openings 311 with the gap 3111, the second opening 312 and the third openings 313 are visible.In addition, the arrangement of the third openings 313 in the head of the T-shaped projections 314 or the outer side 3141 of the holder 31 is also shown. The support component 30 has a plurality of holders 31, although in Fig. 4, for the sake of clarity, only some of the holders 31 or their parts are provided with reference numerals.

[0070] As an alternative to a configuration with a plurality of holders 31, Fig. 5 shows that the support component 30 can have at least two holders 31. The specific configuration of Fig. 5 shows an example of the support component 30 with three holders 31. However, the number of at least two holders 31 can be selected as needed. Furthermore, the distances between the holders 31 can be chosen arbitrarily.

[0071] In the previously described supporting components 30, the insert parts 33 are comparable insert profiles with similar properties with regard to the winding material or a thread for forming or recessing the neutral fiber region. In other words, the insert parts 33 are insert profiles that have comparable and / or similar properties with regard to the winding material and / or a thread or fiber for forming or recessing the neutral fiber region of the fiber structure 32. The insert parts 33 can be configured as follows to achieve this effect.

[0072] The insert parts 33 can be made from a form-free extrudate, which is, for example, foamed and / or cast and / or pressed to form the insert part 33. Additionally or alternatively, at least one metallic material and / or at least one mineral material and / or at least one composite material and / or at least one plastic or plastic-like material can be used for at least one insert part 33 in order to produce any desired embodiments for the insert parts 33, as also described below.

[0073] At least one insert part 33 can be a hollow profile with any desired shape, which is an alternative to the insert part 33 with a circular cross-section shown in Fig. 2 to Fig. 5. In particular, the at least one insert part 33 can be a triangular, square, oval, or T-shaped body, in particular a hollow profile. Furthermore, any desired combination of the aforementioned shapes is possible for the at least one insert part 33. The insert parts 33 of the support profile 30 can have a differently shaped cross-section. For example, one insert part 33 is a triangular hollow profile and another insert part 33 is an oval hollow profile. Any desired other combinations of shapes of the insert parts 33 are possible.

[0074] To attach at least one other component to the support component 30, at least one branch and / or connector can be used, which are not shown in detail in the figures. The at least one branch and / or connector can be used on at least one insert part 33 to provide at least one component, in particular a gripping or clamping tool, for the device 10 in the support components 30 shown. However, the branches and / or connectors are not limited to the examples mentioned below.

[0075] For example, a first insert part connector can connect two insert parts 33. Such an insert part connector can, for example, enclose the circumference of one insert part and accommodate one end of the second insert part 33. The insert part connector thereby forms a branch. At least one component can be mounted on at least one of the insert parts 33 and / or the first insert part connector, which component is in particular a handling tool, for example a gripping or clamping tool, for the device 10 or another attachment, in particular a camera, a sensor, etc. The at least one component or attachment can be mounted such that it protrudes from the support component 30.

[0076] Alternatively, a second insert part connector can connect four insert parts 33. Such a second insert part connector can, for example, enclose the circumference of one insert part 33 and accommodate one end of three other insert parts 33. As a result, the second insert part connector also forms a branch. At least one component can be mounted on at least one of the insert parts 33 and / or the second insert part connector, which component is in particular a handling tool, for example a gripping or clamping tool, for the device 10 or another attachment, in particular a camera, a sensor, etc. The at least one component or attachment can be mounted such that it protrudes from the support component 30.

[0077] Alternatively, a third insert part connector can connect two insert parts 33. Such an insert part connector can, for example, enclose the circumference of one insert part 33 at one end. Furthermore, the insert part connector encloses the circumference of the other insert part 33 at its other end. As a result, the insert parts 33 are arranged next to one another in the third insert part connector, so that the insert parts 33 are arranged approximately parallel to one another. Here, too, at least one component can be mounted on at least one of the insert parts 33 and / or the third insert part connector, which component is in particular a handling tool, for example a gripping or clamping tool, for the device 10 or another attachment, in particular a camera, a sensor, etc. The at least one component or attachment can be mounted such that it protrudes from the support component 30.

[0078] In all of the insert connectors mentioned as examples, the inserts 33 can be of different lengths. Furthermore, the inserts 33 can have different cross-sectional shapes and / or different cross-sectional sizes. It is also conceivable that more than one branch and / or connector for at least one insert 33 is arranged on one of the inserts 33.

[0079] As an alternative to the insert connectors mentioned above as examples, it is possible for at least one insert connector to arrange two inserts 33 at an angle other than 90° or 0°. For example, angles between 0° and 90° or between 90° and 180° are possible. However, the insert connectors are not limited to these. Any desired variations are possible.

[0080] The support profile 30 of Fig. 2 to Fig. 5 and / or its connectors and / or attachment(s) according to the preceding examples can optionally have additional strength and also the required rigidity for handling the load, in particular an object 2 of Fig. 1, through a coating or sheathing with fiber-reinforced plastic. Depending on the application, the device 10 of Fig. 1 can thus provide the desired stability and load-bearing capacity for handling the load.

[0081] Such a coating can, for example, consist of a composite of carbon fiber and / or glass fiber and / or basalt fiber with resin. The coating is thus a fiber-reinforced plastic. The coating can be at least partially laminated over the support profile 30, thus providing additional strength and the required rigidity. Alternatively, the coating can consist of continuously continuous fiber-reinforced organic material, in particular organic sheet. Such a material comprises thermoplastic plastic. This allows the continuously continuous fiber-reinforced organic material to be attached to the support profile 30 by heating it above the melting temperature or glass transition temperature TG of the thermoplastic plastic and then laminated to the support profile. Another alternative is the spraying of fiber composite materials that offer the same properties as the fiber material. The support component 30 can incorporate the coating as a seal by lamination, foaming, etc.The seal serves to prevent dirt deposits and the adhesion of any welding spatter in subsequent manufacturing processes, which could cause damage, particularly scorching.

[0082] Fig. 6 shows a system 40 for producing the previously described support profile 30. With the system 40, in particular, two or more support profiles 30 can be produced simultaneously. For this purpose, several holders 31 are already arranged spaced apart from one another in Fig. 6, as previously described for the support profiles 30 of Figs. 2 to 5. The holders 31 are mounted spaced apart from one another in the direction of a first transport direction TRI.

[0083] The system 40 has a holding device 41, a support device 42, at least one supporting component receptacle 43, a first transport device 44, a winding head 45, and a second transport device 48. In the example of Fig. 6, the second transport device 48 is a robot. The holders 31 are mounted spaced apart from one another on the supporting component receptacles 43.

[0084] The holding device 41 is arranged on the support device 42. The support device 42 is arranged, in particular mounted, on the holding device 41. In Fig. 6, two support component receptacles 43 are mounted on the holding device 41. The holding device 41 can be anchored to a base, in particular to the floor of a factory hall, by means of the support device 42. As a result, the holding device 41 is firmly mounted on the base.

[0085] Fig. 6 shows the system 40 in a state in which the holders 31 have been fully assembled and before at least one thread has been wound around the holders 31 using the winding head 45. Fig. 7 shows the system 40 when the two supporting components 30 have already been completed.

[0086] For winding at least one thread around the holders 31, the system 40 is designed as shown in Fig. 6 and Fig. 7. The first transport device 44 can move the robot (second transport device 48) translationally in the first transport direction TRI. Thus, the robot (second transport device 48) can be moved back and forth with the first transport device 44 relative to the holding device 41 and the support component receptacles 43 mounted thereon in the first transport direction TRI. In addition, the robot (second transport device 48) can move the winding head 45 freely in space. For this purpose, the robot (second transport device 48) can move the winding head 45 with six degrees of freedom, i.e. translationally in at least one of the directions X, Y, Z and / or with a rotation about at least one of the axes X, Y, Z, as usual. As an example, Fig.7 shows a second transport direction TR2, according to which the robot (second transport device 48) moves the winding head 45 translationally in the Y direction. Thus, the robot (second transport device 48) can move the winding head 45 back and forth relative to the holding device 41 and the supporting component receptacles 43 mounted thereon, for example, in the second transport direction TR2 and / or the first transport direction TRI and their overlaps.

[0087] Each of the two support component receptacles 43 is movable relative to the holding device 41. In particular, at least one of the two support component receptacles 43 is rotatable or pivotable about its longitudinal axis. This is shown in Fig. 7 with rotation or pivot arrows as the third transport direction TR3. For example, the support component receptacle 43, which is arranged on the right in Fig. 7, can be rotated approximately 90° to the right from the arrangement shown in Fig. 7. In this position, the support component 30 arranged thereon, optionally with part of the holding device 41 connected thereto, can be removed. In this position, it is also possible to mount the holders 31 on the support component receptacle 43. Additionally or alternatively, the support component receptacle 43, which is arranged on the left in Fig. 7, can be rotated approximately 90° to the left from the arrangement shown in Fig. 7 in order to remove the support component 30 arranged thereon and / or to mount the holders 31.

[0088] As shown more clearly in Fig. 7 and Fig. 8, the first transport device 44 is arranged next to the holding device 41 and the support component receptacles 43 mounted thereon. In addition, the first transport device 44 is arranged at a distance from the holding device 41 and the support component receptacles 43 mounted thereon. The winding head 45 is mounted on the robot (second transport device) 48. The robot (second transport device) 48 moves the winding head 45 relative to the holding device 41 and the support component receptacles 43 mounted thereon, among other things, back and forth in the second transport direction TR2, as previously described. In addition, the first transport device 44 can move the robot (second transport device) 48 in the first transport direction TRI or the X-direction, as previously described.

[0089] Fig. 9 to Fig. 11 show the support component receptacles 43 on the holding device 41 in more detail, which is supported by the support device 42. The holding device 41 has frames 411, 412, drive devices 413 and shafts 414, 415. Each support component receptacle 43 can have a

[0090] Lightweight beam 431, a band 432 and coupling elements 433.

[0091] The frames 411, 412 of the holding device 41 can be mounted on the support device 42 of Fig. 9. The drive devices 413 are mounted on the frames 411, 412. A drive device 413 is provided for each of the two support component receptacles 43. The drive device 413 is, for example, an electric or hydraulic drive device or another drive device.

[0092] Shaft 414 is rotatably, in particular pivotably, mounted on frame 411. Shaft 415 is also rotatably, in particular pivotably, mounted on frame 411. Shaft 414 is also rotatably, in particular pivotably, mounted on frame 412. Shaft 415 is also rotatably, in particular pivotably, mounted on frame 412. Shaft 414 is connected to one of drive devices 413 and one of lightweight supports 431. Shaft 415 is connected to the other of drive devices 413 and the other of the lightweight supports 431.

[0093] The following applies to each of the support component receptacles 43. The lightweight support 431 is assembled, for example, from planar individual parts, in particular sheet metal, into a hollow body that is secured with a fiber coating impregnated with cured plastic and / or resin. The holders 31 are mounted on a band 432. The band 432 is coupled to the support component receptacle 43 with coupling elements 433. A coupling element 433 is, in particular, a clamp or a clip or another suitable fastening element.

[0094] Fig. 12 shows the winding head 45 in more detail. The winding head 45 has a frame 451, fiber roll drives 452, fiber rolls 453, each of which has a thread-like fiber 454 wound on it, fiber guide rolls 455, fiber deflection elements 456, fiber impregnating agent feeds 457, fiber feed device(s) 458, and at least one control device 459.

[0095] The frame 451 accommodates the fiber roll drives 452. The fiber roll drives 452 can rotate the fiber rolls 453, in particular simultaneously and / or independently, so that the fiber 454 wound onto the rolls 453 unwinds over at least one associated fiber guide roll 455 and / or at least one associated fiber deflection element 456. For this purpose, the at least one control device 459 controls at least one of the fiber roll drives 452 accordingly. The fiber roll drive 452 is mounted such that the fiber 454 assumes a defined position. For this purpose, the fiber 454 is guided and / or held on the winding head 45 with a predetermined mechanical tension so that the fiber 454 does not "sag" uncontrollably. The fiber 454 is guided under tension, so to speak. For this purpose, the bearing and / or control of the at least one fiber roll drive 452 is in particular resistant to rolling and / or brakeable and / or blockable and / or driveless.

[0096] The fiber 454 is, in particular, a continuous thread. In Fig. 12, the fiber guide rollers 455 guide the fiber 454 to a fiber impregnating agent feed 457, into which a fiber impregnating agent, in particular plastic and / or resin, is supplied. The fiber impregnating agent impregnates the fiber 454. The fiber feed device 458 is a tube through which the fiber 454 impregnated with the fiber impregnating agent is guided to the holders 31 on the holding device 41 of Fig. 9.

[0097] The winding head 451 is also shown in a front view in Fig. 13.

[0098] In the example of Fig. 12 and Fig. 13, the winding head 45 has two fiber rolls 453, each of which has a fiber 454 wound on it. Therefore, the winding head 45 also has two fiber roll drives 452 and the associated components 455, 456, 457, 458. This allows the winding head 45 to be used to wind the fiber structure 32 of two supporting components 30 (Fig. 2) simultaneously. However, the winding head 45 is not limited to this. Depending on requirements, only one of the fiber rolls 453, each of which has a fiber 454 wound on it, a fiber roll drive 452, and the associated components 455, 456, 457, 458 may be present or used. If more than two supporting components 30 are to be manufactured simultaneously, the winding head and / or the system 40 must be adapted accordingly.

[0099] In a method for producing at least one support component 30, the at least two holders 31 are mounted on the support component receptacles 43, in particular with the robot (second transport device 48), as shown, for example, in Fig. 6. In addition, at least one insert part 33 is mounted in the at least two holders 31. It is possible for the robot (second transport device 48) to insert an insert part 33 into the at least two holders 31. Alternatively, the robot (second transport device 48) can hold an insert part 33 onto which the at least two holders 31 are plugged. Once the holders 31 and the insert parts 33 have been prepared accordingly, the robot (second transport device 48) of Fig. 8 moves the winding head 45 relative to the holding device 41 in such a way that the fiber 454 is inserted into one of the gaps 3111 (Fig.3) one of the holders 31 is inserted, wound around one of the T-shaped projections 314, and inserted into the next gap 3111 of the same holder 31. Alternatively or subsequently, the robot (second transport device 48) of Fig. 8 moves the winding head 45 relative to the holding device 41 such that the fiber 454 is wound into a gap 3111 of a spaced-apart holder 31 (Fig. 9) for the support component 30.

[0100] The robot (second transport device 48) of Fig. 8 can guide the winding head 45 relative to the holding device 41 as needed, so that the fiber 454 forms the fiber structure 32, as shown as an example in Fig. 2.

[0101] The described method can thus be fully automated. In particular, at least one insert part 33 can be fully automatically mounted in at least two holders 31. This allows for the simultaneous production of at least two supporting components 30. Thus, the system 40 and the method it performs are designed for mass production of supporting components 30.

[0102] The system 40 offers a high degree of repeatability for the production of the load-bearing components 30. This ensures component uniformity of the load-bearing components 30. As a result, the load-bearing components 33 are suitable for series production. If the system 40 is operated fully automatically, the load-bearing components 30 can be certified with regard to safety features or technical features, such as strength properties and / or testing and / or documentation of predetermined technical properties of the load-bearing components 30.

[0103] Depending on the application, a differently shaped fiber structure 32 can be formed.

[0104] For example, production (readjustment) is possible using the openings 313 of the holder 31. This allows additional or supplementary fiber layers to be introduced into the holders 31, which are not accessible during the winding process in the arrangements shown, but are accessible after readjustment. The readjustment or readjustment enables additional fiber volume for the component 30, which is determined by the respective design of the supporting component 30, to be introduced into at least one of the holders 31. Alternatively or additionally, additional geometric structures can be introduced, in particular predetermined formations for connectors and / or connections of insert parts 33. Thus, depending on requirements, design-dependent fiber volume and / or geometric connecting structure structures for the component 30 can be introduced into at least one of the holders 31.

[0105] Fig. 14 shows a device 100 with a plurality of handling tools 37 according to a second embodiment. In the example of Fig. 9, each of the handling tools 37 has a connecting line 35 and a rotating device 38 for rotating the associated handling tool 37 about its axis. The device 100 has a frame constructed from a plurality of arms, wherein the arms are connected to a plurality of connectors 101. For the sake of clarity, not all connectors 101 are provided with a reference numeral in Fig. 14. At least one part of the frame can have a support component 30, as shown as an example in Fig. 14.

[0106] In addition, the device 100 has a mounting device 50, to which a system for driving the handling tools 37 can be mounted. The system can drive the handling tools 37 in a movement about an axis of the rotating device 38 and / or drive the handling tool 38 for handling a load, in particular for gripping and / or clamping, as previously described.

[0107] Even if this is not shown in Fig. 14, it is self-evident that a rotating device 38 can additionally be provided on at least one of the connectors 101. In this way, the device 100 is a spatial structure of any design on which the tools 37 can be arranged not only rigidly but also rotatably relative to one another about various axes.

[0108] All previously described embodiments of the devices 10, 100, the support component 30, the system 40, and the method can be used individually or in any possible combination. In particular, any combination of the features of the aforementioned embodiments is possible. In addition, the following modifications are conceivable.

[0109] The parts shown in the figures are schematic and may differ in their exact design from the shapes shown in the figures, as long as their previously described functions are guaranteed. The shape of the devices 10, 100 can be freely selected. In particular, the number of booms 11, 12, 13 can be freely chosen. In particular, only one boom or no boom is possible. Furthermore, the number of connectors 101 can be freely selected. The same applies to the shape of the booms 11, 12, 13 and the connectors 101. It is possible that one or more individual parts of the framework of a device 10, 100 have more than one of the previously described support components 30.

[0110] In addition, at least one of the devices 10, 100 can additionally comprise a tubular material. Additionally or alternatively, one or more individual parts of the frame of a device 10, 100 can be designed as a polygonal profile. Such a polygonal profile is particularly designed as an octagonal extruded profile, also known as an EGT profile (EGT = Euro Gripper Tooling). Additionally or alternatively, one or more individual parts of the frame of a device 10, 100 can be designed as an X-profile with a screw-on system for at least one handling tool 37. Such an X-profile is particularly known as an ITEM profile from item Industrietechnik GmbH, Germany. If at least partially planar individual parts are used, these have the advantage over the aforementioned profiles that they are generally easier and / or more cost-effective to form, transport, and process.

[0111] At least one handling tool 37 configured as a fluid gripper, in particular a pneumatic gripper, can be present on the devices 10, 100. Optionally, mechanical grippers, in particular cable-operated grippers, and / or electric grippers and / or grippers configured with a magnetic coupling can be used additionally or alternatively.

[0112] According to one option, the devices 10, 100 have a handling tool 37, which is required when processing the object 2 in the production plant 1. The handling tool can be configured for any handling operation, such as drilling, riveting, milling, etc., as previously described. The handling tool can alternatively be a camera or the like. Additionally or alternatively, another functional unit is provided on at least one of the devices 10, 100, which can be used in the automated handling of loads. Such a functional unit can have a staking function and / or a pin-pulling function and / or a coupling function and / or a fixing function. The functional unit can generally have the function of acting as an extension of a mechanical movement of the device 10, 100. In the framework of the devices 10, 100, the edges of planar individual parts, in particular sheet metal, etc., are preferably rounded.Constructions that do not have sharp edges are preferred. This facilitates lamination with fiber material for the aforementioned coating. For example, filler material made of lightweight materials, such as cardboard, felt, etc., can be applied to edges on the supporting component 30 to compensate for any offset from other parts of the device 10, 100, etc. This allows the bending radius of the fibers of the fiber material to be optimized.

[0113] In principle, the previously described geometry-forming fiber winding (unwinding) process could vary. As previously described, impregnated fibers 454 or fiber strands could be used. For example, the fiber(s) 454 and / or fiber bundles and / or fiber structures 32 could first be wound and activated simultaneously or subsequently. Activation is possible using at least one of the following methods: spraying, infrared irradiation, inductive, electrostatic, or thermal. Thus, a process applying at least two components can be used. Additionally or alternatively, a downstream finalization process is applicable.

Claims

Patent claims 1. A support component (30) for a device (10; 100) for handling a load, wherein the support component (30) comprises at least two holders (31) arranged spaced from one another in a first direction (X), at least one hollow insert part (33) extending at least partially in the first direction (X) and arranged in the at least two holders (31), and a fiber structure (32) held on the at least two holders (31), wherein each of the at least two holders (31) has at least one first opening (311) for receiving an insert part (33) of the at least one insert part (33), so that the at least two holders (31) receive the insert part (33) in their at least one first opening (311) and hold it at two positions of the insert part (33) spaced from one another in the first direction (X), wherein the at least one first opening (311) further comprises a gap (3111) for introducing a fiber (321) of the fiber structure (32),and wherein the fiber structure (32) is arranged in at least one second direction (Y; Z) extending transversely to the at least one insert part (33).

2. Supporting component (30) according to claim 1, wherein each of the at least two holders (31) has at least two first openings (311) which are arranged in the holder (31) at a distance from one another in a third direction (Z; Y), and wherein the third direction (Z; Y) is arranged transversely to the at least one insert part (33).

3. Supporting component (30) according to claim 2, wherein each of the at least two holders (31) has T-shaped projections (314), and wherein the T-shaped projections (314) project in different directions from the holder (31) such that two of the T-shaped projections (3112) form one of the at least two first openings (311) and the gap (3121).

4. Supporting component (30) according to claim 3, wherein each of the at least two holders (31) has a second opening (312) around which the T-shaped projections (314) are arranged.

5. Supporting component (30) according to claim 3 or 4, wherein at least one of the T-shaped projections (314) has a planar element as the outer side (3141) of the holder (31), and wherein at least one third opening (313) is arranged in the planar element for mounting the holder (31) on a system (40) for producing the supporting component (30) and / or on the device (10; 100) for handling a load.

6. Supporting component (30) according to one of claims 2 to 5, wherein the at least two holders (31) are identical parts.

7. Supporting component (30) according to one of the preceding claims, wherein the at least one holder (31) is made of metal and / or plastic.

8. Supporting component (30) according to one of the preceding claims, wherein the at least one insert part (33) is an extruded hollow body.

9. Supporting component (30) according to one of the preceding claims, wherein the fiber structure (32) has crossed fibers between the at least two holders (31).

10. Supporting component (30) according to one of the preceding claims, wherein the fiber structure (32) comprises as fiber (454) carbon fiber and / or glass fiber and / or basalt fiber and / or a continuous fiber and / or continuously continuous fiber-reinforced organic material, and wherein the fiber (434) of the fiber structure (32) is activated to be dimensionally stable, in particular is coated with a fiber-reinforcing plastic.

11. Device (10; 100) for handling a load, comprising at least one support component (30) according to one of the preceding claims, and at least one handling tool (37) for handling a load.

12. Device (10; 100) according to claim 11, wherein the at least one handling tool (37) is fastened to a support component (30) of the at least one support component (30) such that the at least one handling tool (37) projects from the support component (30).

13. Device (10; 100) according to claim 11 or 12, further comprising at least one connector (101) for mounting the at least one handling tool (37) on the device and / or on the at least one supporting component (30), and / or wherein the at least one handling tool (37) is fastened to an insert part (33) of the at least one support component (30), so that the at least one handling tool (37) projects from the support component (30).

14. Device (10; 100) according to one of claims 11 to 13, wherein at least two handling tools (37) are mounted to cooperate for handling a part usable in the production of an article (2).

15. Plant (40) for producing a supporting component (30) according to one of claims 1 to 10, with at least one supporting component holder (43) for receiving at least two holders (31) such that the at least two holders (31) are arranged in a first direction (X) on the at least one support component receptacle (43), a winding head (45) for winding at least one fiber (454) around the at least two holders (31) into a fiber structure (32) which connects the two holders (31), a first transport device (44) for transporting the winding head (45) in the first direction (X) when winding the at least one fiber (454) around the at least two holders (31), and a second transport device (48) for transporting the winding head (45) in at least a second direction (Y; Z), which is arranged transversely to the first direction (X), when winding the at least one fiber (454) around the at least two holders (31).

16. A method for producing a support component (30) for a device (10; 100) for handling a load, the method comprising the steps Arranging at least two holders (31) spaced apart from each other in a first direction (X), Arranging at least one hollow insert part (33) in the at least two holders (31) such that the at least one hollow insert part (33) extends at least partially in the first direction (X), and Winding a fiber structure (32) onto the at least two holders (31), wherein each of the at least two holders (31) has at least one first opening (311) for Receiving an insert part (33) of the at least one insert part (33), so that the at least two holders (31) receive the insert part (33) in their at least one first opening (311) and hold it at two positions of the insert part (33) spaced from one another in the first direction (X), wherein a fiber (321) of the fiber structure (32) is introduced into a gap (3111) of the at least one first opening (311) during winding, and wherein the fiber structure (32) is arranged in at least one second direction (Y; Z) which extends transversely to the at least one insert part (33).

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