End effector

Abstract

The invention relates to an end effector for a manipulator for applying fibre strands to a moulded body, wherein the end effector comprises a plurality of spools which provide the fibre strands to be applied, wherein each spool is assigned a brake by means of which the spool can be braked, wherein the braking torque of the brakes is controllable individually and independently, and / or wherein the brake comprises a first brake unit and at least one further brake unit, wherein the brake can be operated in a first braking torque range by the first brake unit and can be operated in a second braking torque range by activating the at least one further brake unit.

Description

[0001] End effector

[0002] The present invention relates to an end effector for a manipulator for applying fiber strands according to claim 1 and a production plant for producing a fiber composite component according to claim 11 and a method for operating a production plant for producing a fiber composite component according to claim 14.

[0003] In principle, various manufacturing systems, end effectors, and methods for operating them are known for producing fiber composite components. When processing fiber strands, especially when they are provided on spools, a distinction must be made between fiber laying and fiber winding.

[0004] During fiber laying, fiber strands are deposited onto a molded body using a pressure roller, usually located on an end effector. The fiber strand is applied by deposition. The aim here is to deposit the fibers with as little tension as possible, preferably even without tension. In this case, the fiber strand in the end effector can be actively conveyed to the pressure roller by a drive unit to minimize the introduction of tension into the deposited fiber strand.

[0005] During fiber winding, one or more fiber strands are wound onto a molded body. The molded body is usually driven around a rotational axis, and the fiber strand(s) are wound onto it by the rotation of the molded body. In order to change the orientation of the fiber strand during winding, it is usually guided through an eyelet that can be moved laterally along the molded body in the direction of the rotational axis. The unwinding of the fiber strand from a spool is then slowed down by a brake to ensure tension during winding onto the molded body and secure guidance. Here, the fiber strand is applied by winding. The document DE 202017 106 345 U1, from which the invention is based, describes the application of a fiber strand to a molded body by depositing it using an end effector.Although braking of the coils is known from this, there is still potential for optimization with regard to the adaptability of the fiber application to the properties to be achieved of the fiber structure components to be manufactured and also with regard to the design of the brake.

[0006] The invention is based on the problem of designing and developing the known end effector in such a way that further optimization is achieved with regard to the aforementioned challenge.

[0007] The above problem is solved by the features of claim 1.

[0008] The fundamental consideration is to control the braking torque individually and independently and / or to provide a brake that provides two different braking torque ranges.

[0009] In particular, an end effector for a manipulator for applying fiber strands to a molded body is claimed, wherein the end effector has a plurality of spools which provide the fiber strands to be applied, wherein each spool is assigned a brake with which the spool can be braked, wherein the braking torque of the brakes can be controlled individually and independently, and / or wherein the brake has a first braking unit and at least one further braking unit, wherein the brake can be operated with the first braking unit in a first braking torque range and by activating the at least one further braking unit in a second braking range.

[0010] The individual and independent control of the brakes assigned to the spools, as well as the provision of two braking torque ranges, allows the fiber strand tension to be adjusted during component production to the desired component properties. This allows the properties of a fiber composite component to be adjusted and optimized particularly easily, enabling particularly simple and / or automated production of fiber composite components.

[0011] A particularly simple design of the brake can be achieved according to the further developments according to claims 2 to 6. These further developments ensure the provision of a sufficient braking torque adapted to the requirements.

[0012] Preferred developments concerning the control of the braking torque are described in claims 9 and 10.

[0013] According to a further teaching according to claim 11, which also has independent significance, a production plant for producing a fiber composite component is claimed, comprising a manipulator with an end effector, in particular of the type described, for applying fiber strands to a molded body, wherein the production plant has a plurality of spools which provide the fiber strands to be applied, wherein each spool is assigned a brake with which the spool can be braked, wherein the braking torque of the brakes can be controlled individually and independently, and / or wherein the brake has a first braking unit and at least one further braking unit, wherein the brake can be operated with the first braking unit in a first braking torque range and by activating the at least one further braking unit in a second braking range.

[0014] Reference may be made to all statements concerning the proposed end effector.

[0015] Claims 12 and 13 describe preferred further developments of the manufacturing plant relating to the design of the manipulator and the molded body.

[0016] According to a further teaching according to claim 14, which also has independent significance, a method for operating a production plant for producing a fiber composite component is claimed, wherein a production plant, in particular of the type described, has a manipulator with an end effector, in particular of the type described, wherein the end effector applies fiber strands to a molded body, wherein the production plant has a plurality of spools which provide the fiber strands to be applied, wherein each spool is assigned a brake with which the spool can be braked, wherein the braking torque of the brakes is controlled individually and independently, and / or wherein the brake has a first braking unit and at least one further braking unit, wherein the brake is operated with the first braking unit in a first braking torque range and is operated by activating the at least one further braking unit in a second braking range.

[0017] Reference may be made to all statements relating to the proposed end effector, end effector and the proposed production plant.

[0018] In the following, the invention is explained in more detail with reference to a drawing which merely represents exemplary embodiments. In the drawing,

[0019] Fig. 1 shows a proposed production plant for carrying out a proposed method in a) when applying by laying and in b) when applying by winding,

[0020] Fig. 2 shows the end effector of the production line from Fig.1a) during the application of fiber strands by laying them down, with the brakes being operated in the first braking torque range,

[0021] Fig. 3 the end effector of the production line from Fig.1 b) during the application of fiber strands by winding, with the brakes being operated in the wider braking torque range,

[0022] Fig. 4 is a schematic plan view of the end effector from Figs. 2 and 3 to illustrate the fiber strand guidance on the end effector,

[0023] Fig. 5 A representation of a coil unit of the end effect with brake and

[0024] Fig. 6 shows a schematic view of the brake. The preferred embodiment illustrated in the figures relates to an end effector 1 for a manipulator 2 for applying fiber strands 3, a production system 4 for producing a fiber composite component 5, and a method for operating a production system 4 for producing a fiber composite component 5.

[0025] Fig. 1 shows an embodiment of a proposed production system 4, which comprises a manipulator 2 with a proposed end effector 1. The end effector 1 serves to apply fiber strands 3 to a molded body 6.

[0026] The production system 4, here in particular the end effector 1, has several coils 7 which provide the fiber strands 3 to be applied.

[0027] In the exemplary embodiment, and preferably, a plurality of fiber strands 3 are provided, which are provided, in particular, each from a spool 7 and are applied, here and preferably in parallel, to a molded body 6 by means of the end effector 1 to produce the fiber composite component 5. In particular, at least two, more preferably at least four, more preferably at least eight, more preferably at least twelve, more preferably at least sixteen fiber strands 3 can be provided, here and preferably each from a spool 7 and applied to the molded body 6 by means of the end effector 1 to produce the fiber composite component 5.

[0028] The end effector 1 preferably further comprises a compacting body 8, in particular a compacting roller 9. This serves here and preferably for applying the fiber strands 3 to the molded body 6.

[0029] The fiber material 10 of the fiber strands 3 can, in particular, be dry fibers and / or prepreg fibers and / or thermoplastic fibers. Typical widths for such a fiber strand 3 are 1 / 8", 1 / 4", 1 / 2", 1", 1.5", or 2" (inches). In the exemplary embodiment, fiber strands 3 with a width of less than or equal to 2", more preferably less than or equal to 1", more preferably less than or equal to less than 1 / 2" are preferably used. Each spool 7 is assigned a brake 11, with which the spool 7 can be braked.

[0030] According to the proposal, in the proposed production system 4 or in the proposed end effector 1, each coil 7 is assigned a brake 11 with which the coil 7 can be braked. Furthermore, it is provided that the braking torque 12 of the brakes 11 can be individually and independently controlled, and / or that the brake 11 has a first braking unit 13 and at least one further braking unit 14, wherein the brake 11 can be operated with the first braking unit 13 in a first braking torque range 15 and can be operated by activating the at least one further braking unit 14 in a second braking torque range 16.

[0031] The individual and independent control of the brakes 11 assigned to the spools 7 and the provision of two braking torque ranges 12 make it possible to adapt the fiber strand tension 17 during component production to the desired component properties. This allows the properties of a fiber composite component 5 to be adjusted and optimized particularly easily, enabling particularly simple and / or automated production of fiber composite components 5.

[0032] In particular, the braking torque 12 can be provided in different braking torque ranges 12 as required. On the one hand, particularly precise control of the braking torque 12 at low braking torques 12 is possible, preferably in the first braking torque range 15, and in the further braking range, the braking torque 12 can be controlled over a larger torque range. The provision of two different braking torque ranges 12 is particularly advantageous for switching between applying a fiber strand 3 by deposition and applying a fiber strand 3 by winding with an end effector 1.

[0033] The braking torque ranges 12 are shown as an example in Fig. 6 b. The first braking torque range 15 allows a more precise adjustment of the braking torque 12 for low braking torques 12. The second braking torque range 16 enables braking with higher braking torques 12, although the braking torque 12 cannot be adjusted as precisely as in the first braking torque range 15. In the exemplary embodiment, and preferably, the first braking torque range 15 is completely included in the second braking torque range 16.

[0034] In the exemplary embodiment, and preferably, a plurality of fiber strands 3 are provided, which are provided, in particular, each from a spool 7 and are applied, here and preferably in parallel, to a molded body 6 by means of the end effector 1 to produce the fiber composite component 5. In particular, at least two, more preferably at least four, more preferably at least eight, more preferably at least twelve, more preferably at least sixteen fiber strands 3 can be provided, here and preferably each from a spool 7 and applied to the molded body 6 by means of the end effector 1 to produce the fiber composite component 5.

[0035] Furthermore, it is preferably provided here that the brake 11 is designed as a disc brake with a brake disc 18, as already described above, preferably that the first brake unit 13 is a first brake cylinder 19, and / or that the at least one further brake unit 14 is a further brake cylinder 20.

[0036] In the exemplary embodiment, and preferably, the brake disc 18 is arranged on the same shaft 21 as the spool 7. This allows the spool 7 to be braked particularly directly and the brake 11 to be controlled particularly well.

[0037] Furthermore, it is preferably provided here that the braking force is provided pneumatically and / or hydraulically to the brake 11. In the exemplary embodiment, the brake 11 or brakes 11 are preferably operated pneumatically. This is particularly simple and reliable during fiber application.

[0038] Furthermore, it is preferably provided here that the brake 11 has a second brake unit 13 as an additional brake unit 14. Preferably, the brake 11 can have a third brake unit 13 and, if appropriate, also a fourth brake unit 13 as an additional brake unit 14. This makes it particularly easy to set different braking torque ranges 12 for the brake 11.

[0039] As shown in Fig. 6 and preferably provided here, the first brake unit 13 acts on the brake disc 18 only from one side. Preferably, it is also provided here that the second brake unit 13 acts on the brake disc 18 only from one side, further preferably that the third brake unit 13 acts on the brake disc 18 only from one side, and further preferably that the fourth brake unit 13 acts on the brake disc 18 only from one side.

[0040] Furthermore, it is preferably provided here that the braking torque 12 in the first braking torque range 15 can be regulated with a proportional valve 22 when braking with the first braking unit 13. Here and preferably, the proportional valve 22 of the brake 11, in particular of the first braking unit 13 and / or the further braking unit 14 or the further braking units 14, provides compressed air in a pressure range for generating the braking torque 12, preferably in a pressure range of 1 to 12 bar, more preferably in a pressure range of 1 to 6 bar.

[0041] In principle, the further brake unit 14 or the further brake units 14 can also be controlled with a separate proportional valve 22, but here and preferably it is provided that the braking torque 12 in the second braking torque range 16 can be controlled with the proportional valve 22 when braking with the first brake unit 13 and the at least one further brake unit 14.

[0042] Furthermore, it is preferably provided here that the change between the first braking torque range 15 and the second braking torque range 16 takes place by switching, in particular by switching the compressed air supply, to the braking units 13. Here, the compressed air supply is additionally switched in addition to the at least one further braking unit 14, as shown in Fig. 6. Preferably, the change takes place by switching one or more valves 23. Furthermore, it is preferably provided here that the switching between the first braking torque range 15 and the second braking torque range 16 is possible independently of the setting of the proportional valve 22. This is realized here by means of the valves 23 provided downstream of the proportional valve 22.

[0043] Furthermore, it is preferably provided here that the brakes 11 are functionally identical for each coil 7. This is also shown schematically in Fig. 4.

[0044] According to a further teaching, which is of independent significance, a method is proposed for operating a production plant 4 for producing a fiber composite component 5, wherein a production plant 4 has a manipulator 2 with an end effector 1, wherein the end effector 1 applies fiber strands 3 to a molded body 6, wherein the production plant 4 has a plurality of spools 7 which provide the fiber strands 3 to be applied. Furthermore, the method provides that each spool 7 is assigned a brake 11 with which the spool 7 can be braked, wherein the braking torque 12 of the brakes 11 is controlled individually and independently, and / or wherein the brake 11 has a first braking unit 13 and at least one further braking unit 14, wherein the brake 11 is operated with the first braking unit 13 in a first braking torque range 15 and is operated by activating the at least one further braking unit 14 in a second braking range.

[0045] Reference may be made to all statements relating to the proposed end effector 1 and the proposed production plant 4.

[0046] The provision of the two braking torque ranges 12 is particularly advantageous for setting different fiber tensions when applying the fiber strands 3. This makes it possible to apply a fiber strand 3 or the fiber strands 3 both by laying them down and by winding them.

[0047] Preferably, the production of the fiber composite component 5 comprises applying by depositing a first section 24 of the fiber strand 3 by means of the compacting body 8, in particular the compacting roller 9, onto the molded body 6 and / or onto fiber material 10 already applied to the molded body 6, as shown in Fig. 1 a) and Fig. 2.

[0048] Furthermore, the production of the fiber composite component 5 preferably comprises an application by winding a further section 25 of the fiber strand 3 onto the molded body 6 and / or onto fiber material 10 already applied to the molded body 6, as shown in Fig. 1 b) and Fig. 3.

[0049] When applying the further section 25, the fiber strand tension 17 is higher than the fiber strand tension 17 when applying the first section 24. The fiber strand tension 17 is shown schematically in the enlargements in Figures 2 and 3.

[0050] In the exemplary embodiment and preferably when applying the further section 25, the fiber strand tension 17 is at least three times higher, more preferably at least five times higher, more preferably at least ten times higher, than the fiber strand tension 17 when applying the first section 24.

[0051] As a result, the properties of a fiber composite component 5 can be adjusted particularly easily and a particularly simple and / or automated production of fiber composite components 5 is made possible.

[0052] In particular, it enables the introduction of the fiber strand 3 into the fiber composite component 5 with different fiber strand tensions 17. By depositing, a particularly precise deposition of the fiber strand 3 can be made possible in individual areas, in particular in the first section 24, and on the other hand, advantageous component properties can be created in the fiber composite component 5 by winding and the greater fiber strand tension 17 in the further section 25.

[0053] Preferably, a fiber composite component 5 can be produced in which a first section 24 of a fiber strand 3 is provided, which was applied by laying down, and a further section 25 of the fiber strand 3 is provided, which was applied by winding, wherein in the further section 25 the fiber strand tension 17 is higher, preferably at least by a factor of three higher, further preferably at least by a factor of five higher, further preferably at least by a factor of ten higher, than the fiber strand tension 17 in the first section 24.

[0054] It should be noted that the fiber strand 3 or the fiber strands 3 may have additional sections beyond the further section 25. For example, application by winding may be followed by application by deposition for an additional section. Here, and preferably, the beginning of a fiber strand 3 and / or the end of a fiber strand 3 is applied by application by deposition. In between, several changes of application by deposition and application by winding may preferably occur.

[0055] Here, the first section 24 and the further section 25 as well as any additional sections of a fiber strand 3 that may be present beyond the further section 25 are parts of a continuous fiber strand 3. This is or was applied here in one piece.

[0056] During application by deposition, the attempt is made to deposit the fiber strand 3 with as little fiber strand tension 17 as possible. During application of the first section 24 by deposition, the individual fiber strand 3 is subjected to a force 26 of less than or equal to 10 N, preferably less than or equal to 5 N, more preferably less than or equal to 1 N. In the exemplary embodiment, the individual fiber strand 3 is even subjected to a force 26 of less than or equal to 5 N. Here, the force application 26 in the longitudinal direction of the fiber strand 3 is meant. This is also referred to as web tension.

[0057] When the further section 25 is applied by winding, the individual fiber strand 3 is subjected to a force 26 greater than or equal to 10 N, preferably greater than or equal to 50 N, more preferably greater than or equal to 100 N, more preferably greater than or equal to 150 N. Here, too, the force application 26 is meant in the longitudinal direction of the fiber strand 3. This is also generally referred to here as web tension. The production system 4 and in particular the manipulator 2 and the end effector 1 are here and preferably designed in such a way that both a deposit of the fiber strand 3 with a particularly low fiber strand tension 17 and a winding with a particularly high fiber strand tension 17 are possible.

[0058] Furthermore, it is preferably provided here that when applying a first section 24 of the fiber strand 3 by laying it down, the brake 11 or the brakes 11 brake the respective spool 7 in the first braking torque range 15 with the first braking unit 13 and when applying a second section of the fiber strand 3 by winding, the brake 11 or the brakes 11 brake the respective spool 7 in the second braking range with at least one further braking unit 14.

[0059] Furthermore, it is preferably provided here, as shown in Figures 1 a) and 2, that during application by laying down the first section 24 of the fiber strand 3, the fiber strand 3 is pressed with the compacting body 8, in particular the compacting roller 9, onto the molded body 6 and / or onto fiber material 10 already applied to the molded body 6. During laying down, a compaction of the fiber strand 3 onto the molded body 6 or fiber material 10 applied to the molded body 6 is thus preferably produced by pressing with the compacting body 8, here the compacting roller 9.

[0060] When applying by winding the further section 25 of the fiber strand 3 onto the molded body 6 and / or onto fiber material 10 already applied to the molded body 6, the compacting body 8, here the compacting roller 9, is spaced from the molded body 6 and / or fiber material 10 already applied to the molded body 6, as shown in Figs. 1 b) and 2. Here, when applying by winding the further section 25 of the fiber strand 3 onto the molded body 6 and / or onto fiber material 10 already applied to the molded body 6, the compaction is preferably generated by the higher fiber strand tension 17 during application.

[0061] As shown in Fig. 1, when applying the fiber strand 3 with the same orientation relative to its base 27, the manipulator 2 assumes a different pose 28 when applying by laying than when applying by winding. This allows the force 26 acting on the manipulator 2 and / or end effector 1 to be optimized, particularly during winding. A different position of the manipulator 2 preferably results in a stiffer configuration than when laying. A pose 28 here refers to the combination of position and orientation of the manipulator 2 in three-dimensional space.

[0062] Furthermore, to optimize the deposition accuracy, it can be provided that the fiber strand 3 or the fiber strands 3 are guided during application by deposition by at least 30°, preferably at least 60°, more preferably at least 85° around the compacting body 8, in particular the compacting roller 9. In the exemplary embodiment, and preferably, this is essentially 90°.

[0063] Additionally or alternatively, it can be provided, in particular to optimize the force introduction 26 into the end effector 1 and / or the manipulator 2, that the fiber strand 3 or the fiber strands 3 are guided by winding during application by a maximum of 30°, preferably a maximum of 10°, more preferably a maximum of 5° around the compacting body 8, in particular the compacting roller 9.

[0064] In the exemplary embodiment, the fiber strand 3 or the fiber strands 3 are deflected less around the compacting body 8, in particular the compacting roller 9, when applied by winding than when applied by laying.

[0065] Furthermore, it is preferably provided here that the orientation of the fiber strand 3 or the fiber strands 3 during application is determined by the alignment of the compacting body 8, in particular the compacting roller 9, relative to the molding body 6, in particular during application by winding and / or during application by deposition. This allows for particularly high deposition precision.

[0066] In the exemplary embodiment, and preferably, a controller 29, in particular an NC controller 30, is provided for controlling the production system 4. Particularly simple programming of the production system 4 can be achieved by changing the tool center point 31 for the end effector 1 in the control system 29 when switching between application by depositing and application by winding.

[0067] In the exemplary embodiment and preferably during application by depositing, the tool center point 31 is selected such that it lies on the circumference of the compacting body 8, in particular the compacting roller 9, at the point at which the fiber strand 3 or the fiber strands 3, in particular normal to the surface of the molded body 6, are pressed onto the molded body 6 and / or material already deposited onto the molded body 6.

[0068] When applied by deposition, the tool center point 31 is defined differently here and preferably. In particular, it can be a virtual tool center point 31. In the exemplary embodiment and preferably, the tool center point 31 is selected such that it lies on the circumference of the compacting body 8, in particular the compacting roller 9, at the point at which the fiber strand 3 or the fiber strands 3 detach from the compacting body 8, in particular the compacting roller 9, during winding. In the exemplary embodiment, the fiber strand 3 or the fiber strands 3 detach from the compacting roller 9 in a tangential direction, as shown in Figures 1 b) and 3.

[0069] As shown when comparing Figures 2 and 3, it is here and preferably the case that the manipulator 2 presses the compacting roller 9 onto the shaped body 6 during application by laying it down, here and preferably acting with a pressing force 32 in the direction of the shaped body 6, and / or that during application by winding the manipulator 2 acts with a counter-holding force 33 on the end effector 1, which is directed away from the shaped body 6 with respect to the end effector 1, in particular with respect to the tool center point 31 of the end effector 1.

[0070] The following briefly describes the end effector 1, which is designed for both depositing and winding a fiber strand 3 or fiber strands 3. Here, and preferably, it is provided that the spool 7 or spools 7 for providing the fiber strand 3 or fiber strands 3 are accommodated on the end effector 1. This is shown in Figures 2 to 5.

[0071] As can be seen particularly clearly when comparing Figures 2 to 4 with Figure 5, a dancer roller 34 is assigned to the fiber strand 3 or the fiber strands 3, in particular to each of them, to reduce fiber strand tension peaks. This is preferably designed to be pivotable, in particular around the spool 7 and / or around a deflection roller 35. In the exemplary embodiment, the dancer roller 34 is arranged essentially between the spool 7 and the deflection roller 35. In this way, a particularly compact arrangement of the spool 7, dancer roller 34, and deflection roller 35 is achieved.

[0072] As further shown particularly clearly in Fig. 5, a deflection roller 35 is assigned to the fiber strand 3 or the fiber strands 3, in particular to each of them. In the exemplary embodiment, it is additionally or alternatively provided that the fiber strand 3 is provided with a backing film on the spool 7 and that a backing film is wound onto the deflection roller 35 during the provision of the fiber strand 3.

[0073] Furthermore, it is preferably provided here that the end effector 1 has a brake 11, in particular one brake each, for braking the coil 7 or the coils 7. In the exemplary embodiment, the brake 11 is a disc brake, more preferably a pneumatic disc brake.

[0074] Here and preferably, each brake 11 can be individually controlled and / or regulated for each individual spool 7. Furthermore, additionally or alternatively, the spool 7 or spools 7 can be braked less during application by laying down than during application by winding. Preferably, it is provided that the braking torque 12 generated by the brake 11 on the spool 7 or spools 7 during application by winding is at least three times higher, more preferably at least five times higher, more preferably at least ten times higher, than during application by laying down. Here and preferably, when applying by winding, the fiber tension is essentially determined by the braking torque 12. When applying by laying down, the lowest possible braking torque 12 acts here and preferably, as already described.It can be provided that the conveyor unit at least partially compensates a braking torque 12 provided by the brake 11.

[0075] The design of the brake 11 is described in more detail in connection with Fig. 6.

[0076] As already explained above, the fiber strand 3 is guided here and preferably from the spool 7 or from the spools 7 to a deflection roller 35 assigned to the respective spool 7, on which a back film of the respective fiber strand 3 is wound up if necessary.

[0077] From the deflection roller 35 and / or the spool 7, the fiber strand 3 is guided here and preferably under the action of the dancer roller 34 and past this to a further deflection roller 36, in particular into a corner region of the end effector 1, as shown in Fig. 4.

[0078] Here, and preferably, each spool 7 and a dancer roller 34 and / or deflection roller 35 associated with its fiber strand 3 form a spool unit. Here, and preferably, each spool 7 on the end effector 1 is associated with such a spool unit.

[0079] Preferably, the fiber strands 3 from spools 7 or spool units arranged on different sides of the end effector 1, in particular in the corner region of the end effector 1, are brought together by means of the additional deflection rollers 36 and from there guided, in particular parallel, into a central region of the end effector 1. From the central region of the end effector 1, the fiber strands 3 are guided here and preferably via additional deflection rollers 36 in the direction of the compacting body 8, in particular the compacting roller 9.

[0080] Preferably, the course of the fiber strand 3 or the individual fiber strands 3 from the deflection rollers 35 arranged in the central region of the end effector 1 to the compacting body 8, in particular to the compacting roller 9, is linear.

[0081] As shown in Figures 2 to 4, the fiber strands 3 here and preferably alternately intertwine on the compacting body 8, in particular the compacting roller 9, and run parallel therefrom. This is the case here and preferably both during application by deposition and during application by winding.

[0082] Here and preferably, a conveying device 37 and / or a cutting unit 38 can act on the individual fiber strand(s) 3 along the linear course of the fiber strand 3 or the fiber strands 3.

[0083] Furthermore, it is preferably provided here that the end effector 1 has a conveyor device 37 for conveying the fiber strand 3 or the fiber strands 3 in the direction of the compacting body 8, in particular the compacting roller 9. This allows a particularly low fiber strand tension 17 to be achieved during application by deposition by conveying the fiber strand 3 toward the compacting body 8, in particular toward the compacting roller 9. In the exemplary embodiment, the conveyor device 37 is preferably arranged along the fiber strand(s) 3 between the further deflection rollers 36 and the compacting roller 9.

[0084] In the exemplary embodiment and preferably, the conveying device 37, as shown in Figures 2 and 3, has a motor 39 for driving the fiber strands 3. The advantage is that the conveyed fiber strands 3 can be conveyed synchronously. Here and preferably, it is provided that each fiber strand 3 can be conveyed individually by the conveying device 37. This is realized in the exemplary embodiment and preferably in that the conveying device 37 has a drive roller 40 and / or two drive rollers 40 and adjustable pressure rollers 41 for pressing the fiber strand(s) 3 against the drive rollers 40. In the exemplary embodiment, two drive rollers 40 are provided, which are driven by a motor 39, in particular synchronously. A fiber strand 3 is conveyed when it is pressed against a drive roller 40 by a pressure roller 41. The pressure roller 41 is then active.If the pressure roller 41 does not press the fiber strand 3 against the drive roller 40, it is also not conveyed by the conveyor unit. The pressure roller 41 is then inactive. The conveyor device 37, in particular the motor 39 and / or the pressure rollers 41, is / are controlled here and preferably by the controller 29.

[0085] Preferably, the conveying device 37 is operated synchronously with the feed-depositing movement of the compacting body 8, in particular the compacting roller 9, relative to the molding body 6. In this way, the fiber strand 3 or the fiber strands 3 can be deposited on the molding body 6 with particularly low fiber strand tension.

[0086] During application by winding, the conveyor device 37 is preferably inactive. In the exemplary embodiment, the pressure rollers 41 are inactive, lifted from the fiber strand 3, and / or the drive rollers 40 are inactive, not driven by the motor 39.

[0087] Additionally or alternatively, the conveying device 37 can serve to convey the fiber strand 3 or the fiber strands 3 to the compacting body 8, in particular the compacting roller 9. This is particularly preferred if one or more fiber strands 3 have been cut with a cutting unit 38.

[0088] Accordingly, it is preferably provided here that the end effector 1 has a cutting unit 38 for cutting the fiber strand 3 or the fiber strands 3. Here and preferably, the cutting unit 38 is arranged in the immediate vicinity of the compacting body 8, in particular the compacting roller 9.

[0089] In the exemplary embodiment, each individual fiber strand 3 can be cut individually with the cutting unit 38. For this purpose, the cutting unit 38 has an individually controllable cutting actuator for cutting each fiber strand 3. The cutting unit 38 is controlled here, preferably by the controller 29. Furthermore, a guide unit is provided, which guides the fiber strand(s) 3 to the cutting unit 38. This guide unit is designed here as a non-driven pair of rollers.

[0090] Furthermore, it is preferably provided here that the manipulator 2 is designed as a robot 42, in particular as a linearly movable robot 42, as shown in Fig. 1. In the exemplary embodiment, the manipulator 2 is arranged on a linear slide 43.

[0091] Preferably, the manipulator 2 is adjustable in at least four axes 44, more preferably in at least five axes 44, more preferably in at least six axes 44. Here and preferably, the axes 44 are rotation axes.

[0092] Here, and preferably, it is provided that at least one of the axes 44, preferably at least two axes 44, more preferably at least three axes 44 of the robot 42 are braked during the application of at least a partial section of the further section 25 of the fiber strand 3. By activating an axis brake of the robot 42, the rigidity and counter-holding force 33 of the robot 42 can be increased in a simple manner during application by winding.

[0093] Furthermore, it is preferably provided here that, as shown in Figures 2 and

[0094] 3, when applying by laying down, essentially a compressive force acts on the flange of the robot 42 for the end effector 1 and when applying by winding, essentially a tensile force acts on the flange of the robot 42 for the end effector 1.

[0095] In the exemplary embodiment and preferably it is provided that the production plant 4 has an NC control 30 for controlling 29 the production plant

[0096] 4.

[0097] Furthermore, it is preferably provided here that the production system 4 comprises the molded body 6, and that the molded body 6 can be driven in a controlled manner for rotation about a molded body axis 45. Here and preferably, the manipulator 2 and the molded body 6 are NC-controlled, in particular by the NC control 30.

[0098] List of reference symbols

[0099] 1 end effector

[0100] 2 Manipulator

[0101] 3 fiber strand

[0102] 4 Production plant

[0103] 5 Fiber composite component

[0104] 6 molded bodies

[0105] 7 coil

[0106] 8 compaction bodies

[0107] 9 Compaction roller

[0108] 10 Fiber material

[0109] 11 Brake

[0110] 12 Braking torque

[0111] 13 Brake unit

[0112] 14 additional brake units

[0113] 15 first braking torque range

[0114] 16 second braking torque range

[0115] 17 Fiber strand tension

[0116] 18 brake disc

[0117] 19 first brake cylinder

[0118] 20 additional brake cylinders

[0119] 21 Wave

[0120] 22 Proportional valve

[0121] 23 Valve

[0122] 24 first section

[0123] 25 further section

[0124] 26 Force

[0125] 27 Base

[0126] 28 Poses

[0127] 29 Control

[0128] 30 NC control

[0129] 31 Tool Center Point

[0130] 32 contact pressure

[0131] 33 Counterforce 34 Dancer roll

[0132] 35 pulley

[0133] 36 additional pulleys

[0134] 37 Conveyor device 38 Cutting unit

[0135] 39 Engine

[0136] 40 drive roller

[0137] 41 Pressure roller

[0138] 42 Robot 43 Linear slide

[0139] 44 Axis

[0140] 45 molded body axis

Claims

Patent claims 1 . End effector for a manipulator (2) for applying fiber strands (3) to a molded body (6), wherein the end effector (1) has a plurality of spools (7) which provide the fiber strands (3) to be applied, wherein each spool (7) is assigned a brake (11) with which the spool (7) can be braked, wherein the braking torque (12) of the brakes (11) can be controlled individually and independently, and / or wherein the brake (11) has a first braking unit (13) and at least one further braking unit (14), wherein the brake (11) can be operated with the first braking unit (13) in a first braking torque range (15) and by activating the at least one further braking unit (14) can be operated in a second braking torque range (16).

2. End effector according to claim 1, characterized in that the brake (11) is designed as a disc brake with a brake disc (18), preferably that the first brake unit (13) is a first brake cylinder (19), and / or that the at least one further brake unit (14) is a further brake cylinder (20).

3. End effector according to claim 1 or 2, characterized in that the brake disc (18) is arranged on the same shaft (21) as the coil (7).

4. End effector according to one of the preceding claims, characterized in that the braking force is provided pneumatically and / or hydraulically to the brake (11).

5. End effector according to one of the preceding claims, characterized in that the brake (11) has a second brake unit (13) as a further brake unit (14), preferably that the brake (11) has a third brake unit (13) as a further brake unit (14), further preferably, the brake (11) has a fourth brake unit (13) as a further brake unit (14).

6. End effector according to one of the preceding claims, characterized in that the first brake unit (13) acts on the brake disc (18) from one side only, preferably that the second brake unit (13) acts on the brake disc (18) from one side only, further preferably that the third brake unit (13) acts on the brake disc (18) from one side only, further preferably that the fourth brake unit (13) acts on the brake disc (18) from one side only.

7. End effector according to one of the preceding claims, characterized in that the braking torque (12) in the first braking torque range (15) when braking with the first braking unit (13) is controllable with a proportional valve (22), preferably that the braking torque (12) in the second braking torque range (16) when braking with the first braking unit (13) and the at least one further braking unit (14) is controllable with the proportional valve (22).

8. End effector according to one of the preceding claims, characterized in that the change between the first braking torque range (15) and the second braking torque range (16) takes place by switching, in particular by switching the compressed air supply, to the braking units (13), preferably that the change takes place by switching one or more valves (23).

9. End effector according to one of the preceding claims, characterized in that switching between the first braking torque range (15) and the second braking torque range (16) is possible independently of the setting of the proportional valve (22).

10. End effector according to one of the preceding claims, characterized in that the brakes (11) for each coil (7) are functionally identical.

11. A production plant for producing a fiber composite component (5) with a manipulator (2) with an end effector (1) for applying fiber strands (3) to a molded body (6), in particular according to one of the preceding claims, wherein the production plant (4) has a plurality of spools (7) which provide the fiber strands (3) to be applied, wherein each spool (7) is assigned a brake (11) with which the spool (7) can be braked, wherein the braking torque (12) of the brakes (11) can be individually and independently controlled, and / or wherein the brake (11) has a first braking unit (13) and at least one further braking unit (14), wherein the brake (11) can be operated with the first braking unit (13) in a first braking torque range (15) and can be operated by activating the at least one further braking unit (14) in a second braking range.

12. Manufacturing plant according to claim 11, characterized by the characterizing part of one of the preceding claims.

13. Production plant according to claim 11 or 12, characterized in that the production plant (4) has the molded body (6) and that the molded body (6) can be driven in a controlled manner to rotate about a molded body axis (45), preferably that the production plant (4) has an NC control (30) for controlling (29) the production plant (4) and that the manipulator (2) and the molded body (6) are NC-controlled.

14. Method for operating a production plant (4) for producing a fiber composite component (5), wherein a production plant (4), in particular according to one of claims 11 to 13, has a manipulator (2) with an end effector (1), in particular according to one of claims 1 to 10, wherein the end effector (1) applies fiber strands (3) to a molded body (6), wherein the production system (4) has a plurality of spools (7) which provide the fiber strands (3) to be applied, wherein each spool (7) is assigned a brake (11) with which the spool (7) can be braked, wherein the braking torque (12) of the brakes (11) is controlled individually and independently, and / or wherein the brake (11) has a first braking unit (13) and at least one further braking unit (14), wherein the brake (11) is operated with the first braking unit (13) in a first braking torque range (15) and is operated by activating the at least one further braking unit (14) in a second braking range.

15. The method according to claim 14, characterized in that when applying a first section (24) of the fiber strand (3) by laying it down, the brake (11) or the brakes (11) brake the respective spool (7) in the first braking torque range (15) with the first braking unit (13) and when applying a second section of the fiber strand (3) by winding, the brake (11) or the brakes (11) brake the respective spool (7) in the second braking range with at least one further braking unit (14).

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