NEEDLE GRIPPER

Abstract

A needle gripper for handling workpieces with needle grippers. The needle grippers have a base and at least two gripping needles movable with respect to the base between a release position and a gripping position, a movable first gripping needle arranged in a first orientation and a second movable gripping needle arranged in a second orientation which is different from the first orientation. A needle guide device is attached to the base and has guide channels for guiding the gripping needles. The needle gripper includes a rinsing device having a feed channel for a rinsing fluid and leading to a guide channel. The needle guide device is associated with a heating device by which the guide channels are heated, thereby heating the gripping needles.

Claims

1. A needle gripper for handling workpieces by means of gripper needles which for the purpose of gripping the workpiece intrude into the latter by way of a distal needle end, said needle gripper having a base, and at least two gripper needles which in relation to the base are displaceable between a releasing position and a gripping position, wherein at least one first gripper needle is disposed and repositionable in a first alignment, and at least one second gripper needle is disposed and repositionable in a second alignment that deviates from the first alignment, wherein at least one needle-guiding device has guide ducts for guiding the gripper needles and is attached to the base, and the needle gripper is specified with a rinsing device, wherein the rinsing device has at least one supply duct for rinsing liquid, said supply duct opening into at least one guide duct.

2. The needle gripper as claimed in claim 1, wherein the needle-guiding device has a plurality of guide ducts for a plurality of gripper needles, wherein a common linear supply duct opens into this plurality of guide ducts, wherein these guide ducts are provided for guiding gripper needles of identical alignment.

3. The needle gripper as claimed in claim 1, wherein the needle-guiding device has a plurality of supply ducts which each open into at least one guide duct for a gripper needle, wherein these guide ducts are provided for guiding gripper needles of dissimilar alignments, and wherein the plurality of supply ducts are connected to a common rinsing-liquid connector on the needle-guiding device.

4. The needle gripper as claimed in claim 1, wherein the needle-guiding device is assigned a heating installation by means of which guide ducts for guiding the gripper needles are heatable, so as to be able to heat the gripper needles.

5. The needle gripper as claimed in claim 4, wherein the needle-guiding device has a metallic needle-guiding block which is penetrated by at least one guide duct for guiding a gripper needle, wherein the needle-guiding block furthermore has at least one clearance into which the heating installation is inserted.

6. The needle gripper as claimed in claim 4, wherein between the base and the needle-guiding device and/or a needle carrier to which a proximal needle end of at least one gripper needle is fastened are provided: a thermal insulation layer, and/or a bearing region which for the purpose of thermal insulation is provided with bearing ribs, and/or a shield panel for shielding thermal radiation.

7. The needle gripper as claimed in claim 4, wherein the base is assigned a cooling installation.

8. The needle gripper as claimed in claim 7, wherein the cooling installation is specified with cooling ducts and a coolant inlet connector and a coolant outlet connector.

9. The needle gripper as claimed in claim 4, wherein the base is assigned a temperature sensor.

10. The needle gripper as claimed in claim 1, wherein the needle gripper has a bearing face for bearing on the workpiece, wherein this bearing face is part of the needle-guiding installation, and is formed by a surface of the needle-guiding block.

11. A handling device for handling a semi-finished composite product comprising a fibrous structure and a matrix, wherein the handling device comprises: at least one needle gripper for handling workpieces by means of gripper needles which for the purpose of gripping the workpiece intrude into the latter by way of a distal needle end, said needle gripper having a base, and at least two gripper needles which in relation to the base are displaceable between a releasing position and a gripping position, wherein at least one first gripper needle is disposed and repositionable in a first alignment, and at least one second gripper needle is disposed and repositionable in a second alignment that deviates from the first alignment, wherein at least one needle-guiding device has guide ducts for guiding the gripper needles and is attached to the base, and the needle gripper is specified with a rinsing device, wherein the rinsing device has at least one supply duct for rinsing liquid, said supply duct opening into at least one guide duct, and a conveying installation for conveying rinsing liquid, said conveying installation by way of a rinsing-liquid line being connected to the supply duct for rinsing liquid, or the handling device comprises: at least one needle gripper for handling workpieces by means of gripper needles which for the purpose of gripping the workpiece intrude into the latter by way of a distal needle end, said needle gripper having a base, and at least two gripper needles which in relation to the base are displaceable between a releasing position and a gripping position, wherein at least one first gripper needle is disposed and repositionable in a first alignment, and at least one second gripper needle is disposed and repositionable in a second alignment that deviates from the first alignment, wherein at least one needle-guiding device has guide ducts for guiding the gripper needles and is attached to the base, and the needle gripper is specified with a rinsing device, wherein the rinsing device has at least one supply duct for rinsing liquid, said supply duct opening into at least one guide duct, wherein the base is assigned a cooling installation, and a conveying installation for conveying cooling liquid, said conveying installation by way of a cooling-liquid line being connected to a cooling duct in the base.

12. A method for handling a semi-finished composite product comprising a fibrous structure and a matrix, wherein handling is performed by means of at least one needle gripper as claimed in claim 1.

13. A set composed of: a needle gripper for handling workpieces by means of gripper needles which for the purpose of gripping the workpiece intrude into the latter by way of a distal needle end, said needle gripper having a base, and at least two gripper needles which in relation to the base are displaceable between a releasing position and a gripping position, wherein at least one first gripper needle is disposed and repositionable in a first alignment, and at least one second gripper needle is disposed and repositionable in a second alignment that deviates from the first alignment, and a cleaning installation for cleaning the gripper needles, wherein the cleaning device has a textile or non-woven type cleaning portion which is provided for partially submersing contaminated gripper needles, wherein the cleaning device is specified with a transport or replacement mechanism by way of which the cleaning portion is automatically displaceable or replaceable.

14. A method for cleaning a needle gripper having gripper needles which in relation to a base of the needle gripper are displaceable for gripping workpieces, wherein: a. the needle gripper moves up to a textile or non-woven type cleaning portion, and b. the gripper needles are displaced in relation to the base so as to on account thereof intrude into the cleaning portion.

15. The method as claimed in claim 14, wherein the cleaning portion is replaced, preferably in an automated manner, between two mutually sequential cleaning procedures.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Further aspects and advantages of the invention are derived from the claims and from the following description of preferred exemplary embodiments of the invention that will be explained hereunder by means of the figures. In the figures:

[0032] FIGS. 1 and 2 show a needle gripper according to the invention in perspective from obliquely above;

[0033] FIGS. 3a and 3b show the needle gripper in a perspective from below, having retracted or deployed needles, respectively;

[0034] FIG. 4 shows an exploded illustration of the needle gripper;

[0035] FIGS. 5a and 5b show a needle-guiding block of the needle gripper in an external illustration and in an illustration with indicated ducts;

[0036] FIGS. 6a and 6b show sectional illustrations through the needle-guiding block of the needle gripper;

[0037] FIG. 7 shows a main body of the base of the needle gripper;

[0038] FIG. 8 shows a composite of a plurality of needle-guiding grippers having supply installations for rinsing liquid and cooling liquid; and

[0039] FIG. 9 shows a needle gripper having an external cleaning installation provided for the former.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0040] FIGS. 1 and 2 show a potential design embodiment of a needle gripper according to the invention. The substantial components are to be explained initially by means of these figures and of the exploded illustration of FIG. 4.

[0041] The needle gripper 10 is specified with a base 20 which is provided for attachment to a robotic arm or for collective attachment with further needle grippers to a common frame. Connectors 22 for pneumatic lines by means of which two pistons 32, 42 can be displaced in a translatory manner in the direction of the arrows 3, 4 are provided on the base 20.

[0042] Slides 30, 40 are displaceable in a translatory manner in the direction of the arrows 3, 4 by way of these pistons 32, 42. These slides each comprise one needle carrier 34, 44 to which the gripper needles 36, 46 of the needle gripper 10, by way of the proximal ends 36b, 46b of the former, are fastened. The distal ends 36a, 46a of the gripper needles 36, 46 protrude into guide ducts 53, 54 of a needle-guiding block 51 which is a major component part of a needle-guiding device 50.

[0043] Referring to FIGS. 3a and 3b, the needle gripper by way of a pneumatic movement of the slides 30, 40 thus allows the gripper needles 36, 46 to be transferred from their respective retracted state of FIG. 3a to their deployed state of FIG. 3b. The gripper needles 36, 46 can be transferred from the state of FIG. 3a in which the gripper needles 36, 46 do not protrude beyond a bearing face 51b of the needle-guiding block 51 to the deployed position of FIG. 3b in which said gripper needles 36, 46 in the respective dissimilar alignments thereof intrude into the workpiece and thus acquire the latter.

[0044] The needle gripper 10 illustrated has a number of particularities which relate to the field of application that is particularly envisaged for the former. This field of application is the handling of semi-finished products for fiber-composite material workpieces. These semi-finished products are composed of a fibrous structure and of a matrix material which is heated and not yet cured. Handling these mat-type semi-finished products is problematic when using traditional needle grippers, since the comparatively cool needles solidify the matrix material during transportation and moreover are thereby heavily contaminated.

[0045] In order to be utilized together with such semi-finished products and in comparable fields of application, the needle gripper 10 is specified with the following features:

[0046] The needle gripper 10 is specified with an integrated rinsing device. This rinsing device comprises a rinsing-liquid connector 52 and supply ducts that are provided in the needle-guiding block 51. Referring to FIGS. 5a and 5b which show the needle-guiding block 51, two mutually parallel supply ducts 55, 56 which at the end side are closed by plugs, collectively with a distribution duct 57 that is aligned so as to be transverse to the former, and with the aforementioned rinsing-liquid connector 52 form the substantial components of the rinsing device. The two parallel supply ducts 55, 56 intersect the in each case six guide ducts 53, 54 of the gripper needles 36, 46 which each have a congruent alignment. The rinsing liquid by way of a rinsing-liquid conveying installation that is connected to the rinsing-liquid connector 52 can thus be conveyed up to the guide ducts 53, 54. Here, said rinsing liquid is forcibly squeezed into a narrow intermediate space between the gripper needles 36, 46 and the respective internal walls of the guide ducts 53, 54. Said rinsing liquid then flows from there along the guide ducts 53, 54 up to the respective ends of the latter, where said rinsing liquid exits.

[0047] By means of the rinsing device it is thus possible for residue in the guide ducts 53, 54 to be removed and for the gripper needles 36, 46 to be simultaneously cleaned. Such a cleaning procedure preferably takes place between transportation procedures. The gripper needles 36, 46 during cleaning can be moved in relation to the guide ducts 53, 54 so as to yet improve the cleaning effect.

[0048] Moreover, the availability of a heating installation 60 is part of the specific particularities of the needle gripper illustrated here. This heating installation is composed of two heating rods 62 which are inserted into bores 59 of the needle-guiding block 51. This electric heating installation 60 is capable of heating the needle-guiding block 51 and thus the guide ducts 53, 54 that are provided in the latter. On account thereof, the needles 36, 46 are also heated. The heating installation which is schematically illustrated in the sectional illustrations of FIG. 6b allows the gripper needles 36, 46 to be heated to at least 180 C. Local cooling of the semi-finished product during transportation is effectively avoided by heating the needles to this temperature or to even higher temperatures. The heating installation can be activated permanently or be activated in phases, optionally also in response to a temperature that has been measured by a temperature sensor. Heating rods in which a thermostat has already been installed, such that the latter maintains a predefined temperature, can also be used.

[0049] Heating the needle-guiding block 51 and the guide ducts 53, 54 and the gripper needles 36, 46 serves not only for avoiding damage to the semi-finished products but also aids in cleaning the needle gripper by means of rinsing. The matrix material which continues to adhere to the gripper needles 36, 46 and possibly makes its way into the guide ducts 53, 54, by virtue of the high temperature solidifies to a lesser extent such that the removal of the said matrix material is correspondingly facilitated.

[0050] Heating of the needle-guiding block 51 can also lead to the base 20 of the needle gripper being heated, the latter not being desirable. Various measures are provided in order for this heating to be minimized.

[0051] It can be derived in particular from FIG. 4 that an insulation body 23 is provided between a main block 24 of the base 20 and the needle-guiding block 51. Said insulation body 23 can be composed of a ceramics material, for example. Said insulation body 23 impedes the thermal transfer from the heated needle-guiding block 51 to the main body 24. This effect is further supported in that the insulator 23 in two mutually opposite bearing regions 23a, 23b is in each case provided with alternating ribs and grooves in order for the effective bearing face to the neighboring functional groups to be reduced. In a similar manner, the bearing face 51a of the needle-guiding block 51 is also provided with alternating grooves and ribs. The thermal transfer from the needle-guiding block 51 to the insulator 23 by virtue of the offset disposition arises only in very small planar regions.

[0052] A similar mechanism is provided on the slides 30, 40. The needle carriers 34, 44 that are provided here for holding the needles are in relation to the pistons 32, 42 likewise insulated by thermally effective insulation bodies 33, 43 which in the region of a bearing face 43a, 33a likewise have alternating ribs and grooves in order for the bearing face that is effective in the thermal transfer to be reduced.

[0053] In order for the thermal input into the basic body 24 to be further reduced, a shield panel 26 that is made from stainless steel and is disposed between the needle-guiding block 51 and the basic body 24 is provided. Said shield panel 26 serves in particular for shielding the base body 24 from thermal radiation.

[0054] The passive measures described for preventing the thermal transfer from the needle-guiding block 51 to the basic body 24 can already be sufficient in an individual case. However, it can be advantageous for a cooling installation for active cooling to be additionally provided in the basic body 24. This cooling installation is composed of a coolant inlet connector 74, of a coolant outlet connector 76, and of cooling ducts 72 that penetrate the basic body 24 and as heat exchangers are suitable for releasing the heat of the heated basic body 24 to the cooling liquid and, on account thereof, to transport said heat away.

[0055] A temperature sensor 77 which detects whether active cooling is already required and allows active cooling to be initiated only in this case can moreover be part of the cooling installation.

[0056] FIG. 8 shows the use of a needle gripper 10 described in conjunction with further needle grippers. The three needle grippers 10 in the example are collectively attached to a frame 110 and are thus in each case conjointly moved. This frame 110 is provided with distributors 112 for rinsing liquid and cooling liquid. A conveying installation 88 for the rinsing liquid, which by way of a line 89 is connected to the frame 110 and to the distributors 112 therein, is furthermore provided. A further conveying installation 78 which by way of lines 79 is connected in a similar manner to the frame 110, to the distributors 112 and thus to the needle grippers 10 is provided for the cooling liquid.

[0057] FIG. 9 shows a set composed of a needle gripper 10 which in a manner deviating from the needle gripper illustrated could also be configured without a dedicated rinsing installation, since an additional external cleaning installation 200 is provided. This external cleaning installation is specified with a source roll 202 from a planar textile or non-woven type material that by way deflection rollers 203, 204 is guided to a target roll 205. The target roll 205 is assigned a motor 206 by way of which the material web 210 of the textile or non-woven type material can be unwound from the roll 202 and be wound onto the roll 205.

[0058] The textile or non-woven type material web 210 represents a cleaning means by means of which the gripper needles 36, 46 can be cleaned. The needle gripper 10 can be moved up to the material web 210 in the manner illustrated in FIG. 9, and then pierce the latter by moving the needles through the material web 210, wherein residues are wiped off the gripper needles. In order for this procedure to be facilitated, a support block 220 is disposed below the material web 210 in the case of the exemplary embodiment illustrated, one or a plurality of clearances 222 into which the needles can be driven being provided in said support block 220.

[0059] When interacting with a conventional needle gripper, the cleaning device 200 allows the specific contaminants which arise when semi-finished composite products are transported to be removed without having to utilize a special needle gripper for this purpose.

[0060] The cleaning device 200 can moreover also be utilized for cleaning the bearing face 51b in that the bearing face 51b that in the case of retracted needles bears on the material web 210 is repositioned relative to the material web 210. This can be performed by a movement of the needle gripper. However, this is preferably performed in the case of a stationary needle gripper, by way of the movement of the material web 210 that is driven by the motor 206.