• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a gripping device for gripping and holding electrically conductive textile materials, comprising a gripping means, which has a gripping surface for gripping and holding the textile material. With the aid of an electrical contact device, electrodes may be brought into contact with the textile material, in order to pass a current through the textile material.
    公开号:FR3024066A1
    申请号:FR1556730
    申请日:2015-07-16
    公开日:2016-01-29
    发明作者:Yannis Grohmann；Fabian Zacharias
    申请人:Deutsches Zentrum fuer Luft und Raumfahrt eV；
    IPC主号:
    专利说明:

    [0001] The invention relates to a gripping device for gripping and holding electrically conductive textile materials. The invention also relates to a laying device for ensuring the laying of such textile materials, as well as a method for manufacturing a textile preform in layers of electrically conductive textile material. Particularly in the manufacture of fiber reinforced composite parts, which are generally made of a fiber-based material embedded in a thermally cured matrix material, the fiber-based semi-finished products (dry or impregnated) are often introduced into a shaping tool, which presents at least in part the future geometry of the part. The fiber-based semi-finished product preform thus obtained (also called fibrous blank) then most often has a workpiece geometry close to the final contour, so that the hardening of the matrix material (for example thermoplastic matrix systems or thermosetting) allows the manufacture of the fiber reinforced composite part.
    [0002] In the manufacture of such fiber-based semi-finished product preforms, it is often the case that several layers of fiber-based semi-finished products are laid on top of one another in the shaping tool, in order to to obtain, already in the preform, the necessary thickness of the part. Hence the need to automate as much as possible this stage of the manufacturing process of the semi-finished product preform of fiber, to be able to manufacture such a preform as quickly and reliably as possible in the industrial context. For the purposes of the present invention, the fiber-based semi-products may, for example, be UD (unidirectional) fiber strips or strips, fabrics, sheets, bonded dry carbon fibers, as well as prepregs (prepregs as well). thermosetting rather than thermoplastic) or other electrically conductive fibers or fibers with electrically conductive additives (eg prepregs of glass fibers with nano-additives). DE 10 2012 019 915 A1 discloses a process for the preparation of a fiber-based blank for the manufacture of a fiber-reinforced composite part, as well as a conveying device for a blank of fiber-based material. According to this method, the fiber-based material to be transported is enclosed in a transport device and is subjected to the action of a current during transport to the forming tool, to put it in a temperature of 3024066. from the transport. This is supposed to improve in particular the drapability of the blank of fiber material to be transported. DE 103 53 070 A1 discloses a method and apparatus for activating binders on fiber-based semi-products. Electrical contacts are arranged on the semi-product based on fibers or the preform, so as to pass into the preform a current leading to a temperature of the preform and thus to an activation of the binders. According to WO 2014/033021 A2, there is known a gripping device which comprises an electro-adhesion gripping means by means of which semi-products based on fibers to be transported can be gripped by means of a force of membership and be transported. The gripping surface of the electro-adhesion gripping means is at least partly deformable, so as to be able to adapt to the corresponding terminal contours of the materials to be transported. The grippers based on the principle of adhesion, however, have the disadvantage of requiring a certain time for the detachment of textile materials, most often flexible bending, so that the application speeds are very low. In addition, when several layers of semi-finished fiber-based products are to be placed on each other, the process can no longer guarantee the correct arrangement of the individual layers inside the preform, because it can produce shifts and slips of material during the laying operation and the detaching operation of the gripping surface. Also, the object of the present invention is to provide an improved gripping device, in particular for grasping, transporting and quickly placing fiber-based semi-products according to a reliable process. It is another object of the present invention to provide an improved process for the manufacture of textile preforms, making it possible to rapidly and reliably manufacture a textile preform by laying layers of textile material in superposition.
    [0003] The desired object is achieved according to the invention with the aid of the gripping device according to claim 1 and the corresponding laying device according to claim 11. Furthermore, the desired object is also achieved according to the invention. by the method according to claim 13.
    [0004] According to claim 1, there is provided a gripping device comprising a gripping means, which has a gripping surface for grasping and holding material or layers of textile material. The gripping surface of the gripping means is here configured so that it can grip and hold the textile material exclusively on one side of the textile material, without this requiring a conjoined clamping part, which should be applied against the opposite side of the material. textile. On the contrary, the gripping means comprising the gripping surface is designed as a surface gripper, so as to grip the textile material unilaterally, so that the textile material is gripped and held on the gripping surface, only by its side directed towards the gripping surface.
    [0005] Examples of such gripping means, which in the form of surface grippers are able to grip textile materials, are for example grippers adhesion or adhesion, grippers with electro-adhesion, grippers suction or depression, Bernoulli grippers, magnetic grippers, coolant or Peltier grippers, and / or needle grippers. Thus, for example in the case of an electro-adhesion gripper, an electro-adhesion force is exerted on the textile material in the direction of the gripping surface, so that the textile material can be grasped and maintained by electro adhesion on the gripping surface. In the case of grippers with adhesion or adhesion, also called gecko grippers, the intrinsic adhesion faculty between bodies, ie between the gripper and the textile material, is used to ensure the maintenance of the object to seize.
    [0006] According to the invention, it is proposed that the gripping device has an electrical contact device having at least one electric electrode, which can be connected to a source of electrical energy for the application of an electrical voltage. The electric electrode is configured to provide electrical contact with the textile material and interacts with a corresponding conjugate electrical electrode so that upon application of electrical voltage, a current flows through the textile material when the electrode and the conjugate electrode are in contact with the textile material. Thus, for example, the electrical electrode can electrically contact the textile material during the gripping, holding and transporting and / or during the laying of the textile material, to pass a current through the textile material in order to ensure warming up the textile material during the process of gripping, transporting and / or laying. The contacting is preferably carried out only during the laying of the textile material.
    [0007] The textile materials herein may for example be fiber-based semi-finished products for the manufacture of fiber-reinforced composite parts which, for example, comprise or consist of a fiber-reinforced composite material.
    [0008] Thanks to the gripping device according to the invention, it is possible in particular, during the laying of semi-products based on fibers that have been grasped and held, to pass for the temperature setting, a current to the the product-based semi-finished product product and, where appropriate, also in other semi-finished fiber-based products, so that the fiber-based semi-finished product (s) are heated in the area crossed by the current. The heating of the fiber-based semifinished products, at least localized to predefined zones, but also over their entire surface, makes it possible during the laying and therefore during the adjoining process of detachment of the semi-products based on relatively at the gripping surface, to activate a binder material incorporated in the fiber-based semi-products, or to melt a thermoplastic or thermosetting matrix system therein, for example by producing the reciprocal attachment of the semi-finished products. fibers deposited on each other, for example for the manufacture of a preform. Thanks to the warming up during the laying and detachment process, a heat-activatable binder material is activated, thereby mutually attaching the individual fiber-based semi-products or the fiber-based semi-product layers, and at least attaching or adhering the layer of semi-finished fiber-based product to laid-on semi-finished fiber-based products or to a laying support base (tooling). This makes it possible to guarantee, according to a reliable process, the correct positioning of the semi-products based on individual fibers to be laid. Furthermore, the present gripping device according to the invention allows the use of adhesion or adhesion grippers with soft flexural textile materials, because the sewn and held fiber semi-products having been attached to already deposited fiber-based semi-products, the gripper can, during the detachment process, detach from the textile materials held, without further measures, by a lamination process. In the standard case, with flexible bending materials, a laminating motion is not possible because they follow this lamination motion. The fact of attaching the textile materials following the heat input makes it possible to prevent this, so that under the effect of a corresponding film-coating operation, the gripping gripper or gecko gripper can be detached from the textile material having been seized. Surface grippers, such as electroadhesive grippers, have the further advantage of being gentle on the material during the gripping and holding of textile materials. Comparing precisely with grippers where the material is held by pinching, the surface grippers of the present invention can prevent the deterioration of fibers during the seizure and maintenance of textile materials. Thanks to the fastener made, it is also possible to avoid, during the detachment of textile materials, the risk of slipping, thus allowing, in principle, very fast gripping movements. This leads to a marked increase in process speeds, without causing any qualitative restrictions.
    [0009] According to an advantageous embodiment, the gripping means can be implemented as an adhesion or adhesion gripper, an electroadhesive gripper, a vacuum gripper or a vacuum gripper, a Bernoulli gripper, a magnetic gripper, a cooler element or a Peltier effect gripper, and / or needle gripper. According to another advantageous embodiment, said at least one electric electrode is arranged inside the gripping surface of the gripping means. The gripping surface need not be continuous, but may be interrupted by intermediate zones in which, for example, one or more electrodes are arranged. For the purposes of the present invention, the denomination gripping surface denotes the entire surface with which the textile material can be grasped on its surface and on one side only. This overall gripping surface may here consist of a plurality of individual partial gripping surfaces which may also be mutually independent. Inside the gripping surface may be arranged one or more electric electrodes, so as to be able to produce a temperature of the semi-products based on fibers, and thus attach the semi-finished product to fibers. laying, in the direct vicinity of the gripping surfaces, to thereby promote the detachment of the seized textile material from the gripping surface. According to an advantageous embodiment, it thus proves to be advantageous for the electrical contact device to comprise a plurality of electric electrodes 30 and / or of conjugated electrodes, so as to be able to produce attachment points in numerous distributed points. in a discrete manner on the surface of the material, thereby to prevent slippage of the textile material and facilitate the detachment of the gripper.
    [0010] According to an advantageous embodiment, it is advantageous for this purpose that the electrical contact device has a control unit, designed to switch the application of an electrical voltage to the electric electrodes in such a way that an electrical voltage is applied simultaneously to all the electric electrodes to pass a current through the textile material, or that a voltage is applied to the electrical electrodes or pairs of electrical electrodes respectively successively in time, to pass a current through the textile material.
    [0011] Thus, according to the first alternative, it is proposed to apply to all the electrodes simultaneously, for a certain duration or a certain time interval, an electrical voltage, so as to pass a current of all the electrodes in the direction of of the one or more conjugate electrodes. According to the second alternative of said embodiment, the electrical voltage is not applied simultaneously to all the electrodes, but each electrode (or a pair of electrodes) is instead switched successively, so that at any given instant a voltage is applied to only one electrode (or a pair of electrodes). In other words, each electrode (or a pair of electrodes) is switched so that it is applied to it a voltage for a defined period of time, while no voltage is applied during this time to the other electrodes .
    [0012] The result is the advantage that at any given moment it is possible to guarantee a defined flow of current, and thus to ensure the supply of energy necessary for the heating and, if necessary, the activation of the binders. . This allows the current to always be defined by selected electrodes and to provide heat input only where it is needed. It is thus possible, for example, to connect each electrode (or a pair of electrodes) to a capacitor / super-capacitor or super-capacitor as a source of electrical energy, so as to guarantee during discharge that the 25 appropriate amount of energy flows. For the purposes of the present invention, the term "conjugated electrode" denotes an electric electrode which serves as a conjugate part for the electric electrode in order to pass the current. With regard to the conjugate electrode, it may for example be an electric electrode outside the gripping device, for example the electrically conductive surface of a shaping tool, so that it is possible passing current from the electrode or electrodes of the gripper, through the layers of textile material, to the surface of the tooling acting as a conjugate electrode. A conjugate electrode may, however, also be an electrode of the gripper, so that it is possible to pass current from an electrode of the gripper, through the textile material, to an electrode of the gripper, causing conjugate electrode office. The conjugate electrode is thus an electrode, which may be an integral part of the gripping device, but not necessarily. According to an advantageous embodiment, said at least one electric electrode, preferably all the electric electrodes, are made in such a way that the contact surface of the electrodes is less than 15 cm 2, preferably less than 5 cm 2, and so particularly preferred less than 1 cm 2. In combination with a large number of electrical electrodes having a small contact area, it is possible to provide energy input to the textile material in a very short time, so as to guarantee a fastening and fixation of the layers of textile material. by warming up. For example, it has proved advantageous to have a flow of current on the set of electronic electrodes for a duration of less than 2 seconds, preferably less than 500 milliseconds, and particularly preferably less than 100 milliseconds. . According to another advantageous embodiment, the gripping means is designed to effect a relative lifting movement of the gripping surface of the gripping means with respect to said at least one electrode, preferably with respect to all the electrodes of the contact device. electric. This allows the electrodes to be in contact with the seized and maintained textile material only when this is actually necessary to pass the current. The lifting movement of the gripping surface with respect to the electrodes allows the electrodes to be in contact with the textile material or to interrupt this contact again, because of said lifting movement. It is therefore particularly advantageous that the gripping device is designed so that during the gripping and holding, and during the transport of the textile material, the electrodes of the electrical contact device of the gripping device are not in contact with the textile material. and only come into electrical contact with the textile material during the laying of the textile material, in order to pass the current. Advantageously, the relative lifting motion applies a force to the fiber-based semi-products from the electrodes.
    [0013] According to an advantageous embodiment for this purpose, the gripping means comprises at least one actuator, configured to actively operate the relative lifting movement of the gripping surface. The gripping surface can thus be actively moved by means of an actuator, which can be controlled by a control unit, this relative to the electric electrodes, so that the electric electrodes come into contact with the textile material. because of the active movement of active movement of the gripping surface.
    [0014] According to another embodiment, the gripper means comprises at least one spring member, configured to passively operate a relative lifting movement of the gripping surface, when a force acts on the gripping surface. The spring member is preferably adapted to, in a relaxed position or a neutral position, hold the gripping surface so that the electrodes are not in contact with the textile material. The textile material can thus be grasped, held and transported without the electrodes being in contact with the textile material. During the laying of the textile materials, a force is then exerted on the gripping surfaces, so that the gripping surface moves relative to the electrodes, when the force exerted is greater than the counterforce of the gripping surfaces. spring element. On this occasion, the gripping surface is moved relative to the electrodes against the spring force of the spring element until the electrodes come into contact with the textile material, so as to be able to pass a current.
    [0015] A spring element may for example be a spring, such as a steel spring. A spring element may also preferably be made of an elastically deformable plastic, such as for example a foam, which after the action of a force returns to its original shape.
    [0016] According to one embodiment, because of the lifting movement, the contact surfaces of the electric electrodes are thus aligned with or displaced beyond the gripping surface, which leads to a force pressing the electrodes onto the textile material so that the electric electrodes come into contact with the textile material. In an initial position or a neutral position respectively, the contact surfaces of the electric electrodes are not aligned with the gripping surface of the gripping means, and therefore are not in electrical contact. It is only with the lifting movement that the contact surface of the electric electrodes is brought into alignment with or beyond the gripping surface. According to an advantageous embodiment, it is also conceivable that the electrical contact device comprises at least one actuator, configured to operate a relative movement of the lifting of the at least one electrode of the electrical contact device with respect to the gripping surface. gripping means. In this exemplary embodiment, the gripping surface of the gripping means is preferably rigidly arranged on the gripping device, while the electric electrodes are provided to be movable in lift by means of said at least one actuator. Thus, it is the electric electrodes that are brought into alignment with the gripping surface, to come into contact with the textile material.
    [0017] However, it is also conceivable that both the gripping surface and the electrodes are made mobile. Preferably, the electrodes exert a surface pressure of application> 1 bar.
    [0018] According to claim 11, the object of the invention is also achieved by a laying device for laying textile material for the manufacture of a textile preform, the textile material to be introduced into the tooling shaping using the previously described gripping device. The superposition of several layers of textile materials (layers of textile material), for example layers of semi-products based on fibers, makes it possible to construct the textile preform. Due to the current flow produced by means of the electrodes of the gripping device, the individual material layers can be fixed at predefined points, determined.
    [0019] The surface of the tooling is here advantageously made, at least in part or preferably completely, electrically conductive, and thus forms the conjugate electrode, making it possible to pass a defined current through all the layers of textile material already laid, for warming up and, where appropriate, activating the binders. The object of the invention is also achieved by means of the method according to claim 13, which claims a method of manufacturing a textile preform in layers of electrically conductive textile material. In a first step, layers of textile material are seized, held and then transported by means of the aforementioned gripping device to a molding or forming tool having been prepared for this purpose. Then, the layers of textile material are deposited, and during the laying of the layers of textile material, at least one electric electrode of the gripping device is brought into contact with the layer of textile material to be laid, and by the application of a voltage, at least one current is passed through the layer of textile material to be laid, with a view to a temperature rise. Advantageously, the electric electrodes come into electrical contact with the layer of textile material only when laying it in or on the forming tool. During gripping and holding and respectively transport, they are not in contact with the layer of textile material. Advantageous embodiments are found in the corresponding subclaims 40. Due to many small electrodes, the temperature is also achieved only in the area of the electrodes and / or in the area of the flow of current, so that also results only small dots. activation between the layers. This is advantageous in the subsequent forming of the fixed planar blanks, because they are thus more easily formed. Advantageously, the planar blank is made and fixed and then given its three-dimensional shape.
    [0020] The invention will be explained in more detail, by way of example, with reference to the accompanying drawings. These show: Figure 1 - a schematic representation of the gripping device according to the invention; Figure 2 - a schematic representation of the gripper with a seized textile material; Figure 3 - a schematic representation of the gripping device during the laying of the textile material.
    [0021] Figure 1 shows schematically the gripping device 1 by means of which electrically conductive textile materials, such as for example fiber-based semi-finished products, have to be gripped and held for the manufacture of fiber-reinforced composite parts.
    [0022] The gripping device 1 comprises a gripping means 2 having a gripping surface 3 directed towards the textile material to be gripped and designed to grip and hold the textile material. In the embodiment of Figure 1, the gripping surface 3 of the gripper means 2 is subdivided into a plurality of partial gripping surfaces. The gripping device 1 furthermore comprises an electrical contact device 4, which comprises a plurality of electric electrodes 5 arranged between the individual partial gripping surfaces 3 of the prehensile means 2. The individual electrodes 5 of the electrical contact device 4 are here connected to a control unit 6, so to be able to switch the application of an electrical voltage by means of a source of electrical energy not shown. It is thus possible, for example, for the individual electrodes 5 to be switched successively in time, so that an electrical voltage 3024066 11 is applied successively in time, respectively always to an electrode 5. FIG. 1 shows schematically the gripping device 1 in the state where no textile material is grasped or maintained. The gripping surface 3 is then not aligned with the contact surfaces 7 of the electrodes 5, so that when grasping and holding a textile material, the contact surfaces 7 of the electrodes 5 are out of contact with the textile material.
    [0023] FIG. 2 schematically shows the gripping device 1 of FIG. 1, a textile material 8 now being gripped and held on the gripping surfaces 3 of the gripper means 2. It can be seen here that in this embodiment, the surfaces contact 7 electrodes 5 are out of contact with the textile material.
    [0024] The gripping means 2 may for example be designed as an adhesion or adhesion gripper, an electro-adhesion gripper, a vacuum gripper or a vacuum gripper, a Bernoulli gripper, a magnetic gripper, a gripper with a cooling element or a Peltier effect, and / or needle gripper. Preferably, it relates to the gripping surface 3, an electrocoating sheet, which is, for example, a flexible sheet provided with a plurality of conductive tracks. By applying very high voltages to these conductive tracks, textiles resting against the sheet can be grasped, so that an electro-adhesion force acts on the textile material 8 in the direction of the gripping device 1. all of the gripping surface 3 had to be larger than the blank to be gripped, it is then possible, for example, to use unrepresented blanks, which push back the unnecessary edges of the gripping surface 3. Since the force of attraction, for example in the case of the electrostatic gripping principle, depends greatly on the distance, the attraction forces for the edge zones are reduced in such a way that they are no longer gripped.
    [0025] The partial gripping surfaces of the gripping surface 3 may, for example, be controlled independently of one another, so that it is possible, for example, to switch on or off various partial gripping surfaces. Various fiber-based semi-products can thus be captured and deposited in a defined manner on a conductive or non-conductive laying plate. The gripping device 1 has a fixing device 9 for fixing the gripping device 1 for example to a robot unit. The textile materials can thus be transported by means of the robot, from a position of supplying the fibers to a shaping tool, so as to produce a textile preform. The gripping device 1 can thus be adapted extremely flexibly to the situation respectively.
    [0026] Figure 3 schematically shows the process of placing the seized textile material 8 on previously laid layers of textile material 10 which have been deposited in a forming tool 11 for the manufacture of a preform.
    [0027] The gripping means 2 comprises, to improve the laying process, spring elements 12, which may for example be constituted by an elastomeric material (for example a foam). The gripping surface 3 can thus perform a lifting movement in the direction Rilub with respect to the fixed electrodes 5, thereby bringing the electrodes 5 into contact with the textile material 8 by their contact surface 7. For this purpose, during the When the textile material 8 has been gripped, the gripping device 1 is pressed in the direction of the already laid textile materials 10, the pressing force with which the gripping device 1 is pressed in the direction of the textile materials 10 already laid being greater than the spring force of the spring element 12. As a result, the spring element 12 is compressed, the gripping surface 3 effecting on this occasion a relative lifting movement in the direction RHub with respect to the electrodes 5, and this up to that the contact surface 7 of the electrodes 5 is aligned with the gripping surface 3, and thus comes into electrical contact with the textile material 8. Co as shown in FIG. 3, the electrodes 5 are in contact with the textile material 8, so that the application of a voltage makes it possible to pass a current towards a conjugate electrode. In the exemplary embodiment of FIG. 3, the shaping tool 11 is here made electrically conductive, so that the forming tool 11 forms the conjugate electrode. The application of a voltage makes it possible to pass a current in a defined manner through the individual layers of the textile materials 8, 10, so that heating takes place in these zones. On this occasion, binder materials can for example be thermally activated, so that the textile material 8 to be laid is attached to the already laid textile materials. The gripping device 1 can then be detached from the textile material 8, without causing sliding of the layers of materials.
    [0028] It is also conceivable that the gripping means comprise, in place of spring elements, active actuators for producing a relative movement of the gripping surface 3 with respect to the electrodes 5. It is also conceivable that the electrodes themselves are in conjunction with actuators, for relative movement with respect to the gripping surfaces 3. In addition, it is conceivable that by further application of a pressing force, the electrodes are pressed onto the textile materials, As a result, compaction of the textile materials in the area of the electrodes 5 is achieved. The current can thus be better defined. There is thus provided a gripping device, which comprises one or more individual gripping surfaces, and one or more individually arranged and individually controllable electrodes for local activation of binders for mutually attaching semi-finished products. fiber-based to each other. The gripping surfaces and the electrodes are here movable relative to each other. The relative movement may be passively operative, for example because a robot presses the gripper against a surface and parts of the gripper are dodging. Relative movement can also be actively effected by means of drives which move the gripping surface and / or the electrodes. The stream may pass either perpendicularly across one or more fiber layers, or in the plane of the fibers. With a large number of electrodes per unit area, it is possible to obtain a large number of attachment points, without causing a significant increase in costs for the gripper. The electrodes here can be controlled individually, so that the current always passes in a defined manner by selected electrodes, and heat is produced and energy consumed only where it is needed. Moreover, it is conceivable, before passing a current, to measure the resistances at the electrodes. This allows a setting to automatically optimize process parameters for the attach operation. If an electrode is not in contact with a fiber-based material, this is detected, and in the next step this electrode is no longer supplied with current. The gripping surface can be flexible and thus adapt to contours or flatness defects of the textile material to be gripped. The gripping surface may, in addition, comprise holes, in order to promote lifting or detachment of the seized product, for example by producing a flow of air through the holes.
    [0029] To avoid damage to textile materials, electrical energy can be applied in pulsed form.
    [0030] If the electrodes are, for example, also mobile with respect to the gripping surfaces, under the effect of actuators, the electrode may, after the establishment of the contact of the electrodes with the textile material, be displaced towards the textile material. to urge it by pressure, which leads the electrode 5 to be pressed against the laid textile material. This reduces the contact resistance and current can flow between the electrode, the textile material and the conjugate electrode. 10
    权利要求:
    Claims (16)
    [0001]
    REVENDICATIONS1. Gripping device for gripping and holding electrically conductive textile materials, comprising a gripping means, which has a gripping surface directed towards the textile material to be grasped and configured to grip and hold the textile material, characterized in that the gripping device has an electrical contact device having at least one electric electrode, which can be connected to a source of electrical energy for the application of an electrical voltage, is configured to ensure electrical contact with the textile material and which interacts with an electric electrode conjugated to pass a current in the textile material between said at least one electrode and the conjugate electrode to produce a temperature rise, when said at least one electrode and the conjugate electrode are in contact with the the textile material.
    [0002]
    2. A gripping device according to claim 1, characterized in that the gripping means is formed as a gripper adhesion or adhesion, electromagnet gripper, vacuum gripper or depression, Bernoulli gripper, magnetic gripper, element gripper cooler or Peltier effect, and / or needle gripper.
    [0003]
    3. Gripping device according to claim 1 or claim 2, characterized in that said at least one electric electrode is arranged inside the gripping surface of the gripping means.
    [0004]
    4. Gripping device according to one of the preceding claims, characterized in that the electrical contact device comprises a plurality of electrical electrodes and / or conjugated electrodes.
    [0005]
    A gripping device according to claim 4, characterized in that the electrical contact device has a control unit, which is adapted to switch the application of electrical voltage to the electrical electrodes so that an electrical voltage is applied simultaneously to all the electric electrodes to pass a current in the textile material, or that an electrical voltage is applied to the electrical electrodes or pairs of electrical electrodes respectively successively in time, to pass a current through the material textile. 3024066 17
    [0006]
    6. Gripping device according to one of the preceding claims, characterized in that said at least one electric electrode has an electrical contact surface of less than 15 cm 2, preferably less than 5 cm 2, particularly preferably less than 1 cm2.
    [0007]
    7. A gripping device according to one of the preceding claims, characterized in that the gripping means is adapted to perform a relative movement of lifting the gripping surface of the gripping means relative to said at least one electrode of the electrical contact device .
    [0008]
    8. Gripping device according to claim 7, characterized in that the gripping means comprises at least one actuator configured to actively operate the relative movement of lifting the gripping surface. 15
    [0009]
    9. Gripping device according to claim 7 or 8, characterized in that the gripping means comprises at least one spring element, configured to passively operate the relative lifting movement of the gripping surface, when a force acts on the surface of the gripping surface. gripping. 20
    [0010]
    10. Gripping device according to one of the preceding claims, characterized in that the electrical contact device comprises at least one actuator, configured to operate a relative movement of the lifting of said at least one electrode of the electrical contact device with respect to the gripping surface of the gripping means. 25
    [0011]
    11. Apparatus for laying textile material for manufacturing a textile preform, comprising a shaping tool and a gripping device according to one of the preceding claims, for laying the textile material in the tooling for setting form. 30
    [0012]
    12. A fiber laying device according to claim 11, characterized in that the shaping tool has a tooling surface in which is arranged a conjugate electrode, or which forms the conjugate electrode. 35
    [0013]
    A process for producing a textile preform from layers of electrically conductive textile material, wherein a gripper is first prepared according to one of claims 1 to 10, and the method comprises the following steps: at least one layer of textile material by means of the gripping device; B) maintaining the layer of seized textile material and transporting it by means of the gripping device to a prepared shaping tool; c) placing the layer of textile material which has been grasped in the shaping tool by means of the gripping device, the method according to which, during the laying of the layer of textile material, the at least one electrode the gripper is in contact with the layer of textile material to be laid, and by application of an electrical voltage, at least one current is passed through the layer of textile material to be laid, in order to ensure the setting in temperature.
    [0014]
    14. A method according to claim 13, characterized in that the layer of textile material having been seized is deposited on layers of textile material already laid in the shaping tool, and in that during the laying of the layer of textile material having been grasped, the gripping device applies an pressing force by said at least one electric electrode, towards the layers of textile material, and by the application of an electrical voltage, a current is passed through the layer of textile material to be laid or through the layers of textile material. 20
    [0015]
    15. The method of claim 13 or 14, characterized in that the electrical contact device of the gripping device has a plurality of electric electrodes, and in that by means of a control unit, the application of an electrical voltage is switched so that an electric voltage is applied simultaneously to all the electric electrodes to pass at least one current in the layer of textile material to be laid, or that an electric voltage is applied to the respective electrodes of successive manner in time to pass a current at least in the layer of textile material to ask. 30
    [0016]
    16. Method according to one of claims 13 to 15, characterized in that a current is passed to ensure a warming so as to activate a binder material found in the layers of textile material and activatable thermally. and / or melting a thermoplastic plastics material.
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    同族专利:
    公开号 | 公开日
    DE102014110464A1|2016-01-28|
    US20160029437A1|2016-01-28|
    DE102014110464B4|2021-11-11|
    US10264628B2|2019-04-16|
    FR3024066B1|2019-10-18|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10353070B4|2003-11-13|2005-09-15|Airbus Deutschland Gmbh|Method and apparatus for binder activation on a semifinished fiber product / preform by direct heating of carbon fibers via an applied electrical voltage|
    SE534361C2|2009-10-23|2011-07-26|Idea Ab R|Method for manufacturing a composite material|
    DE102011114015A1|2011-06-21|2012-12-27|Brötje-Automation GmbH|end effector|
    DE102011082307A1|2011-09-07|2013-03-07|Celon Ag Medical Instruments|Electrosurgical instrument, electrosurgical device and related methods|
    DE102012215513A1|2012-08-31|2014-03-06|J. Schmalz Gmbh|gripping device|
    DE102012019915B4|2012-10-11|2016-02-25|Premium Aerotec Gmbh|Method for providing a fiber preform for producing a fiber composite component, and transport device for a fiber material blank|US10373856B2|2015-08-03|2019-08-06|Mikro Mesa Technology Co., Ltd.|Transfer head array|
    US9969078B2|2015-08-03|2018-05-15|Mikro Mesa Technology Co., Ltd.|Transfer head array and transferring method|
    JP6604322B2|2016-12-28|2019-11-13|トヨタ自動車株式会社|Method for producing fiber-reinforced resin molded body|
    US10919237B2|2017-05-26|2021-02-16|The Boeing Company|Pick and place end effector|
    US11167426B2|2019-06-18|2021-11-09|Flexiv Ltd.|Robot with gripper and fibrillar, directional adhesive assembly|
    法律状态:
    2016-06-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-20| PLFP| Fee payment|Year of fee payment: 4 |
    2019-06-21| PLFP| Fee payment|Year of fee payment: 5 |
    2020-06-19| PLFP| Fee payment|Year of fee payment: 6 |
    2021-06-29| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014110464.1A|DE102014110464B4|2014-07-24|2014-07-24|Gripping device|
    DE102014110464.1|2014-07-24|
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