Method for handling flexible mat-like workpieces

Patent metadata

Field	Value
Publication number	US-9925670-B2
Application number	US-201514727959-A
Country	US
Kind code	B2
Filing date	Jun 2, 2015
Priority date	Jun 5, 2014
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A method for the handling of flexible and/or mat-like workpieces ( 30, 30 a ) with a holding device ( 10 ) comprising the steps of: picking up the workpiece ( 30, 30 a ) from an initial configuration with activated gripping devices ( 18 ); and displacing the gripping devices ( 18 ) relative to each other to deform the workpiece ( 30, 30 a ) into a desired freeform, further wherein the holding force before or during the displacement of the gripping devices ( 18 ) is reduced on each gripping device ( 18 ) so that the first sections ( 34 ) of the workpiece ( 30, 30 a ) during its deformation slide along the contact surface ( 20 ) and the second sections ( 36 ) of the workpiece ( 30, 30 a ) are fixed by the gripping devices ( 18 ) on the bearing surface ( 20 ).

First claim

The invention claimed is:

1. A method for handling of flexible and/or mat-like workpieces with a holding device comprising a plurality of gripping devices for exerting a holding force, wherein the plurality of gripping devices are provided on a support structure and are displaceable relatively to each other, wherein the plurality of gripping devices provide a contact surface that is adjustable to a free-form surface by displacement of the plurality of gripping devices relative to each other,
the method comprising the following steps:
picking up the workpiece from an initial configuration with at least one gripping device activated from the plurality of gripping devices; and
displacing of the at least one gripping devices of the plurality of gripping devices relative to each other to deform the workpiece into a desired freeform,
wherein the holding force is reduced or inactivated at individual of the plurality of gripping devices before and/or during the displacement of the plurality of gripping devices, such that first sections of the workpiece during its deformation slide along the contact surface and second sections of the workpiece are fixed by means of the plurality of gripping devices on the contact surface.

2. The method according to claim 1 , wherein for each of the plurality of gripping devices which abuts in the initial configuration to a respective contact section of the workpiece, the exerted holding force before and/or during the displacement is reduced in dependence on the length of the path, which the respective contact section travels by sliding along the contact surface during the deformation into the desired freeform.

3. The method according to claim 2 , wherein the exerted holding force of the plurality of gripping devices abutting in its initial configuration to a contact section is reduced the more, the longer the desired path by which this contact section is to slide during the deformation.

4. The method according to claim 1 , wherein the plurality of gripping devices are activated and deactivated independently of one another.

5. The method according to claim 1 , wherein the workpiece is stored in the deformed state in a workpiece carrier.

6. The method according to claim 1 , wherein the plurality of gripping devices are pivotally coupled to one another and are pivoted to be displaced relative to each other.

7. The method according to claim 1 , wherein during the displacement of the plurality of gripping devices a selected one of the plurality of gripping devices is activated, and is displaced furthest.

Assignees

• Schmalz J Gmbh

Inventors

• Eisele Thomas
• Kuolt Harald
• Eberle Marcus
• Dunkmann Walter
• Defranceski Aline
• Fritz Florian
• Reinisch Hermann

Classifications

• B25J15/0616

  with vacuum · CPC title

• B29C70/54

  Component parts, details or accessories; Auxiliary operations {, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing} · CPC title

• B25J15/0052 Primary

  multiple gripper units or multiple end effectors · CPC title

• B25J15/0033

  with gripping surfaces having special shapes · CPC title

• B25J15/0061

  mounted on a modular gripping structure · CPC title