End effector comprising resilient members between adjacent holding tools

Phillippe Lovejoy-Courrier (Opfinder), Henrik Gordon Petersen (Opfinder), Johannes Cornelis De Kruijk (Opfinder), Lars-Peter Ellekilde (Opfinder), Ole Wennerberg Nielsen (Opfinder), Gudmundur Geir Gunnarsson (Opfinder), Casper Hansen (Opfinder), Jakob Rømsgaard (Opfinder), André Alexander Westergaard (Opfinder), Asger Bloksma Krogstrup (Opfinder), Asim Ikram (Opfinder), Jesper Freltoft (Opfinder)

Publikation: Patent

Abstrakt

The present disclosure relates to an end effector (2) for handling of a sheet (8) of flexible material, such as a carbon fiber mat, to be applied onto a layup surface (19). The end effector (2) comprises a support frame (3) and a plurality of manipulator assemblies (9, 9a-9c), each attached to the support frame (3) by a support mount (13). The manipulator assemblies (9, 9a-9c) comprise a holding tool (12, 12a-12c) having a lifting surface (17), where the holding tool is configured for lifting a sheet (8). Moreover the manipulator assemblies (9, 9a-9c) comprise a linear actuator (10, 10a-10c), and the holding tool (12, 12a-12c) is connected to the linear actuator by a multiaxial joint (14). A drive (23) is configured for providing the displacement of the holding tool (12, 12a-12c) by means of the linear actuator (10, 10a-10c). The end effector (2) further comprises a plurality of resilient members (15, 15a, 15b) each rigidly affixed to two adjacent holding tools (12a-12c) and positioned in a space (25) providing a mutual distance (D1) between opposing faces (24) of the adjacent holding tools (12a-12c), where each holding tool (12, 12a-12c) is connected to at least two adjacent holding tools (12a-12c) by means of the resilient members (15, 15a, 15b). The resilient members (15, 15a, 15b) are configured to non-permanently deform in the space (25) when adjacent holding tools (12a-12c) are displaced relative to each other along displacement axes (AX1, AX2).

OriginalsprogEngelsk
IPCB25J 15/ 06 A I
PatentnummerWO2021048105
Journaliseringsdato08/09/2020
LandDanmark
Prioritetsdato12/09/2019
PrioritetsnummerEP20190196964
StatusUdgivet - 18. mar. 2021

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