TY - PAT
T1 - End effector comprising resilient members between adjacent holding tools
AU - Lovejoy-Courrier, Phillippe
AU - Petersen, Henrik Gordon
AU - Cornelis De Kruijk, Johannes
AU - Ellekilde, Lars-Peter
AU - Nielsen, Ole Wennerberg
AU - Gunnarsson, Gudmundur Geir
AU - Hansen, Casper
AU - Rømsgaard, Jakob
AU - Westergaard, André Alexander
AU - Krogstrup, Asger Bloksma
AU - Ikram, Asim
AU - Freltoft, Jesper
PY - 2021/3/18
Y1 - 2021/3/18
N2 - 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).
AB - 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).
M3 - Patent
M1 - WO2021048105
Y2 - 2020/09/08
ER -