CN102756921B - Industrial robot automatic laminating system for fiber sheets - Google Patents
Industrial robot automatic laminating system for fiber sheets Download PDFInfo
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- CN102756921B CN102756921B CN201210237072.9A CN201210237072A CN102756921B CN 102756921 B CN102756921 B CN 102756921B CN 201210237072 A CN201210237072 A CN 201210237072A CN 102756921 B CN102756921 B CN 102756921B
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Abstract
The invention discloses an industrial robot automatic laminating system for fiber sheets. The system comprises a fiber sheet conveying workbench, a laminating workbench and a mechanical arm, wherein the end part of the mechanical arm is provided with a pick-and-place actuator which is used for picking fiber sheets on the fiber sheet conveying platform and laminating the fiber sheets on the laminating workbench, so that the fiber sheets with different types, different sizes and different shapes can be automatically laminated. The system is suitable for flexible objects, has the advantages of low cost, high laminating efficiency and high flexibility, and can fulfill the requirement of large-scale production. In an optimal technical scheme, a fiber sheet connector can be effectively engaged with a connection element on a fiber sheet, and the flexible objects can be laminated smoothly under the cooperation of an adjustable clamp and the pick-and-place actuator. The system has a simple structure and easy implementation, greatly improves the working efficiency of lamination, and can laminate fiber sheets quickly and effectively in batches, and has excellent application prospect.
Description
Technical field
The present invention relates to automatic laminated apparatus field, be specifically related to a kind of flexible stack system automatically of industrial robot of fibre sheet material.
Background technology
Composite material has high specific strength and high specific stiffness, good fatigue resistance, damage tolerance is high and mechanical property such as can design at the excellent specific property, it can also make product lightweight, energy-saving and emission-reduction potentiality are very huge, and the crashworthiness that it can also improve product, improves safety.Therefore, in industries such as automobile, aviation, ships and light boats, buildings, obtain application more and more widely.
Restriction composite material obtains the major cause of widespread use, and the lamination efficiency that remains composite material is low more expensive with price composite material, as low in the lamination efficiency of carbon fiber expensive with carbon fiber, and low its productive costs that also can make of lamination efficiency of carbon fiber raises.Although in fiber preparation process, preimpregnation is furnished with the stacked machine of automation, the dry cloth of fiber (being fibre sheet material) does not also have the stacked equipment of automation and technology in the world.Bayerische Motorne Werke Aktiengeellschaft adopts vacuum cup to realize operation composite material component, can only realize simple shape parts as the automated production of roof of the vehicle, protecgulum etc., can not be applicable to flexible articles.
In practice, use long fibre to do structural materials, conventionally by yarn, make fibre sheet material, stratified fiber sheet material, to the composite material (being structural materials) that obtains fibre sheet material lamination after certain thickness, just can be applied in reality and go.Because automated machine operation fibre sheet material difficulty is larger, only have exigent aircraft and shape matching rule member can adopt expensive automation laying equipment.And in general field, superimposed fiber adopts craft more, efficiency is low, and cost is high, has hindered Quantity production.
Publication number is the automatic laminated device that the Chinese invention patent application of CN101450754A discloses a kind of regular article, comprise the stay bearing plate that two equalitys arrange, symmetrical two parallel belt conveyor and the unilateral gate of being provided with between two stay bearing plates, below between two parallel belt conveyor, be provided with one group of lifting mechanism, the quantity of this group lifting mechanism equals by the quantity of lifting object one deck, the opposable up-and-down movement of each lifting mechanism.Although this automatic laminated device can be by the regular article of the hard on belt conveyor (as the cigarette of one case one case) by carrying out lamination again after lifting mechanism lifting, and can reduce the breakage rate of goods, improve the lamination efficiency of regular article and the floor area of minimizing goods of hard, but this automatic laminated device can not be applicable to flexible articles, cannot complete the lamination of flexible articles.
The patent No. is that the Chinese utility model patent of ZL200820101726.4 discloses the automatic laminated wrapping machine of a kind of regular object, in frame, be provided with feeding conveyor structure, release mechanism, multilayer lifting detent mechanism peace pushing mechanism, in the end of feeding conveyor structure, arrange in turn form the first station release mechanism, form the multilayer lifting detent mechanism peace pushing mechanism of the second station, in this horizontal sliding mechanism, promote to set up the Lift Part that drives push pedal lifting on the member of translational of push pedal translation.Although the automatic laminated wrapping machine of this regular object can be by regular object, as bar shaped cigarette, box packed medicine, boxed food after packing carry out stacked, work efficiency is higher, but the automatic laminated wrapping machine of this regular object can not be applicable to flexible articles, cannot complete the lamination of flexible articles.
Summary of the invention
The problems referred to above for the stacked existence of existing fibre sheet material, the object of the present invention is to provide a kind of automatic stack system of industrial robot of fibre sheet material, can automatic stacked variety classes, different size and difform fibre sheet material, be suitable for flexible articles, this automatic stacked system cost is low, stack efficiency is high, flexible large, can meet the demand of Quantity production.
The automatic stack system of industrial robot of fibre sheet material, comprising:
Fibre sheet material conveying workbench;
Cascade bench;
End is provided with the mechanical arm that picks and places actr, for getting fibre sheet material on described fibre sheet material conveying workbench and being stackedly placed in described cascade bench.
By the actr that picks and places on mechanical arm, get the fibre sheet material on fibre sheet material conveying workbench, and then by mechanical arm, fibre sheet material is transferred to stacking workbench, the actr that picks and places on mechanical arm puts down after fibre sheet material, the fibre sheet material completing is once laid, carry out repetition automatic operation, complete the automatically stacked of fibre sheet material.
Described fibre sheet material conveying workbench is for cutting fibre sheet material conveying fiber sheet material, because the fibre sheet material of having produced is fibre sheet material cloth, belong to super long type, generally by rotating shaft, batch, be rolled into cylinder shape, therefore, will be according to the length of desired structure material, by fibre sheet material cloth cutting, then fibre sheet material is carried out stacked, obtain required structural materials after being laminated to certain thickness.As preferably, described fibre sheet material conveying workbench comprises pedestal, be arranged on cylinder and fibre sheet material cutter on described pedestal, be arranged on feeding roller on described pedestal and between described cylinder and described fibre sheet material cutter, be arranged on the fibre sheet material bench board at fibre sheet material cutter discharging opening place and the length that is arranged on described fibre sheet material bench board is controlled sensor.Cylinder forms after batching fibre sheet material cloth by rotating shaft, on cylinder, batched fibre sheet material cloth, fibre sheet material cloth transports to fibre sheet material cutter under the effect of feeding roller, fibre sheet material cloth stretches out from the discharging opening of fibre sheet material cutter, be sent on fibre sheet material bench board, length is controlled fibre sheet material cloth that sensor detects transmission and is reached after required length, length is controlled sensor and is sent signal to stop feeding roller transmission, fibre sheet material cutter cuts fibre sheet material cloth, obtain required fibre sheet material, fibre sheet material drops on fibre sheet material bench board.Described fibre sheet material cutter comprise the framework that is arranged on described pedestal and with the cutter of described framework bearing fit, the bearing fit of cutter and framework can be realized by slide rail and slide block, and being equipped with driver train, driver train can specifically be selected motor, cylinder etc.By cutter and framework bearing fit, realize the cutting of fibre sheet material cloth, simple in structure, be easy to realize, easy to use.
The actr that picks and places on mechanical arm picks and places fibre sheet material, as preferably, the described actr that picks and places comprises attaching parts, cylinder and is arranged on the pushing block on the piston rod of described cylinder and is arranged on the fixed frame on the end face of described cylinder, one end of described attaching parts is connected with described mechanical arm, the other end is connected with described cylinder, is installed with fibre sheet material attaching parts on described fixed frame.By fibre sheet material attaching parts, fibre sheet material is connected, thereby realize, get, by cylinder, promote pushing block, fibre sheet material is peeled off from fibre sheet material attaching parts, thereby realize, put.Further preferably, hook or circle that described fibre sheet material attaching parts comprises board fiber board and is arranged on described board fiber board one side, the opposite side of described board fiber board is connected with described fixed frame.When the Connection Element above the fibre sheet material until folded is hook, the side that fibre sheet material attaching parts is connected with fibre sheet material (being Connection Element) is circle; When the Connection Element above the fibre sheet material until folded is circle, the side (being Connection Element) that dimension sheet material attaching parts is connected with fibre sheet material is hook.
Cascade bench, for accepting the stacked fibre sheet material of laying of described mechanical arm, mechanical arm drives and to pick and place actr fibre sheet material is picked and placeed, and as preferably, described cascade bench is provided with fibre sheet material anchor fitting, thereby facilitates laying of fibre sheet material.Described fibre sheet material anchor fitting comprises several flexible jigs, the oscillating cylinder on the piston rod that described flexible jig comprises the clamping cylinder that is fixedly mounted on described cascade bench, be arranged on described clamping cylinder and be arranged on the briquetting on described oscillating cylinder.Oscillating cylinder can make briquetting rotate a certain angle, and flexible oscillating cylinder and the briquetting up-and-down movement of making of the piston rod by clamping cylinder can as required, make briquetting compress fibre sheet material, thereby fibre sheet material is fixed.The number of flexible jig and position are determined according to the shape of the fibre sheet material of lamination and big or small difference.Further preferably, described flexible jig is four, is separately positioned on the surrounding of described cascade bench, thereby can play good fixation, good stability to fibre sheet material.
The applicable flexible articles of the automatic stack system of industrial robot of fibre sheet material of the present invention, as preferably, the circle that described fibre sheet material comprises fibre sheet material corpus fibrosum, is fixedly installed on the hook of described fibre sheet material corpus fibrosum one side and is fixedly installed on described fibre sheet material corpus fibrosum opposite side.Board fiber board and the fibre sheet material corpus fibrosum in described fibre sheet material in described fibre sheet material attaching parts are carbon fiber, glass fibre, chemical fiber, regenerated fiber, boron fiber, silicon carbide fibre or textile industry fiber.
End of the present invention is provided with the mechanical arm that picks and places actr can, with reference to industrial robot,, on existing industrial robot basis, carry out certain improvement to end.
Compared with prior art, tool of the present invention has the following advantages:
One, the automatic stack system of the industrial robot of fibre sheet material of the present invention is the stacked technical scheme solving that found of automation of the dry cloth of fiber (being fibre sheet material), at present exist preimpregnation to be furnished with the stacked machine of automation in the world, but the dry cloth of fiber does not also have equipment and the technology of automation lamination, the present invention utilizes end to be provided with to pick and place mechanical arm, fibre sheet material conveying workbench and the cascade bench of actr to cooperatively interact, the automation that has realized the dry cloth of fiber is stacked, has filled up the blank of technique.
Two, system effectiveness is high: the efficiency of system depends on the speed that is provided with the mechanical arm carrying fibre sheet material that picks and places actr; and the present invention can carry out simple modifications on the basis of existing industrial robot; improve behind efficiency higher, its speed can meet the requirement of large-scale production to speed of production completely.Because the application of industrial robot is relatively universal, therefore, the automatic stack system of the industrial robot of fibre sheet material of the present invention has good replicability.
Three, system flexibility is good: because the automatic stack system of industrial robot of fibre sheet material of the present invention has adopted industrial robot, on the basis of existing industrial robot, simply improve, can meet the carrying of multiple types fibre sheet material, and carrying path can flexible planning, distributed flexible jig group can help system to realize difform fibre sheet material stacked, the flexibility of system is further increased.
Four, system applies scope is wide: the board fiber board in fibre sheet material attaching parts of the present invention and the fibre sheet material corpus fibrosum in fibre sheet material, can be all kinds of fibre sheet materials such as carbon fiber, glass fibre, chemical fiber, regenerated fiber, boron fiber, silicon carbide fibre or textile industry fiber, can obtain application in each important industry such as automobile, building, fan blade, ships and light boats, aircraft.
Five, the automatic stack system of the industrial robot of fibre sheet material of the present invention, in optimal technical scheme, fibre sheet material attaching parts can with fibre sheet material on Connection Element effectively mesh, and, flexible jig and picking and placeing under the cooperation of actr, make it possible to flexible articles, carry out stacked smoothly, simple in structure, be easy to realize, greatly improved stacked work efficiency, can be fast, efficiently, stacked fibre sheet material in large quantity, have a good application prospect.
Accompanying drawing explanation
Fig. 1 is the structural representation of current industrial fibre sheet material;
Fig. 2 is the structural representation of the automatic stack system of industrial robot of fibre sheet material of the present invention;
Fig. 3 is the structural representation of fibre sheet material conveying workbench in the automatic stack system of the industrial robot of fibre sheet material of the present invention;
Fig. 4 picks and places the structural representation of actr in the automatic stack system of the industrial robot of fibre sheet material of the present invention;
Fig. 5 is the structural representation of fibre sheet material attaching parts in the automatic stack system of the industrial robot of fibre sheet material of the present invention;
Fig. 6 is the structural representation of flexible jig in the automatic stack system of the industrial robot of fibre sheet material of the present invention;
Fig. 7 is the use constitution diagram of stacked fibre sheet material on cascade bench.
The specific embodiment
As Fig. 1 (a), shown in Fig. 1 (b), for current commercial production fibre sheet material 9, comprise fibre sheet material corpus fibrosum 9-2, and the fibre sheet material Connection Element (being hook 9-1 and circle 9-3) that is fixedly installed on fibre sheet material corpus fibrosum 9-2 both sides, the concrete optional fish hook of hook 9-1, arrow hook or anchor hook etc., circle 9-3 specifically can network selection circle, snare circle or group circle etc., as shown in Fig. 1 (c), fibre sheet material corpus fibrosum 9-2 is regular shape, as shown in Figure 1 (d) shows, fibre sheet material corpus fibrosum 9-2 is irregularly shaped, the automatic stack system of industrial robot of fibre sheet material of the present invention can be carried out stacked to regular shape and erose fibre sheet material 9.
As shown in Figure 2, the automatic stack system of industrial robot for fibre sheet material of the present invention, comprise: fibre sheet material conveying workbench 6, fibre sheet material conveying workbench 7, end is provided with mechanical arm 1 and the cascade bench 5 that picks and places actr 2, end be provided with pick and place actr 2 mechanical arm 1 for picking and placeing fibre sheet material 9, from fibre sheet material conveying workbench 6 or fibre sheet material conveying workbench 7, get fibre sheet material 9, then stacked being placed on cascade bench 5, cascade bench 5 is for accepting the stacked fibre sheet material of laying 9 of mechanical arm 1, be laminated to the composite material (being structural materials 3) that obtains fibre sheet material 9 laminations after certain thickness.
As shown in Figure 3, fibre sheet material conveying workbench 6 comprise pedestal 6-7, be arranged on pedestal 6-7 end cylinder 6-1, be arranged on pedestal 6-7 the other end fibre sheet material cutter 6-3, be arranged on the upper and feeding roller 6-8 between cylinder 6-1 and fibre sheet material cutter 6-3 of pedestal 6-7, be arranged on the fibre sheet material bench board 6-5 at fibre sheet material cutter 6-3 discharging opening place and the length that is arranged on fibre sheet material bench board 6-5 is controlled sensor 6-4.Fibre sheet material cutter 6-3 comprise the framework that is arranged on pedestal 6-7 and with the cutter of framework bearing fit, the bearing fit of cutter and framework can be realized by slide rail and slide block, and is equipped with driver train, driver train can specifically be selected motor, cylinder etc.On cylinder 6-1, batched fibre sheet material cloth 6-2, fibre sheet material cloth 6-2 is under the effect of feeding roller 6-8, to fibre sheet material cutter, 6-3 transports, fibre sheet material cloth 6-2 stretches out from the discharging opening of fibre sheet material cutter 6-3, be sent to fibre sheet material bench board 6-5, length is controlled fibre sheet material cloth 6-2 that sensor 6-4 detects transmission and is reached after required length, length is controlled sensor 6-4 and is sent signal to stop feeding roller 6-8 transmission, fibre sheet material cutter 6-3 carries out cutting, fibre sheet material 6-6 after cutting drops on fibre sheet material bench board 6-5, dropping on fibre sheet material 6-6 on fibre sheet material bench board 6-5 is provided with by end the mechanical arm 1 that picks and places actr 2 and gets, then stacked being placed on cascade bench 5.Fibre sheet material cloth 6-2 is all consistent with the structure of fibre sheet material 9 with fibre sheet material 6-6 structure, and fibre sheet material 6-6 refers to certain a slice fibre sheet material cutting in this process, and fibre sheet material 9 is the fibre sheet materials that cut in general reference process.On fibre sheet material bench board 6-5, belt conveyor can be set, also belt conveyor can be set.The structure of fibre sheet material conveying workbench 7 is identical with the structure of fibre sheet material conveying workbench 6.
As shown in Figure 4, picking and placeing actr 2 comprises attaching parts 2-3, cylinder 2-2 and is arranged on the pushing block 2-4 on the piston rod of cylinder 2-2 and is arranged on the fixed frame 2-1 on the end face of cylinder 2-2, one end of attaching parts 2-3 is connected with mechanical arm 1, the other end is connected with cylinder 2-2, is installed with fibre sheet material attaching parts 8 on fixed frame 2-1.As shown in Fig. 5 (a) and Fig. 5 (b), fibre sheet material attaching parts 8 comprises board fiber board 8-1 and fibre sheet material Connection Element (being hook 8-2), as shown in Fig. 5 (c) and Fig. 5 (d), fibre sheet material attaching parts 8 comprises board fiber board 8-1 and fibre sheet material Connection Element (enclosing 8-3).As shown in Figure 1 and Figure 5, the fibre sheet material corpus fibrosum 9-2 in fibre sheet material 9 and the board fiber board 8-1 in fibre sheet material attaching parts 8 are carbon fiber, glass fibre, chemical fiber, regenerated fiber, boron fiber, silicon carbide fibre or textile industry fiber.When the Connection Element above the fibre sheet material 9 until folded is hook 9-1, the side that fibre sheet material attaching parts 8 is connected with fibre sheet material 9 (being Connection Element) is circle 8-3; When the Connection Element above the fibre sheet material 9 until folded is circle 9-3, the side (being Connection Element) that dimension sheet material attaching parts 8 is connected with fibre sheet material 9 is hook 8-2.
As shown in Figure 2, cascade bench 5 is provided with fibre sheet material anchor fitting, and fibre sheet material anchor fitting comprises four flexible jigs 4, is separately positioned on the surrounding of cascade bench 5.As shown in Figure 6, flexible jig 4 comprises and is fixedly mounted on clamping cylinder 4-3 on cascade bench 5, is arranged on the oscillating cylinder 4-2 on the piston rod of clamping cylinder 4-3 and is arranged on the briquetting 4-1 on oscillating cylinder 4-2.Flexible oscillating cylinder 4-2 and the briquetting 4-1 up-and-down movement of making of the piston rod by clamping cylinder 4-3, oscillating cylinder 4-2 can make briquetting 4-1 rotate a certain angle.
As shown in Fig. 7 (a) and Fig. 7 (b), stacked fibre sheet material 9 on cascade bench 5, is laminated to the composite material (being structural materials 3) that obtains fibre sheet material 9 laminations after certain thickness.
As shown in Fig. 1 ~ 7, the principle of work of the automatic stack system of industrial robot of fibre sheet material of the present invention is as follows:
The fibre sheet material cloth 6-2 batching on cylinder 6-1 transports to fibre sheet material cutter 6-3 by feeding roller 6-8, fibre sheet material cloth 6-2 stretches out from the discharging opening of fibre sheet material cutter 6-3, be sent to fibre sheet material bench board 6-5, length is controlled fibre sheet material cloth 6-2 that sensor 6-4 detects transmission and is reached after required length, length is controlled sensor 6-4 and is sent signal to stop feeding roller 6-8 transmission, fibre sheet material cutter 6-3 carries out cutting, fibre sheet material 6-6 after cutting drops on fibre sheet material bench board 6-5, dropping on fibre sheet material 6-6 on fibre sheet material bench board 6-5 is provided with by end the mechanical arm 1 that picks and places actr 2 and gets, mechanical arm 1 drives and picks and places actr 2 to fibre sheet material bench board 6-5, by the fibre sheet material attaching parts 8 picking and placeing on actr 2, mesh with the fibre sheet material 6-6 on fibre sheet material bench board 6-5, under mechanical arm 1 passes on, fibre sheet material 6-6 is moved away to fibre sheet material bench board 6-5, and move to exactly cascade bench 5 directly over.If any a plurality of fibre sheet material conveying workbenchs, the generation of fibre sheet material can be carried out on each fibre sheet material conveying workbench simultaneously.The generation of the fibre sheet material of different fibre sheet material conveying workbenchs can be with reference to above-mentioned steps.
Before fibre sheet material 6-6 is placed in cascade bench 5, briquetting 4-1 is under the effect of oscillating cylinder 4-2, briquetting 4-1 half-twist, briquetting 4-1 is parallel with the edge of table on cascade bench 5, move to non-lamination area, mechanical arm 1 is placed in fibre sheet material 6-6 on cascade bench 5, briquetting 4-1 is under the effect of oscillating cylinder 4-2, go back to 90 °, vertical with the edge of table on cascade bench 5, move to lamination area, clamping cylinder 4-3 is descending simultaneously, the briquetting 4-1 of flexible jig 4 compresses fibre sheet material 6-6, thereby fibre sheet material 6-6 is fixed.
Pick and place the cylinder 2-2 extrapolation pushing block 2-4 on actr 2, fibre sheet material 6-6 is peeled off from picking and placeing actr 2.At four flexible jigs 4 with pick and place under the combined action of the cylinder 2-2 on actr 2, complete the lamination of a fibre sheet material 6-6.
Complete after a lamination action, the cylinder 2-2 that picks and places actr 2 regains, and is distributed in stacking workbench four flexible jigs 4 around, and its briquetting 4-1 is under the effect of clamping cylinder 4-3 and oscillating cylinder 4-2, move to non-lamination area, for lamination work is next time prepared.As there are a plurality of fibre sheet material conveying workbenchs, next time stackedly select as required corresponding fibre sheet material conveying workbench to obtain fibre sheet material 9.
Be more than lamination process of the automatic stack system of industrial robot of fibre sheet material of the present invention, repeat said process, fibre sheet material 9 that can stacked some layers, obtains the composite material of fibre sheet material 9 laminations, and structural materials 3.
Claims (7)
1. the automatic stack system of the industrial robot of fibre sheet material, is characterized in that, comprising:
Fibre sheet material conveying workbench, described fibre sheet material conveying workbench comprises pedestal, be arranged on cylinder and fibre sheet material cutter on described pedestal, be arranged on feeding roller on described pedestal and between described cylinder and described fibre sheet material cutter, be arranged on the fibre sheet material bench board at fibre sheet material cutter discharging opening place and the length that is arranged on described fibre sheet material bench board is controlled sensor;
Cascade bench;
End is provided with the mechanical arm that picks and places actr, for getting fibre sheet material on described fibre sheet material conveying workbench and being stackedly placed in described cascade bench;
The described actr that picks and places comprises attaching parts, cylinder and is arranged on the pushing block on the piston rod of described cylinder and is arranged on the fixed frame on the end face of described cylinder, one end of described attaching parts is connected with described mechanical arm, the other end is connected with described cylinder, is installed with fibre sheet material attaching parts on described fixed frame.
2. the automatic stack system of the industrial robot of fibre sheet material according to claim 1, is characterized in that, described fibre sheet material cutter comprise the framework that is arranged on described pedestal and with the cutter of described framework bearing fit.
3. the automatic stack system of the industrial robot of fibre sheet material according to claim 1, it is characterized in that, hook or circle that described fibre sheet material attaching parts comprises board fiber board and is arranged on described board fiber board one side, the opposite side of described board fiber board is connected with described fixed frame.
4. the automatic stack system of the industrial robot of fibre sheet material according to claim 1, is characterized in that, described cascade bench is provided with fibre sheet material anchor fitting.
5. the automatic stack system of the industrial robot of fibre sheet material according to claim 4, it is characterized in that, described fibre sheet material anchor fitting comprises several flexible jigs, the oscillating cylinder on the piston rod that described flexible jig comprises the clamping cylinder that is fixedly mounted on described cascade bench, be arranged on described clamping cylinder and be arranged on the briquetting on described oscillating cylinder.
6. the automatic stack system of the industrial robot of fibre sheet material according to claim 5, is characterized in that, described flexible jig is four, is separately positioned on the surrounding of described cascade bench.
7. the automatic stack system of the industrial robot of fibre sheet material according to claim 1, it is characterized in that the circle that described fibre sheet material comprises fibre sheet material corpus fibrosum, is fixedly installed on the hook of described fibre sheet material corpus fibrosum one side and is fixedly installed on described fibre sheet material corpus fibrosum opposite side.
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| CN201210237072.9A CN102756921B (en) | 2012-07-10 | 2012-07-10 | Industrial robot automatic laminating system for fiber sheets |
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| CN201210237072.9A CN102756921B (en) | 2012-07-10 | 2012-07-10 | Industrial robot automatic laminating system for fiber sheets |
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| CN102756921B true CN102756921B (en) | 2014-12-03 |
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| DE102013204409A1 (en) * | 2013-03-13 | 2014-09-18 | Holzma Plattenaufteiltechnik Gmbh | Board processing plant |
| CN104290962B (en) * | 2014-09-28 | 2017-02-01 | 上海松川远亿机械设备有限公司 | Flattening conveying method suitable for flat rolling packing machine |
| CN105947571B (en) * | 2016-06-17 | 2018-11-09 | 河北国美新型建材有限公司 | A kind of block of glass wool product automation conveying equipment and carrying method |
| NL2019094B1 (en) * | 2017-06-19 | 2018-12-27 | Airborne Int B V | Device and method for sorting plies |
| CN108867012A (en) * | 2018-09-13 | 2018-11-23 | 常州市新创智能科技有限公司 | A kind of multistation, which is cut, inhales cloth machine |
| CN112339276B (en) * | 2019-08-06 | 2022-11-15 | 中国科学院宁波材料技术与工程研究所 | Fiber-reinforced thermoplastic prepreg sheet lamination forming production line device and process |
| CN110949943A (en) * | 2019-12-27 | 2020-04-03 | 福州大学 | Automatic feeding and positioning device for translational long-strip-shaped profile and working method of automatic feeding and positioning device |
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