FR3063673B1 - Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot - Google Patents

Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot Download PDF

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Publication number
FR3063673B1
FR3063673B1 FR1752008A FR1752008A FR3063673B1 FR 3063673 B1 FR3063673 B1 FR 3063673B1 FR 1752008 A FR1752008 A FR 1752008A FR 1752008 A FR1752008 A FR 1752008A FR 3063673 B1 FR3063673 B1 FR 3063673B1
Authority
FR
France
Prior art keywords
robot
parallel cable
mobile platform
dredging
installation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1752008A
Other languages
English (en)
Other versions
FR3063673A1 (fr
Inventor
Matthieu Kneveler
Alexis Girin
Stephane Caro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Institut de Recherche Technologique Jules Verne
Original Assignee
Centre National de la Recherche Scientifique CNRS
Institut de Recherche Technologique Jules Verne
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Institut de Recherche Technologique Jules Verne filed Critical Centre National de la Recherche Scientifique CNRS
Priority to FR1752008A priority Critical patent/FR3063673B1/fr
Priority to PCT/EP2018/055969 priority patent/WO2018166926A1/fr
Priority to EP18708446.2A priority patent/EP3595877A1/fr
Priority to US16/493,536 priority patent/US20200001552A1/en
Publication of FR3063673A1 publication Critical patent/FR3063673A1/fr
Application granted granted Critical
Publication of FR3063673B1 publication Critical patent/FR3063673B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • B29C70/386—Automated tape laying [ATL]
    • B29C70/388—Tape placement heads, e.g. component parts, details or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2105/00—Condition, form or state of moulded material or of the material to be shaped
    • B29K2105/06—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts
    • B29K2105/08—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts of continuous length, e.g. cords, rovings, mats, fabrics, strands or yarns
    • B29K2105/0809—Fabrics
    • B29K2105/0845—Woven fabrics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29K—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR MOULDS, REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
    • B29K2105/00—Condition, form or state of moulded material or of the material to be shaped
    • B29K2105/06—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts
    • B29K2105/08—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts of continuous length, e.g. cords, rovings, mats, fabrics, strands or yarns
    • B29K2105/0854—Condition, form or state of moulded material or of the material to be shaped containing reinforcements, fillers or inserts of continuous length, e.g. cords, rovings, mats, fabrics, strands or yarns in the form of a non-woven mat

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Moulding By Coating Moulds (AREA)
  • Replacement Of Web Rolls (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

Plateforme (30) mobile destinée à équiper un robot parallèle à câbles (20), caractérisée par le fait que la plateforme (30) est configurée pour porter au moins une bobine d'un tissu (34) en matériau composite et permettre le déroulement de ladite au moins une bobine, afin de réaliser un drapage d'une préforme, notamment sèche, par déplacement contrôlé de la plateforme (30) au-dessus d'une ligne de drapage (7).
FR1752008A 2017-03-13 2017-03-13 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot Active FR3063673B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1752008A FR3063673B1 (fr) 2017-03-13 2017-03-13 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot
PCT/EP2018/055969 WO2018166926A1 (fr) 2017-03-13 2018-03-09 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot
EP18708446.2A EP3595877A1 (fr) 2017-03-13 2018-03-09 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot
US16/493,536 US20200001552A1 (en) 2017-03-13 2018-03-09 Mobile platform for cable-driven parallel robot, cable-driven parallel robot, installation and method for draping using such a robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1752008 2017-03-13
FR1752008A FR3063673B1 (fr) 2017-03-13 2017-03-13 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot

Publications (2)

Publication Number Publication Date
FR3063673A1 FR3063673A1 (fr) 2018-09-14
FR3063673B1 true FR3063673B1 (fr) 2020-06-12

Family

ID=59031111

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1752008A Active FR3063673B1 (fr) 2017-03-13 2017-03-13 Plateforme mobile pour robot parallele a cables, robot parallele a cables, installation et procede de drapage a l'aide d'un tel robot

Country Status (4)

Country Link
US (1) US20200001552A1 (fr)
EP (1) EP3595877A1 (fr)
FR (1) FR3063673B1 (fr)
WO (1) WO2018166926A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111400917B (zh) * 2020-03-18 2022-09-30 中国科学技术大学 一种可变结构的绳索牵引并联机器人的运动学优化求解方法
GB202008088D0 (en) * 2020-05-29 2020-07-15 Blade Dynamics Ltd Method for arranging a plurality of preforms in a wind turbine blade mould

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4208238A (en) * 1977-07-11 1980-06-17 Grumman Aerospace Corporation Gantry for use in the manufacture of laminar structures
ES2291131B1 (es) * 2006-08-08 2008-12-01 Manuel Torres Martinez Cabezal de aplicacion de cintas de fibra de carbono y metodo de aplicacion.
DE102006060361B4 (de) 2006-12-20 2012-06-28 Airbus Operations Gmbh Transportgreifer und Verfahren zum Transportieren eines flexiblen Flächenmaterials
FR2950285A1 (fr) 2009-09-21 2011-03-25 Airbus Operations Sas Dispositif de drapage automatise
DE102010044175A1 (de) * 2010-11-19 2012-05-24 Mag Ias Gmbh Verfahren und Fertigungseinheit zur Herstellung von Faserverbundmaterial-Bauteilen
DE102011050099B4 (de) 2011-05-04 2014-06-26 Benteler Sgl Gmbh & Co. Kg Drapierwerkzeug sowie Verfahren zum Herstellen eines Faserverbundwerkstoffbauteils
EP2711120A1 (fr) * 2012-09-19 2014-03-26 Richter Maschinenfabrik AG Procédé et dispositif de traitements principalement automatiques, notamment le soudage de très grosses pièces à usiner
DE102013013530A1 (de) * 2013-08-13 2015-03-12 Dürr Systems GmbH Applikationssystem mit seilgeführter Handhabungsvorrichtung zum Bewegen eines Applikationsgeräts
EP2950285B1 (fr) 2014-05-26 2016-10-05 Axis AB Configuration automatique d'une caméra de remplacement

Also Published As

Publication number Publication date
US20200001552A1 (en) 2020-01-02
FR3063673A1 (fr) 2018-09-14
EP3595877A1 (fr) 2020-01-22
WO2018166926A1 (fr) 2018-09-20

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