JP6095655B2 - プライ自動積層システム及び積層方法 - Google Patents

プライ自動積層システム及び積層方法 Download PDF

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Publication number
JP6095655B2
JP6095655B2 JP2014516972A JP2014516972A JP6095655B2 JP 6095655 B2 JP6095655 B2 JP 6095655B2 JP 2014516972 A JP2014516972 A JP 2014516972A JP 2014516972 A JP2014516972 A JP 2014516972A JP 6095655 B2 JP6095655 B2 JP 6095655B2
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JP
Japan
Prior art keywords
ply
end effector
robot
tool
plies
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.)
Expired - Fee Related
Application number
JP2014516972A
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English (en)
Japanese (ja)
Other versions
JP2014522747A (ja
JP2014522747A5 (enExample
Inventor
サムラ エス． サンガリ，
サムラ エス． サンガリ，
カーティス エス． ウィルデン，
カーティス エス． ウィルデン，
ジェームズ エム． コッブ，
ジェームズ エム． コッブ，
ゲイリー エム． バッカス，
ゲイリー エム． バッカス，
カルロス クレスポ，
カルロス クレスポ，
サミュエル エフ． ペディーゴ，
サミュエル エフ． ペディーゴ，
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.)
Boeing Co
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Boeing Co
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
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Publication of JP2014522747A publication Critical patent/JP2014522747A/ja
Publication of JP2014522747A5 publication Critical patent/JP2014522747A5/ja
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Publication of JP6095655B2 publication Critical patent/JP6095655B2/ja
Expired - Fee Related legal-status Critical Current
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T156/00—Adhesive bonding and miscellaneous chemical manufacture
    • Y10T156/10—Methods of surface bonding and/or assembly therefor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Moulding By Coating Moulds (AREA)
  • Manipulator (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
JP2014516972A 2011-06-22 2012-05-16 プライ自動積層システム及び積層方法 Expired - Fee Related JP6095655B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US13/166,306 US9969131B2 (en) 2011-06-22 2011-06-22 Automated ply layup system
US13/166,306 2011-06-22
PCT/US2012/038139 WO2012177340A1 (en) 2011-06-22 2012-05-16 Automated ply layup system and method of laying up

Publications (3)

Publication Number Publication Date
JP2014522747A JP2014522747A (ja) 2014-09-08
JP2014522747A5 JP2014522747A5 (enExample) 2015-07-02
JP6095655B2 true JP6095655B2 (ja) 2017-03-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014516972A Expired - Fee Related JP6095655B2 (ja) 2011-06-22 2012-05-16 プライ自動積層システム及び積層方法

Country Status (9)

Country Link
US (1) US9969131B2 (enExample)
EP (1) EP2723553B1 (enExample)
JP (1) JP6095655B2 (enExample)
KR (1) KR101958032B1 (enExample)
CN (1) CN103619567A (enExample)
CA (1) CA2832229C (enExample)
ES (1) ES2784153T3 (enExample)
PT (1) PT2723553T (enExample)
WO (1) WO2012177340A1 (enExample)

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CA2832229A1 (en) 2012-12-27
KR101958032B1 (ko) 2019-03-13
KR20140033351A (ko) 2014-03-18
PT2723553T (pt) 2020-03-27
US9969131B2 (en) 2018-05-15
ES2784153T3 (es) 2020-09-22
CN103619567A (zh) 2014-03-05
EP2723553B1 (en) 2020-02-19
WO2012177340A9 (en) 2013-02-14
US20120330453A1 (en) 2012-12-27
EP2723553A1 (en) 2014-04-30
CA2832229C (en) 2016-11-22

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