JP6358328B2 - Prepreg sheet laminating equipment - Google Patents

Prepreg sheet laminating equipment Download PDF

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Publication number
JP6358328B2
JP6358328B2 JP2016511980A JP2016511980A JP6358328B2 JP 6358328 B2 JP6358328 B2 JP 6358328B2 JP 2016511980 A JP2016511980 A JP 2016511980A JP 2016511980 A JP2016511980 A JP 2016511980A JP 6358328 B2 JP6358328 B2 JP 6358328B2
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Prior art keywords
prepreg
original fabric
cut sheet
sheet
fiber
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JP2016511980A
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JPWO2015152331A1 (en
Inventor
芳幸 和田
芳幸 和田
真誠 横浜
真誠 横浜
拓紀 油井
拓紀 油井
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株式会社Ihi
株式会社Ihi
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Priority to JP2014076058 priority Critical
Priority to JP2014076058 priority
Application filed by 株式会社Ihi, 株式会社Ihi filed Critical 株式会社Ihi
Priority to PCT/JP2015/060345 priority patent/WO2015152331A1/en
Publication of JPWO2015152331A1 publication Critical patent/JPWO2015152331A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28Shaping operations therefor
    • B29C70/30Shaping 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
    • B29C70/38Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/06Fibrous reinforcements only
    • B29C70/10Fibrous reinforcements only characterised by the structure of fibrous reinforcements, e.g. hollow fibres
    • B29C70/16Fibrous reinforcements only characterised by the structure of fibrous reinforcements, e.g. hollow fibres using fibres of substantial or continuous length
    • B29C70/20Fibrous reinforcements only characterised by the structure of fibrous reinforcements, e.g. hollow fibres using fibres of substantial or continuous length oriented in a single direction, e.g. roofing or other parallel fibres
    • B29C70/202Fibrous reinforcements only characterised by the structure of fibrous reinforcements, e.g. hollow fibres using fibres of substantial or continuous length oriented in a single direction, e.g. roofing or other parallel fibres arranged in parallel planes or structures of fibres crossing at substantial angles, e.g. cross-moulding compound [XMC]
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28Shaping operations therefor
    • B29C70/40Shaping or impregnating by compression not applied
    • B29C70/50Shaping or impregnating by compression not applied for producing articles of indefinite length, e.g. prepregs, sheet moulding compounds [SMC] or cross moulding compounds [XMC]
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2793/00Shaping techniques involving a cutting or machining operation
    • B29C2793/0081Shaping techniques involving a cutting or machining operation before shaping

Description

The present invention relates to a prepreg sheet laminating apparatus.
This application claims priority based on Japanese Patent Application No. 2014-76058 for which it applied to Japan on April 2, 2014, and uses the content here.

  Conventionally, CFRP and GFRP using carbon fiber or glass fiber as reinforcing fiber are used as various members constituting automobiles, aircrafts and the like because they are lightweight and have high durability. As a method for molding such CFRP or GFRP, first, a plurality of prepreg sheets having a thickness of several tens to several hundreds of μm made of reinforcing fibers and a resin are laminated to produce a prepreg sheet laminate, A method of forming a desired three-dimensional shape by stacking a plurality of prepreg sheet laminates having slightly different outer shapes is known.

  The prepreg sheet laminate is manufactured by laminating a plurality of prepreg sheets. The prepreg sheet has very high tensile strength and toughness in the fiber direction (fiber length direction), that is, the orientation direction, but has low tensile strength and toughness in the direction perpendicular to the fiber direction (orientation direction), and is therefore mechanical. The characteristic is anisotropic. Therefore, in the prepreg sheet laminate, the prepreg sheets are laminated with different fiber directions in order to relax the anisotropy of the prepreg sheet.

  In order to laminate prepreg sheets having different fiber directions, a prepreg original fabric in which the fiber directions are aligned in the length direction, that is, a prepreg original fabric in an arbitrary fiber direction is produced from an original fabric having a fiber angle of 0 °, and a fiber angle It is conceivable to laminate a rectangular prepreg sheet obtained by cutting a prepreg original fabric having an angle of 0 ° in the width direction and a rectangular prepreg sheet obtained by cutting a prepreg original fabric in an arbitrary fiber direction in the width direction.

  At that time, as a method of manufacturing a prepreg original fabric in an arbitrary fiber direction, for example, a method using a manufacturing apparatus described in Patent Document 1 is known. The prepreg manufacturing apparatus described in Patent Document 1 includes a feeding device for attaching a prepreg original fabric, a first feed device for pulling out a prepreg by a predetermined length from a prepreg original fabric attached to the feeding device, and a first feed. A cutting device that cuts the prepreg drawn out by the device at a predetermined angle with respect to the fiber direction; and a predetermined direction in which the fiber direction of the prepreg piece cut out by the cutting device is different from the fiber direction of the prepreg drawn out by the first feed device A swiveling device that swivels in a direction, a rearrangement device that sequentially aligns the end portions along the fiber direction of the prepreg pieces swung by the swiveling device, and a protrusion of the prepreg pieces that abut each other by the rearrangement device Place the adhesive device that attaches the adhesive tape to the mating part and the prepreg pieces that are adhered to each other by the adhesive device. A second feed device for feeding each length is constructed by a winding apparatus for winding a prepreg to be delivered from the second feed device.

Japanese Patent No. 2876244

  However, although the prepreg manufacturing apparatus described in Patent Document 1 can manufacture a prepreg original fabric in any fiber direction, it can directly manufacture a prepreg sheet laminate in which prepreg sheets having different fiber directions are stacked. Therefore, the prepreg sheet laminate cannot be easily manufactured.

  This invention is made | formed in view of the said situation, The objective is provision of the prepreg sheet lamination apparatus which can manufacture easily the prepreg sheet laminated body which laminated | stacked the prepreg sheet | seat from which a fiber direction differs.

  In the prepreg sheet laminating apparatus according to the first aspect of the present invention, a plurality of prepreg sheets having fibers oriented in one direction are laminated, and at least one prepreg sheet is different in fiber direction from the prepreg sheets of other layers. A prepreg sheet laminating apparatus for producing a prepreg sheet laminated body laminated in such a manner that a main conveyance path for running a prepreg original fabric in which the fiber direction is oriented in the reference direction, and the fiber direction is oriented in the reference direction A prepreg cut sheet forming part that forms a prepreg cut sheet by cutting the prepreg original fabric in the width direction at a preset angle and a prepreg cut sheet formed by the prepreg cut sheet forming part travel on the main conveyance path. The direction in which the fiber direction is set in advance while being transported on the prepreg raw fabric So as to include the transfer hand for placing the prepreg raw above, and the welding unit for welding the prepreg cut sheets placed on the prepreg raw therewith, a.

  Moreover, the 2nd aspect of this invention is a prepreg sheet lamination apparatus which concerns on a 1st aspect. WHEREIN: The laminated body of the prepreg raw fabric and the prepreg cut sheet which were welded by the welding part is cut | disconnected, and a prepreg sheet laminated body is used. A cutting section to obtain.

  Further, according to a third aspect of the present invention, in the prepreg sheet stacking apparatus according to the first or second aspect, another prepreg original fabric is sent out on the prepreg original fabric traveling on the main conveyance path, and the other The prepreg original fabric is also provided with a delivery section that travels along the main conveyance path.

  According to a fourth aspect of the present invention, in the prepreg sheet laminating apparatus according to the first to third aspects, a plurality of prepreg cut sheet forming portions are provided and transferred corresponding to each of the prepreg cut sheet forming portions. Provide multiple hands.

  In addition, according to a fifth aspect of the present invention, in the prepreg sheet laminating apparatus according to the fourth aspect, a plurality of transfer hands are used when one transfer hand places a prepreg cut sheet on the prepreg original fabric. The fiber direction of the prepreg cut sheet is configured to be different from the fiber direction of the prepreg cut sheet when another one transfer hand places the prepreg cut sheet on the prepreg original fabric.

  The prepreg sheet laminating apparatus of the present invention transfers the prepreg cut sheet formed by the prepreg cut sheet forming section onto the prepreg original fabric traveling on the main conveyance path, and the fiber direction thereof is set in a preset direction. A transfer hand is placed on the prepreg stock. Therefore, the prepreg sheet laminated body which laminated | stacked the prepreg sheet | seat from which a fiber direction differs by the prepreg original fabric and the prepreg cut sheet mounted on this can be obtained. Therefore, the prepreg sheet laminate can be easily manufactured.

It is a top view which shows typically one Embodiment of the prepreg sheet lamination apparatus of this invention. It is a side view which shows typically one Embodiment of the prepreg sheet lamination apparatus of this invention. It is a schematic diagram for demonstrating the prepreg sheet laminated body formed with a prepreg sheet lamination apparatus. It is a perspective view which shows schematic structure of a cutting device.

Hereinafter, the prepreg sheet laminating apparatus of the present invention will be described in detail with reference to the drawings. In the following drawings, the scale of each member is appropriately changed to make each member a recognizable size.
FIG. 1 is a plan view schematically showing one embodiment of the prepreg sheet laminating apparatus of the present invention, and FIG. 2 is a side view schematically showing one embodiment of the prepreg sheet laminating apparatus of the present invention. In these drawings, reference numeral 1 denotes a prepreg sheet laminating apparatus.

The prepreg sheet laminating apparatus 1 includes a feeding device 2 that feeds a roll-shaped prepreg original fabric (prepreg sheet) P1, a main conveyance path 3 that travels the prepreg original fabric P1 that is fed from the feeding device 2, and a main conveyance path. 3 and a feeding device 4 that draws the prepreg sheet laminate P5 that has traveled on the top 3 and sends it to the downstream side.
The prepreg raw fabric P1 is formed in a thickness of about 50 to 300 μm by impregnating a reinforcing fiber (fiber) such as carbon fiber or glass fiber with a thermoplastic resin or a thermosetting resin, and the direction of the reinforcing fiber (fiber). Are aligned so as to be aligned in a certain direction.

  FIG. 3 is a schematic diagram for explaining the prepreg sheet laminate P5 formed by the prepreg sheet laminating apparatus 1. FIG. As shown in FIG. 3, in this embodiment, the prepreg original fabric P1 is oriented so that the direction (length direction) of the reinforcing fibers F substantially coincides with the reference direction, that is, the length direction of the prepreg original fabric P1. Is formed. Therefore, the prepreg original fabric P1 is a prepreg original fabric in which the orientation of the reinforcing fibers F is 0 °.

  As shown in FIGS. 1 and 2, the feeding device 2 has a roller, and is configured to feed a prepreg original fabric P <b> 1 wound in a roll shape in the length direction and send it onto the main conveyance path 3. . In this case, the prepreg original fabric P1 is sent out onto the main conveyance path 3 by being pulled by a feeding device 4 described later.

  As shown in FIG. 1, the main transport path 3 is a linear (straight plate) member having a width wider than the width of the prepreg original fabric P1, and is formed so that the prepreg original fabric P1 travels on the upper surface thereof. Yes. The upper surface of the main conveyance path 3 is formed on a smooth surface with a small frictional resistance so that the prepreg original fabric P1 can smoothly travel.

  As shown in FIGS. 1 and 2, on the downstream side of the main conveyance path 3, a pair of rollers 4a and 4a arranged up and down and one of the pair of rollers 4a and 4a are connected to one roller 4a. And a drive source 4b such as a motor for rotating the roller 4a. As described above, the feeding device 4 sandwiches the prepreg sheet laminate P5 that has traveled on the main conveyance path 3 between the pair of rollers 4a and 4a, and rotates the roller 4a by the drive source 4b, thereby prepreg sheet laminate. It is configured to draw P5 and send it downstream. Accordingly, as described above, the feeding device 2 is configured to feed the prepreg sheet laminate P5 drawn by the driving of the feeding device 4 to the main conveying path 3 without feeding the prepreg original fabric P1 by its own driving. Has been.

  Here, as shown in FIG. 3, the prepreg sheet laminate P5 drawn into the feeding device 4 includes a first prepreg cut sheet P2, a prepreg original sheet P3, and a second prepreg on the prepreg original sheet P1. The cut sheets P4 are sequentially stacked. FIG. 3 shows that the original fabric and sheets flow on the main conveyance path 3 from the left side to the right side in the drawing, and the original fabrics and sheets are sequentially stacked from the left side to the right side. It shows the state being done.

  As shown in FIG. 1, a first prepreg cut sheet forming portion 5 is disposed on the upstream side of the main conveyance path 3. The first prepreg cut sheet forming unit 5 includes a feeding device 6 that feeds the roll-shaped prepreg original fabric P1, a sub-conveying path 7 that travels the prepreg original fabric P1 fed from the feeding device 6, and a sub-conveying route 7 And a cutting device 8 that cuts the prepreg original fabric P1 that has traveled in the width direction at a preset angle. The prepreg original fabric P1 delivered from the delivery device 6 is the same as the prepreg original fabric P1 delivered on the main conveyance path 3 by the delivery device 2 described above. That is, it is a prepreg original fabric in which the orientation of the reinforcing fibers F is 0 °.

  The feeding device 6 includes a feeding device 6a that feeds the roll-shaped prepreg original fabric P1 and a feeding device 6b that feeds the roll-shaped prepreg original fabric P1 fed by the feeding device 6a onto the sub-conveying path 7. . The feeding device 6 a is formed in the same manner as the feeding device 2 described above, and is configured to feed the prepreg original fabric P <b> 1 wound in a roll shape in the length direction and feed it onto the sub-conveying path 7.

  The feeding device 6b is formed in the same manner as the feeding device 4, and is connected to one roller 6c of the pair of rollers 6c and 6c and the pair of rollers 6c and 6c arranged on the upper and lower sides. And a drive source 6d such as a motor for rotating the motor. The feeding device 6b sandwiches the prepreg original fabric P1 fed out from the feeding device 6a between the pair of rollers 6c and 6c, and pulls in the prepreg original fabric P1 by the rotation of the roller 6c by the drive source 6d. It is comprised so that it may send to the downstream of this.

  The sub transport path 7 is disposed on one side of the main transport path 3 and extends so as to be orthogonal to the main transport path 3. The sub-transport path 7 is also a linear (straight plate) member having a width wider than that of the prepreg original fabric P1 as in the case of the main transport path 3, and the prepreg original fabric P1 is caused to travel on the upper surface thereof. Is formed. The upper surface of the sub-transport path 7 is also formed on a smooth surface with little frictional resistance so that the prepreg original fabric P1 can smoothly travel.

  The cutting device 8 cuts the prepreg original fabric P1 that has traveled on the sub-conveying path 7 in the width direction at a preset angle. FIG. 4 shows a schematic configuration of the cutting device 8 in the present embodiment. The cutting device 8 includes a cutter 8a, a holding bar 8b that holds the cutter 8a movably, and a pair of support portions 8c and 8c that support both ends of the holding bar 8b. The cutter 8a is configured to reciprocate in the length direction of the holding bar 8b by a driving means such as a motor, and in this way, the prepreg original fabric P1 is cut by moving especially in the forward path, and the return path is moved. To return to the initial position and wait for a new cut.

  The holding bar 8b is an elongated prismatic member formed in a length sufficiently longer than the width of the prepreg original fabric P1, and is disposed above the prepreg original fabric P1 across the width direction of the prepreg original fabric P1. Yes. Thereby, the holding bar 8b guides the cutter 8a in the length direction.

  The pair of support portions 8c and 8c support the holding bar 8b so that the both ends of the holding bar 8b are movable so that the angle of the holding bar 8b with respect to the prepreg original fabric P1 is set in advance. In the present embodiment, the holding bar 8b is arranged so that the holding bar 8b intersects 45 ° (−45 °) with respect to the fiber direction (orientation direction) of the prepreg original fabric P1, that is, the length direction of the prepreg original fabric P1. I support it. Therefore, by moving along the length direction of the holding bar 8b, the cutter 8a cuts the prepreg original fabric P1 in the width direction at an angle of 45 °.

  Here, the sign “−” of −45 ° indicates that the length direction (orientation direction) of the reinforcing fiber F is shifted in the clockwise direction as shown in FIG. 3. Therefore, when it is shifted in the counterclockwise direction, it is indicated by a sign “+”.

  Further, as shown in FIG. 4, the pair of support portions 8c and the support portion 8c are configured such that the angle of the holding bar 8b with respect to the prepreg original fabric P1 can be changed to an arbitrary angle. That is, the holding bar 8b is configured such that both ends thereof move in opposite directions to the length direction of the support bar 8d with respect to the support bar 8d that directly supports the holding bar 8b. Thereby, the angle with respect to the length direction (length direction of the reinforcing fiber F) of the prepreg original fabric P1 is variable. Therefore, in this cutting device 8, instead of performing the cutting angle of the prepreg original fabric P1 at “+ 45 °”, for example, it is possible to cut at “+ 30 °” or “+ 60 °”. Furthermore, cutting at “−45 °” is also possible.

  The cutting device 8 is controlled by a control device (not shown) so that the driving of the cutter 8a is interlocked with the operation of the feeding device 6b of the feeding device 6. That is, while the feeding operation of the prepreg original fabric P1 by the feeding device 6b is once stopped, the cutter 8a is driven to cut the prepreg original fabric P1 at a preset angle, and the parallelogram shown in FIG. The first prepreg cut sheet P2 is formed. Here, in the sub-conveying path 7 shown in FIG. 4, the first prepreg cut sheet P2 is located at the position where the first prepreg cut sheet P2 formed by cutting is held downstream from the holding bar 8b. In order to prevent the position shift caused by the floating, a floating prevention means including a suction hole or the like is provided.

  When the driving of the cutter 8a is stopped, the first prepreg cut sheet P2 is picked by the transfer hand 9 described later. Thereafter, the prepreg original fabric P1 is sent out again by the feeding device 6b. At that time, when the interval of cutting with the cutter 8a is indicated by a side L1 in FIG. 3, the length of the side L1 is √2 times the width of the prepreg original fabric P1, and the feeding device 6b and the cutter 8a The drive is controlled.

  As shown in FIGS. 1 and 2, the prepreg sheet formed by the first prepreg cut sheet forming unit 5, that is, the cutting, is provided downstream of the cutting device 8, that is, on the main conveyance path 3 side of the sub conveyance path 7. A transfer hand 9 for transferring the first prepreg cut sheet P2 shown in FIG. 3 cut by the apparatus 8 onto the prepreg original fabric P1 running on the main conveyance path 3 is provided.

  As shown in FIG. 2, the transfer hand 9 is configured to suck and hold the first prepreg cut sheet P2, and rotate the holding part 9a on a horizontal plane to reinforce the reinforcing fiber F of the first prepreg cut sheet P2. And a rotating portion 9b that sets the fiber direction (orientation direction) to a preset direction. The holding part 9a is configured to detachably hold the first prepreg cut sheet P2 by vacuum suction. The rotation unit 9b is formed by a robot arm, has a plurality of rotation axes, moves the holding unit 9a in the XY directions on the horizontal plane, rotates it around a vertical axis, and moves the holding unit 9a up and down. It is configured.

  The transfer hand 9 having such a configuration holds the parallelogram-shaped first prepreg cut sheet P2 cut out by the cutting device 8 by the holding portion 9a, and rotates the held first prepreg cut sheet P2. The first prepreg cut sheet P2 is placed on the prepreg original fabric P1 by being moved onto the main conveyance path 3 by the portion 9b and then being detached from the holding portion 9a. At that time, as shown in FIG. 3, the rotating portion 9b is arranged so that the fiber direction (orientation direction) of the reinforcing fibers F of the first prepreg cut sheet P2 becomes a preset direction, that is, the prepreg original fabric P1 is reinforced. The first prepreg cut sheet P2 is placed on the prepreg original fabric P1 so that the angle is + 45 ° which is an angle different from the fiber direction (orientation direction) of the fiber F.

  Further, when the first prepreg cut sheet P2 is placed in this way, the cut side L2 and the cut side L2 of the first prepreg cut sheet P2 are positioned on the side edges of the prepreg original fabric P1, respectively. So that they are aligned. Thereby, as shown in FIG. 3, the first prepreg cut sheet P2 is placed on the prepreg original fabric P1 without protruding from the prepreg original fabric P1.

  The first prepreg cut sheet forming unit 5 and the transfer hand 9 continuously perform the formation of the first prepreg cut sheet P2 and the transfer of the formed first prepreg cut sheet P2. The first prepreg cut sheet P2 is arranged (placed) in a continuous state with no gap and without overlapping with the prepreg original fabric P1 traveling on the main conveyance path 3.

  As shown in FIG. 1, a gap detection unit 10 is disposed on the main transport path 3 slightly downstream of the sub transport path 7. The gap detection unit 10 is formed by a two-dimensional laser displacement sensor that detects a level difference of the sheet, an image sensor such as a CCD camera, and the first prepreg cut sheet P2 that is placed on the prepreg original fabric P1. A gap between the succeeding first prepreg cut sheet P2 is detected.

  That is, whether or not the gap between the front and rear first prepreg cut sheets P2 and the first prepreg cut sheet P2 is within a preset range (for example, several millimeters or less), and whether or not they overlap. Is detected. When the gap is wider than a preset range, or when the front and rear first prepreg cut sheets P2 and the first prepreg cut sheets P2 are overlapped with each other, a control unit (not shown) displays “Reload”. Signal is output. Upon receiving the “replacement” signal, the control unit drives the transfer hand 9 again and repositions the first prepreg cut sheet P <b> 2 by the transfer hand 9. Therefore, the first prepreg cut sheet P2 and the first prepreg cut sheet P2 positioned at the front and rear are finally arranged continuously in the front and rear with a gap adjusted to a preset range without overlapping. .

  Further, as shown in FIG. 2, a welding machine 11 is disposed downstream of the gap detection unit 10 in the main conveyance path 3. In the present embodiment, the welding machine 11 corresponds to the side L1 of the first prepreg cut sheet P2 shown in FIG. 3 and is a heating body that travels along the length direction thereof. Such a welding machine 11 heats the inside of the side L1 of the first prepreg cut sheet P2, melts the resin of the first prepreg cut sheet P2 and the underlying prepreg raw fabric P1, and then solidifies it. The first prepreg cut sheet P2 and the prepreg original fabric P1 are welded. The welding machine 11 may be formed and arranged integrally with the gap detection unit 10.

  As shown in FIGS. 1 and 2, a feeding device (feeding unit) 12 is disposed on the downstream side of the welding machine 11. The delivery device 12 is arranged above the main conveyance path 3 and sends out another prepreg original fabric P3 on the laminate of the prepreg original fabric P1 and the first prepreg cut sheet P2 that travels on the main conveyance path 3. It is configured as follows. Here, the prepreg original fabric P3 delivered from the delivery device 12 is also the same as the prepreg original fabric P1 delivered on the main conveyance path 3 by the delivery device 2, and the orientation of the reinforcing fibers F is 0 °. This is a prepreg raw fabric.

  Further, as shown in FIG. 2, the feeding device 12 feeds a roll-shaped prepreg original fabric P3 and a roll-shaped prepreg original fabric P3 fed by the feeding device 12a onto the main conveyance path 3. And a feeding device 12b. The feeding device 12a is configured to feed the prepreg original fabric P3 wound in a roll shape in the length direction and to send it upward once.

  The feeding device 12b includes a plurality of rollers 12c and a drive source (not shown) such as a motor that is connected to the rollers 12c arranged on the downstream side of the rollers 12c and rotates the rollers 12c. It is configured. The feeding device 12b feeds the prepreg original fabric P3 fed from the feeding device 12a and once sent upward from the upper side to the lower side by a plurality of rollers 12c so as to feed the prepreg original fabric P3 onto the laminate traveling on the main conveyance path 3. It is configured.

  Further, when the prepreg original fabric P3 is sent out onto the laminate in this way, the delivery device 12 has both side edges of the prepreg original fabric P3 as shown in FIG. 3, and the first prepreg cut sheet P2 in the laminate. Are aligned so as to be positioned on the cutting side L2 and the cutting side L2. Thereby, as shown in FIG. 3, the prepreg original fabric P3 is placed on the first prepreg cut sheet P2 without protruding from the first prepreg cut sheet P2.

  As shown in FIGS. 1 and 2, a welder 13 is disposed on the downstream side of the delivery device 12. The welding machine 13 is formed by a heating element in the same manner as the welding machine 11 and is the uppermost prepreg original fabric P3 and the laminate as the lower layer, that is, the prepreg original fabric P1 and the first prepreg cut. The laminate with the sheet P2 is welded and integrated. In the present embodiment, the heating body is run in the width direction of the prepreg original fabric P3 shown in FIG. 3, that is, in the direction orthogonal to the length direction of the reinforcing fibers F, and the prepreg original fabric P3 and the laminate as the lower layer of the laminate. The resin is melted and then solidified, and the original prepreg P3 and the laminate are welded.

  As shown in FIG. 1, a second prepreg cut sheet forming portion 14 is disposed downstream of the welder 13. The second prepreg cut sheet forming unit 14 is configured in substantially the same manner as the first prepreg cut sheet forming unit 5, and includes a feeding device 15 that feeds the roll-shaped prepreg original fabric P 1, and a prepreg fed from the feeding device 15. A sub-transport path 16 that travels the original fabric P1 and a cutting device 17 that cuts the prepreg original fabric P1 that has traveled on the sub-transport path 16 in the width direction at a preset angle.

  Here, the prepreg original fabric P1 delivered from the delivery device 15 is a prepreg original fabric in which the orientation of the reinforcing fibers F is 0 °, like the prepreg original fabric P1 used in the first prepreg cut sheet forming portion 5.

  The feeding device 15 is configured in the same manner as the feeding device 6 of the first prepreg cut sheet forming unit 5, and includes a feeding device 15 a that feeds the roll-shaped prepreg original fabric P 1, and a roll-shaped prepreg raw material that is fed by the feeding device 15 a. And a feeding device 15b for sending the anti-P1 onto the sub conveyance path 16. The feeding device 15 a is configured to feed the prepreg original fabric P <b> 1 wound in a roll shape in the length direction and feed it onto the sub-transport path 16.

  The feeding device 15b includes a pair of rollers 15c and 15c arranged above and below, a drive source 15d such as a motor that is connected to one of the pair of rollers 15c and 15c and rotates the roller 15c, and the like. It is comprised. The feeding device 15b also holds the prepreg original fabric P1 fed out from the feeding device 15a between the pair of rollers 15c and 15c, and pulls in the prepreg original fabric P1 by the rotation of the roller 15c by the drive source 15d. It is comprised so that it may send to the downstream of this.

  The sub conveyance path 16 is disposed on one side of the main conveyance path 3, that is, on the same side as the sub conveyance path 7 of the first prepreg cut sheet forming unit 5, and extends so as to be orthogonal to the main conveyance path 3. It is arranged. The sub-transport path 16 is also a linear (straight plate) member having a width wider than the width of the prepreg original fabric P1, and is formed so that the prepreg original fabric P1 travels on the upper surface thereof. The upper surface of the sub-transport path 16 is also formed on a smooth surface with a low frictional resistance so that the prepreg original fabric P1 can smoothly travel.

  Similarly to the cutting device 8 of the first prepreg cut sheet forming unit 5, the cutting device 17 cuts the prepreg original fabric P <b> 1 that has traveled on the sub-transport path 16 in the width direction at a preset angle. That is, the cutting device 17 includes the cutter 8a shown in FIG. 4, a holding bar 8b that holds the cutter 8a so as to be movable, and a pair of support portions 8c that support both ends of the holding bar 8b, and a support portion 8c. Configured.

  However, in the cutting device 17 of the second prepreg cut sheet forming portion 14, the cutting device 8 cuts the prepreg original fabric P1 in the width direction at an angle of + 45 °, and the first prepreg shown in FIG. Unlike forming the cut sheet P2, the width direction of the prepreg original fabric P1 is cut at an angle of −45 ° to form the second prepreg cut sheet P4 shown in FIG.

  That is, in this cutting device 17, the orientation of the holding bar 8b for movably holding the cutter 8a shown in FIG. 4 is different from that of the cutting device 8, and as shown in FIG. On the contrary, it is inclined 45 °. Accordingly, the second prepreg cut sheet P4 formed by being cut by the cutting device 17 is formed such that the cut side L4 is inclined by 45 ° with respect to the length direction of the reinforcing fibers F as shown in FIG. . That is, the first prepreg cut sheet P2 is formed to be inclined by 45 ° in the opposite direction.

  However, in this cutting device 17 as well, the angle of the holding bar with respect to the prepreg original fabric P1 can be changed to an arbitrary angle in the same manner as the cutting device 8 described above. The angle with respect to the longitudinal direction of the fiber F is variable. Therefore, this cutting device 17 can also cut, for example, “−30 °” or “−60 °” instead of performing the cutting angle of the prepreg original fabric P1 at “−45 °”, for example. Yes. Furthermore, it is possible to cut at “+ 45 °”.

  The cutting device 17 is also controlled by a control device (not shown) so that the driving of the cutter is interlocked with the operation of the feeding device 15b of the feeding device 15. That is, while the feeding operation by the feeding device 15b is once stopped, the cutter is driven to cut the prepreg original fabric P1 at a preset angle, and the second prepreg cut of the parallelogram shown in FIG. A sheet P4 is formed. Here, in the sub-transport path 16 as well as the sub-transport path 7, the second prepreg cut sheet P 4 formed by cutting is held on the downstream side of the holding bar 8 b at the second position. In order to prevent a positional shift caused by the prepreg cut sheet P4 being lifted, a lift preventing means including a suction hole or the like is provided.

  When driving of the cutter is stopped, the second prepreg cut sheet P4 is picked by the transfer hand 18 described later. Thereafter, the prepreg original fabric P1 is sent out again by the feeding device 15b. At that time, when the interval of cutting with the cutter is indicated by side L3 in FIG. 3, the feeding device 15b and the cutter are driven so that the length of side L3 is √2 times the width of the prepreg original fabric P1. It is controlled.

  As shown in FIGS. 1 and 2, the prepreg sheet formed by the second prepreg cut sheet forming section 14, that is, the cutting, is provided downstream of the cutting device 17, that is, on the main conveyance path 3 side of the sub conveyance path 16. A transfer hand 18 is provided for transferring the second prepreg cut sheet P4 shown in FIG. 3 cut by the apparatus 17 onto a laminate traveling on the main conveyance path 3.

  As shown in FIG. 2, the transfer hand 18 has the same configuration as the transfer hand 9 described above. The transfer hand 18 holds the second prepreg cut sheet P4 by suction and holds the hold 18a on a horizontal plane. And a rotating unit 18b that rotates and changes the fiber direction (orientation direction) of the reinforcing fibers F of the second prepreg cut sheet P4 to a preset direction. The holding part 18a is configured to detachably hold the second prepreg cut sheet P4 by vacuum suction. The rotating unit 18b is formed by a robot arm, and is configured to rotate the holding unit 18a in the horizontal direction and raise and lower the holding unit 18a.

  The transfer hand 18 having such a configuration holds the parallelogram-shaped second prepreg cut sheet P4 cut out by the cutting device 17 by the holding portion 18a, and rotates the held second prepreg cut sheet P4. The second prepreg cut sheet P4 is placed on the prepreg original fabric P3 (laminate) by being moved onto the main conveyance path 3 by the portion 18b and then being detached from the holding portion 18a. At that time, as shown in FIG. 3, the holding portion 18a is arranged so that the fiber direction (orientation direction) of the reinforcing fibers F of the second prepreg cut sheet P4 is a preset direction, that is, the prepreg original fabric P1 The first prepreg cut sheet P2 and the second prepreg cut sheet P4 (laminated) are laminated so that the angle is −45 ° which is an angle different from the fiber direction (orientation direction) of the reinforcing fibers F of the prepreg original fabric P3. Stuff).

  Further, when the second prepreg cut sheet P4 is placed in this way, the cut side L4 and the cut side L4 of the second prepreg cut sheet P4 are respectively positioned on the side edges of the prepreg original fabric P3. So that they are aligned. Thereby, as shown in FIG. 3, the 2nd prepreg cut sheet P4 is mounted on the prepreg original fabric P3, without protruding from the prepreg original fabric P3.

  The second prepreg cut sheet forming unit 14 and the transfer hand 18 continuously perform the formation of the second prepreg cut sheet P4 and the transfer of the formed second prepreg cut sheet P4. The second prepreg cut sheet P4 is arranged (placed) in a continuous state with no gap and without overlapping with respect to the laminate traveling on the main conveyance path 3.

  Here, the traveling speed of the laminate that travels to the vicinity of the transfer hand 18 through the first prepreg cut sheet forming unit 5, the transfer hand 9, the delivery device 12, and the like, and the transfer hand 18 through the sub-transport path 16. May cause the transfer speed of the second prepreg cut sheet P4 placed on the laminate to be different, and the timing may be shifted. Therefore, in the present embodiment, an accumulating portion (not shown) is configured to eliminate the above-described timing deviation by, for example, bending the laminate between the welding machine 13 and the vicinity of the transfer hand 18 so as to match the timing. Is provided. Thereby, the timing which mounts the 2nd prepreg cut sheet P4 by the transfer hand 18 can be match | combined with the timing which a laminated body drive | works.

  As shown in FIG. 1, a gap detection unit 19 is disposed slightly downstream of the main conveyance path 3 from the sub conveyance path 16. Similar to the gap detector 10, the gap detector 19 is formed by a two-dimensional laser displacement sensor that detects the level difference of the sheet, an image sensor such as a CCD camera, and is placed on the prepreg original fabric P3 (laminate). The gap between the preceded second prepreg cut sheet P4 and the succeeding second prepreg cut sheet P4 is detected.

  This gap detection unit 19 also determines whether or not the gap between the front and rear second prepreg cut sheet P4 and the second prepreg cut sheet P4 is within a preset range (for example, several millimeters or less). It is not illustrated when the overlap is detected and the gap is wider than a preset range or when the front and rear second prepreg cut sheets P4 and the second prepreg cut sheets P4 overlap. The transfer hand 18 is driven again via the control unit, and the second prepreg cut sheet P4 is repositioned. Therefore, the second prepreg cut sheet P4 and the second prepreg cut sheet P4 positioned at the front and rear are finally arranged continuously in the front and rear with a gap adjusted to a preset range without overlapping. .

  Further, as shown in FIG. 2, a welding machine 20 is disposed downstream of the gap detection unit 19 in the main conveyance path 3. The welding machine 20 has substantially the same configuration as the above-described welding machine 11, and corresponds to the side L3 of the second prepreg cut sheet P4 shown in FIG. Is the body. Such a welding machine 20 heats the inside of the side L3 of the second prepreg cut sheet P4, and the second prepreg cut sheet P4 and the underlying prepreg original fabric P3 and further the first prepreg cut sheet therebelow. P2 and the prepreg raw fabric P1 are melted and then solidified to weld and integrate them. The welding machine 20 may be formed integrally with the gap detection unit 19.

  A welding machine (welding part) 21 is disposed downstream of the welding machine 20 as shown in FIGS. The welding machine 21 is formed by a heating body in the same manner as the welding machine 13 described above, and is a laminated product that is welded and integrated by the welding machine 20, that is, the uppermost second prepreg cut sheet P4 and the lower layer. The object is welded again. At this time, the welding machine 21 moves the heating body in the width direction of the second prepreg cut sheet P4 shown in FIG. 3, that is, the direction orthogonal to the cutting side L4, and the second prepreg cut sheet P4 and The resin of the laminate as the lower layer is melted and then solidified, and the second prepreg cut sheet P4 and the laminate are welded. That is, by welding at an angle different from that of the welding machine 20, the obtained laminate is more firmly integrated. Thereby, as shown in FIG. 3, the prepreg sheet laminated body P5 is formed.

The prepreg sheet laminate P5 formed in this way is drawn into the feeding device 4 as described above, and travels downstream of the main conveyance path 3.
As shown in FIGS. 1 and 2, a cutting portion 22 is disposed on the downstream side of the feeding device 4.
The cutting part 22 has a cutter similarly to the cutting device 8 and the cutting device 17 described above, and the reinforcing fiber F of the prepreg sheet laminate P5 in its width direction, that is, the prepreg original fabric P1 and the prepreg original fabric P3 shown in FIG. 1 to form a rectangular prepreg sheet laminate P6 as shown in FIG.

  The prepreg sheet laminate P6 formed in this way is sequentially stored in a storage box 23 disposed on the downstream side of the main conveyance path 3 as shown in FIG. In the next step, the prepreg sheet laminate P6 is cut into a desired shape, and a plurality of obtained prepreg sheet laminates P6 are further stacked to form a desired three-dimensional shape.

  Various members constituting an automobile, an aircraft, and the like include, for example, members that are formed symmetrically because they are arranged on the left and right. When manufacturing a member having such plane symmetry, the strength thereof must also have plane symmetry. Therefore, the fiber direction (orientation direction) of the reinforcing fibers of the prepreg sheet constituting the prepreg sheet laminate is also left and right. It is necessary to make plane symmetry with the members.

  Specifically, in order to give plane symmetry to the prepreg sheet laminate P6 formed from the prepreg sheet laminate P5 shown in FIG. 3, the first prepreg sheet laminate P5 shown in FIG. The prepreg cut sheet P2 and the second prepreg cut sheet P4 are exchanged to produce a prepreg sheet laminate.

  That is, the angle of the holding bar 8b of the cutting device 8 in the first prepreg cut sheet forming unit 5 shown in FIG. 1 is set to the angle of the holding bar 8b of the cutting device 17 in the second prepreg cut sheet forming unit 14. Conversely, the angle of the holding bar 8b of the cutting device 17 in the second prepreg cut sheet forming unit 14 is set to the angle of the holding bar 8b of the cutting device 8 in the first prepreg cut sheet forming unit 5. change. Thereby, the 1st prepreg cut sheet P2 and the 2nd prepreg cut sheet P4 in the prepreg sheet laminated body P5 shown in FIG. 3 can be replaced | exchanged easily. Therefore, the same prepreg sheet laminating apparatus 1 can easily manufacture a prepreg sheet laminate having surface symmetry in terms of strength with respect to the prepreg sheet laminate P6 formed from the prepreg sheet laminate P5.

  The prepreg sheet laminating apparatus 1 of the present embodiment is configured so that the first prepreg cut sheet P2 (second prepreg cut sheet P4) formed by the prepreg cut sheet forming unit 5 (prepreg cut sheet forming unit 14) is transferred to the main conveyance path 3. The prepreg original fabric P1 (the prepreg original fabric P3) is transported on the prepreg original fabric P1 (prepreg original fabric P3) traveling on the upper side, and the fiber direction (orientation direction) of the reinforcing fiber F is set in a preset direction. P3) A transfer hand 9 (transfer hand 18) is provided. Therefore, a prepreg in which prepreg sheets having different fiber directions are laminated by a prepreg original fabric P1 (prepreg original fabric P3) and a first prepreg cut sheet P2 (second prepreg cut sheet P4) placed thereon. A sheet laminate P6 can be obtained. Therefore, the prepreg sheet laminate P6 can be easily manufactured.

  Further, the prepreg sheet laminating apparatus 1 of the present embodiment includes a prepreg original fabric P1 (prepreg original fabric P3) and a first prepreg cut sheet P2 (second prepreg cut sheet) which are welded by a welding machine (welding portion) 21 or the like. The cutting part 22 which cut | disconnects a laminated body (laminated body) with P4) and obtains the prepreg sheet laminated body P6 is provided. Therefore, the prepreg sheet laminate P6 can be manufactured easily and continuously.

  Further, the prepreg sheet laminating apparatus 1 according to the present embodiment feeds another prepreg original fabric P3 on the prepreg original fabric P1 traveling on the main conveyance path 3 so that the prepreg original fabric P3 also travels on the main conveyance path 3. A device (feeding unit) 12 is provided. Therefore, another prepreg original fabric P3 can be easily laminated on the prepreg original fabric P1.

  Moreover, the prepreg sheet laminating apparatus 1 of the present embodiment includes the first prepreg cut sheet forming unit 5 and the second prepreg cut sheet forming unit 14, and the first prepreg cut sheet forming unit 5 and the second prepreg cut sheet forming unit 5. The prepreg cut sheet forming unit 14 is provided with a transfer hand 9 and a transfer hand 18 respectively. Therefore, a two-layer prepreg cut sheet in which the orientation of the reinforcing fibers F is different from the prepreg original fabric P1 (prepreg original fabric P3) can be arranged. Therefore, the freedom degree of the structure of the prepreg sheet laminated body P6 to form can be made high.

  In addition, the transfer hand 9 and the transfer hand 18 are reinforced fibers F of the first prepreg cut sheet P2 when one transfer hand 9 places the first prepreg cut sheet P2 on the prepreg original fabric P1. Fiber direction (orientation direction) and the fiber direction of the reinforcing fibers F of the second prepreg cut sheet P4 when the other transfer hand 18 places the second prepreg cut sheet P4 on the prepreg original fabric P3 ( The orientation directions are different from each other. Therefore, the freedom degree of the structure of the prepreg sheet laminated body P6 to form can be made higher.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.
For example, in the above-described embodiment, an apparatus for manufacturing a four-layer structure as a prepreg sheet stack to be manufactured has been described. The present invention can be applied to an apparatus for manufacturing a body.
Specifically, the number of prepreg cut sheet forming portions may be reduced to one, or may be increased to three or more. Similarly, the feeding device 12 that feeds the prepreg original fabric onto the lowermost prepreg original fabric P1 may be eliminated or may be increased to two or more.

  In the embodiment, the orientation angle of the reinforcing fibers F of the first prepreg cut sheet P2 and the second prepreg cut sheet P4 is set to + 45 ° or −45 °, but the cutting device 8 and the cutting device 17 are held. For example, + 30 ° (−30 °) or + 60 ° (−60 °) may be set by adjusting the angle of the bar.

  Further, the number of welding machines (welding portions) and their positions on the main conveyance path 3 can be appropriately changed according to the number of prepreg cut sheet forming portions.

A prepreg sheet laminating apparatus capable of easily producing a prepreg sheet laminate in which prepreg sheets having different fiber directions are laminated can be provided.

DESCRIPTION OF SYMBOLS 1 Prepreg sheet lamination | stacking apparatus 3 Main conveyance path 4 Feeding device 5 1st prepreg cut sheet formation part 6,15 Delivery device 7,16 Sub conveyance path 8,17 Cutting device 8a Cutter 8b Holding bar 9,18 Transfer hand 12 Delivery Device (feeding part)
13, 21 Welding machine (welding part)
14 Second prepreg cut sheet forming part 22 Cutting part F Reinforcing fibers P1, P3 Original prepreg sheet P2 First prepreg cut sheet P4 Second prepreg cut sheet P5 Prepreg sheet laminate P6 Prepreg sheet laminate

Claims (5)

  1. A prepreg sheet for producing a prepreg sheet laminate in which a plurality of prepreg sheets having fibers oriented in one direction are laminated and at least one prepreg sheet is laminated so that the fiber direction is different from the prepreg sheets of other layers. A laminating device,
    A main conveyance path for running the prepreg original fabric in which the fiber direction is oriented in the reference direction;
    A prepreg cut sheet forming section that forms a prepreg cut sheet by cutting the prepreg original fabric in which the fiber direction is oriented in the reference direction at a preset angle in the width direction;
    The prepreg cut sheet formed in the prepreg cut sheet forming section is transferred onto the prepreg original fabric traveling on the main conveyance path, and the fiber direction is set on the prepreg original fabric so that the fiber direction becomes a preset direction. A transfer hand to be placed;
    A gap detector for detecting a gap between a preceding prepreg cut sheet placed on the prepreg original fabric and a subsequent prepreg cut sheet;
    A welded portion for welding the prepreg original fabric and the prepreg cut sheet placed thereon;
    A prepreg sheet laminating apparatus comprising: a prepreg original fabric that travels on the main conveyance path; and a delivery unit that sends out another prepreg original fabric and causes the other prepreg original fabrics to travel on the main conveyance path .
  2. A prepreg sheet for producing a prepreg sheet laminate in which a plurality of prepreg sheets having fibers oriented in one direction are laminated and at least one prepreg sheet is laminated so that the fiber direction is different from the prepreg sheets of other layers. A laminating device,
    A main conveyance path for running the prepreg original fabric in which the fiber direction is oriented in the reference direction;
    A prepreg cut sheet forming section that forms a prepreg cut sheet by cutting the prepreg original fabric in which the fiber direction is oriented in the reference direction at a preset angle in the width direction;
    The prepreg cut sheet formed in the prepreg cut sheet forming section is transferred onto the prepreg original fabric traveling on the main conveyance path, and the fiber direction is set on the prepreg original fabric so that the fiber direction becomes a preset direction. A transfer hand to be placed;
    A gap detector for detecting a gap between a preceding prepreg cut sheet placed on the prepreg original fabric and a subsequent prepreg cut sheet;
    A welded portion for welding the prepreg original fabric and the prepreg cut sheet placed thereon;
    Cutting the laminate of the prepreg original fabric and the prepreg cut sheet welded by the welded portion to obtain a prepreg sheet laminate,
    A prepreg sheet laminating apparatus comprising: a prepreg original fabric that travels on the main conveyance path; and a delivery unit that sends out another prepreg original fabric and causes the other prepreg original fabrics to travel on the main conveyance path .
  3. 2. The prepreg sheet stacking apparatus according to claim 1, comprising a plurality of the prepreg cut sheet forming units and a plurality of the transfer hands corresponding to the prepreg cut sheet forming units.
  4. The prepreg sheet stacking apparatus according to claim 2, comprising a plurality of the prepreg cut sheet forming portions and a plurality of the transfer hands corresponding to the prepreg cut sheet forming portions .
  5. The plurality of transfer hands include a fiber direction of the prepreg cut sheet when one transfer hand places the prepreg cut sheet on the prepreg original fabric, and another transfer hand includes the prepreg original fabric. The prepreg sheet laminating apparatus according to claim 3 or 4, wherein the prepreg cut sheet has a fiber direction different from each other when the prepreg cut sheet is placed thereon .
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CA3006244A1 (en) * 2015-11-25 2017-06-01 Adeka Corporation Molding apparatus, manufacturing method, and fiber reinforced resin material
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JP6711411B2 (en) * 2016-11-11 2020-06-17 株式会社Ihi Prepreg sheet manufacturing equipment
US10710318B2 (en) 2017-05-26 2020-07-14 The Boeing Company High speed composite layup via multiple machines
JP2019100918A (en) * 2017-12-05 2019-06-24 株式会社Ihi Sheet space detector, sheet space detection method and sheet welding method
WO2020045854A1 (en) 2018-08-30 2020-03-05 주식회사 엘지화학 Method for preparing carbon nanostructure comprising molybdenum disulfide, lithium secondary battery cathode comprising carbon nanostructure comprising molybdenum disulfide, prepared thereby, and lithium secondary battery comprising same

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JP2678931B2 (en) * 1988-12-06 1997-11-19 東芝機械株式会社 Manufacturing or laminating equipment for prepreg sheets with different fiber angles
JP2876244B2 (en) 1990-05-10 1999-03-31 東芝機械株式会社 Arbitrary fiber prepreg manufacturing equipment
JPH0623684A (en) * 1992-07-08 1994-02-01 Takaoka Electric Mfg Co Ltd Work transfer robot with visual processing function
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JP3632177B2 (en) * 2002-11-29 2005-03-23 川崎重工業株式会社 Pre-preg width changing automatic lamination method and apparatus
JP2006188597A (en) * 2005-01-06 2006-07-20 Honda Motor Co Ltd Method for producing fiber-reinforced plastic
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JPWO2015152331A1 (en) 2017-04-13
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CN106029318A (en) 2016-10-12

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