JP6634378B2 - アームエンドツーリング - Google Patents
アームエンドツーリング Download PDFInfo
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- JP6634378B2 JP6634378B2 JP2016557258A JP2016557258A JP6634378B2 JP 6634378 B2 JP6634378 B2 JP 6634378B2 JP 2016557258 A JP2016557258 A JP 2016557258A JP 2016557258 A JP2016557258 A JP 2016557258A JP 6634378 B2 JP6634378 B2 JP 6634378B2
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- arm end
- tooling system
- end tooling
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- 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
- B29C70/40—Shaping or impregnating by compression not applied
- B29C70/42—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles
- B29C70/44—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using isostatic pressure, e.g. pressure difference-moulding, vacuum bag-moulding, autoclave-moulding or expanding rubber-moulding
- B29C70/443—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using isostatic pressure, e.g. pressure difference-moulding, vacuum bag-moulding, autoclave-moulding or expanding rubber-moulding and impregnating by vacuum or injection
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- 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
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- 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
- B29C70/40—Shaping or impregnating by compression not applied
- B29C70/42—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles
- B29C70/44—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using isostatic pressure, e.g. pressure difference-moulding, vacuum bag-moulding, autoclave-moulding or expanding rubber-moulding
-
- 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
- B29C31/00—Handling, e.g. feeding of the material to be shaped, storage of plastics material before moulding; Automation, i.e. automated handling lines in plastics processing plants, e.g. using manipulators or robots
- B29C31/04—Feeding of the material to be moulded, e.g. into a mould cavity
- B29C31/08—Feeding of the material to be moulded, e.g. into a mould cavity of preforms to be moulded, e.g. tablets, fibre reinforced preforms, extruded ribbons, tubes or profiles; Manipulating means specially adapted for feeding preforms, e.g. supports conveyors
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- 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
- B29C31/00—Handling, e.g. feeding of the material to be shaped, storage of plastics material before moulding; Automation, i.e. automated handling lines in plastics processing plants, e.g. using manipulators or robots
- B29C31/04—Feeding of the material to be moulded, e.g. into a mould cavity
- B29C31/08—Feeding of the material to be moulded, e.g. into a mould cavity of preforms to be moulded, e.g. tablets, fibre reinforced preforms, extruded ribbons, tubes or profiles; Manipulating means specially adapted for feeding preforms, e.g. supports conveyors
- B29C31/085—Feeding of the material to be moulded, e.g. into a mould cavity of preforms to be moulded, e.g. tablets, fibre reinforced preforms, extruded ribbons, tubes or profiles; Manipulating means specially adapted for feeding preforms, e.g. supports conveyors combined with positioning the preforms according to predetermined patterns, e.g. positioning extruded preforms on conveyors
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- 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/34—Feeding the material to the mould or the compression means
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- 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
- 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
- B29C70/40—Shaping or impregnating by compression not applied
- B29C70/42—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles
- B29C70/46—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using matched moulds, e.g. for deforming sheet moulding compounds [SMC] or prepregs
- B29C70/465—Shaping or impregnating by compression not applied for producing articles of definite length, i.e. discrete articles using matched moulds, e.g. for deforming sheet moulding compounds [SMC] or prepregs and impregnating by melting a solid material, e.g. sheets, powders of fibres
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- 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
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
-
- 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C2043/3205—Particular pressure exerting means for making definite articles
- B29C2043/3222—Particular pressure exerting means for making definite articles pressurized gas, e.g. air
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- 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/34—Feeding the material to the mould or the compression means
- B29C2043/3405—Feeding the material to the mould or the compression means using carrying means
- B29C2043/3411—Feeding the material to the mould or the compression means using carrying means mounted onto arms, e.g. grippers, fingers, clamping frame, suction means
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- 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/36—Moulds for making articles of definite length, i.e. discrete articles
- B29C2043/3602—Moulds for making articles of definite length, i.e. discrete articles with means for positioning, fastening or clamping the material to be formed or preforms inside the mould
- B29C2043/3605—Moulds for making articles of definite length, i.e. discrete articles with means for positioning, fastening or clamping the material to be formed or preforms inside the mould vacuum
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- 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
- B29K2063/00—Use of EP, i.e. epoxy resins or derivatives thereof, as moulding material
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- 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
- B29K2105/0872—Prepregs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/30—Vehicles, e.g. ships or aircraft, or body parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Moulding By Coating Moulds (AREA)
- Casting Or Compression Moulding Of Plastics Or The Like (AREA)
- Manipulator (AREA)
- Reinforced Plastic Materials (AREA)
Description
本出願は、PCT国際出願であり、2014年4月2日出願の米国特許仮出願第61/974,147号の利益を主張するこの開示内容は、引用により本明細書に組み込まれている。
Claims (17)
- 製造時に部品を移送するアームエンドツーリングシステムであって、
前記アームエンドツーリングシステムを操作するためにロボットに結合され、非付着部分と少なくとも1つの接触面とを有する真空箱と、
前記真空箱に結合され密閉箱環境を作り出す真空蓋と、
前記部品を選択的にピックアップして投下させる真空及び/又は空気放出装置と、
下側薄膜取り付けフレームと下側薄膜と下側予備成形ツールとを有し、前記部品が前記下側薄膜取り付けフレームに受けられる、下側予備成形ツーリングシステムと、
前記下側予備成形ツール上に形成され、前記真空箱の前記接触面と相補的な輪郭を有する少なくとも1つの第2の接触面と、を備えている、
ことを特徴とするアームエンドツーリングシステム。 - 前記真空箱に結合され、前記非付着部分を提供する上側薄膜をさらに備えている、
請求項1に記載のアームエンドツーリングシステム。 - 前記上側薄膜は、硬化シリコーン膜である、
請求項2に記載のアームエンドツーリングシステム。 - 前記接触面の各々は、所定の輪郭を有し、
前記上側薄膜は、前記真空装置がオンになったとき前記接触面の各々に押し付けられ、前記部品は、前記上側薄膜に対して保持される、
請求項2に記載のアームエンドツーリングシステム。 - 前記真空装置がオフになりかつ前記放出装置が操作されたとき、前記上側薄膜は、前記部品の解放を助けるために、平坦な状態に戻る、及び/又は、前記アームエンドツーリングシステムから外方に膨出する、
請求項2に記載のアームエンドツーリングシステム。 - 前記真空装置がオフになったとき、前記アームエンドツーリングは、前記部品を解放する、
請求項1に記載のアームエンドツーリングシステム。 - 前記少なくとも1つの接触面上に施された上部コーティングをさらに備え、前記上部コーティングは、前記非付着部分を提供する、
請求項1に記載のアームエンドツーリングシステム。 - 前記上部コーティングは、硬化シリコーン、ニッケルテフロン(登録商標)、及びテフロン(登録商標)から成る群から選択された被覆材料である、
請求項7に記載のアームエンドツーリングシステム。 - 前記接触面の各々は所定の輪郭を有し、前記真空装置がオンになったとき、前記部品は、前記接触面に押し付けられ前記アームエンドツーリング組立体に保持される、
請求項7に記載のアームエンドツーリングシステム。 - 前記部品は、予備含浸材料部品及び/又は主予備成形部品である、
請求項1に記載のアームエンドツーリングシステム。 - 前記部品は、樹脂材料で予備含浸された繊維であり、前記繊維は、炭素、ケブラ、ガラス、バサルト、及び/又は金属から成る記群から選択され、前記樹脂は、エポキシ、ビニルエステル、ポリエステル、及び/又はポリアミドから成る群から選択される、
請求項1に記載のアームエンドツーリングシステム。 - 前記部品は、エポキシ材料で予備含浸された炭素繊維である、
請求項1に記載のアームエンドツーリングシステム。 - 前記下側薄膜は、硬化シリコーン膜の下側薄膜である、
請求項1に記載のアームエンドツーリングシステム。 - 前記アームエンドツーリングシステムは、前記真空装置がオンになった状態で前記下側予備成形ツーリングシステムと係合し、所定量の圧力を加えて、前記部品を所定の形状に予備成形する、
請求項1に記載のアームエンドツーリングシステム。 - 前記真空箱に作動可能に結合された複数の外部クランピング装置をさらに含み、前記所定量の圧力は、前記ロボット及び/又は前記外部クランピング装置によって加えられる、 請求項14に記載のアームエンドツーリングシステム。
- 前記部品の予備成形は、前記部品が3次元金型に適合できるように軽い圧力を使用して前記2次元材料部品を成形するようになっており、前記真空箱に結合された前記ロボットは、所定の材料ハンドリング及び移送動作を実行する、
請求項14に記載のアームエンドツーリングシステム。 - 第3の薄膜及び第2のテンプレートを備えた固定具を含む補強パッチツーリングシステムをさらに備え、
前記第3の薄膜は、硬化シリコーン膜であり、前記第2のテンプレートは、付着性の材料を含む少なくとも1つの補強パッチが前記第2のテンプレートによって各々の公称位置に装填されることを可能にし、
前記真空がオンになった状態で前記アームエンドツーリングシステムは、前記補強パッチに接地し、前記補強パッチが、前記予備成形された部品に付着する、
請求項14に記載のアームエンドツーリングシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019118119A JP6917412B2 (ja) | 2014-04-02 | 2019-06-26 | アームエンドツーリング |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461974147P | 2014-04-02 | 2014-04-02 | |
US61/974,147 | 2014-04-02 | ||
PCT/IB2015/052413 WO2015151054A1 (en) | 2014-04-02 | 2015-04-01 | End of arm tooling |
Related Child Applications (1)
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JP2019118119A Division JP6917412B2 (ja) | 2014-04-02 | 2019-06-26 | アームエンドツーリング |
Publications (3)
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JP2017509512A JP2017509512A (ja) | 2017-04-06 |
JP2017509512A5 JP2017509512A5 (ja) | 2018-05-17 |
JP6634378B2 true JP6634378B2 (ja) | 2020-01-22 |
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JP2016557258A Active JP6634378B2 (ja) | 2014-04-02 | 2015-04-01 | アームエンドツーリング |
JP2019118119A Active JP6917412B2 (ja) | 2014-04-02 | 2019-06-26 | アームエンドツーリング |
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JP2019118119A Active JP6917412B2 (ja) | 2014-04-02 | 2019-06-26 | アームエンドツーリング |
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US (2) | US10076884B2 (ja) |
EP (1) | EP3126102B1 (ja) |
JP (2) | JP6634378B2 (ja) |
KR (1) | KR20160140618A (ja) |
CN (2) | CN106103013B (ja) |
CA (1) | CA2942766C (ja) |
WO (1) | WO2015151054A1 (ja) |
Families Citing this family (23)
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JP6634378B2 (ja) | 2014-04-02 | 2020-01-22 | マグナ インターナショナル インコーポレイテッド | アームエンドツーリング |
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WO2015151054A1 (en) | 2015-10-08 |
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CA2942766C (en) | 2020-09-15 |
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