JP7014529B2 - ロボットによるトウ配置の検証 - Google Patents

ロボットによるトウ配置の検証 Download PDF

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Publication number
JP7014529B2
JP7014529B2 JP2017101546A JP2017101546A JP7014529B2 JP 7014529 B2 JP7014529 B2 JP 7014529B2 JP 2017101546 A JP2017101546 A JP 2017101546A JP 2017101546 A JP2017101546 A JP 2017101546A JP 7014529 B2 JP7014529 B2 JP 7014529B2
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Prior art keywords
toe
program
end effector
robot
image
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JP2017101546A
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Japanese (ja)
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JP2018030226A (ja
JP2018030226A5 (enExample
Inventor
アンソニー ダブリュー ベイカー，
スティーヴン エー ドリス，
クリストファー ピー ベラヴィア，
ヒュー エル テイラー，
ルーク シー イングラム，
ケニー ピー バワーズ，
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Boeing Co
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Boeing Co
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Publication of JP2018030226A5 publication Critical patent/JP2018030226A5/ja
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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
    • B29C70/382—Automated fiber placement [AFP]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • 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
    • 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
    • B29K2307/00—Use of elements other than metals as reinforcement
    • B29K2307/04—Carbon
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32153—Exchange data between user, cad, caq, nc, capp
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37074—Projection device, monitor, track tool, workpiece form, process on display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39059—Sensor adaptation for robots by software
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45238—Tape, fiber, glue, material dispensing in layers, beads, filling, sealing
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Moulding By Coating Moulds (AREA)
JP2017101546A 2016-05-27 2017-05-23 ロボットによるトウ配置の検証 Active JP7014529B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/167,681 US10144183B2 (en) 2016-05-27 2016-05-27 Verification of tow placement by a robot
US15/167,681 2016-05-27

Publications (3)

Publication Number Publication Date
JP2018030226A JP2018030226A (ja) 2018-03-01
JP2018030226A5 JP2018030226A5 (enExample) 2021-08-05
JP7014529B2 true JP7014529B2 (ja) 2022-02-01

Family

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Family Applications (1)

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JP2017101546A Active JP7014529B2 (ja) 2016-05-27 2017-05-23 ロボットによるトウ配置の検証

Country Status (3)

Country Link
US (2) US10144183B2 (enExample)
JP (1) JP7014529B2 (enExample)
CN (1) CN107436590B (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10252478B2 (en) * 2016-09-08 2019-04-09 The Boeing Company Dynamic heater control for automated fiber placement machines
US10928340B2 (en) * 2018-06-14 2021-02-23 The Boeing Company Method and apparatus for controlling contact of composite tows
US10981640B2 (en) * 2018-07-16 2021-04-20 The Boeing Company Method and system for verification of tow end placement
US11225036B2 (en) 2018-07-16 2022-01-18 The Boeing Company Method and system for tuning a tow placement system
DE102018124080B4 (de) * 2018-09-28 2021-07-01 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Anlage zur Herstellung eines Faserlaminates aus einem Fasermaterial eines Faserverbundwerkstoffes zur Herstellung eines Faserverbundbauteils
US11110667B2 (en) * 2019-04-10 2021-09-07 The Boeing Company Fabrication optimization for composite parts
WO2021087624A1 (en) 2019-11-08 2021-05-14 Innovative Automation Inc. Remote feeding system
JP2022185565A (ja) 2021-06-02 2022-12-14 ザ・ボーイング・カンパニー デバイスヘッドを作動させるためのピッチヨー作動システム及び方法
US12059696B2 (en) 2021-06-02 2024-08-13 The Boeing Company System and method for actuating a treatment device
CN114413821A (zh) * 2022-01-10 2022-04-29 红云红河烟草(集团)有限责任公司 用于滤棒成型机的丝束包用量检测装置
CN116183610A (zh) * 2022-12-25 2023-05-30 浙江理工大学 一种基于激光测距技术的丝束铺放缺陷检测方法
CN116968342B (zh) * 2023-07-13 2024-01-05 威海光威精密机械有限公司 一种基于数控布带缠绕机的nc代码自动生成方法

Citations (6)

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US20060109454A1 (en) 2004-11-24 2006-05-25 The Boeing Company In-process vision detection of flaw and fod characteristics
JP2009505075A (ja) 2005-08-11 2009-02-05 ザ・ボーイング・カンパニー 自動機械用の工程中視覚検査のためのシステムおよび方法
JP2009531715A (ja) 2006-03-28 2009-09-03 ザ・ボーイング・カンパニー 視覚検査システム装置および方法
US20110017380A1 (en) 2009-07-26 2011-01-27 The Boeing Company Mapping tow splices in composite structures
JP2011104906A (ja) 2009-11-18 2011-06-02 Mitsubishi Heavy Ind Ltd 検査方法、複合材部品の製造方法、検査装置、及び複合材部品製造装置
JP2013525140A (ja) 2010-04-16 2013-06-20 コンポジテンス ゲーエムベーハー ノンクリンプ織物の製造装置および製造方法

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DE68909351T2 (de) * 1988-08-25 1994-01-13 Cincinnati Milacron Inc Auflegevorrichtung für Fasern.
JP2501497B2 (ja) * 1991-08-27 1996-05-29 川崎重工業株式会社 ロ―ビング材積層装置
JP2799667B2 (ja) * 1993-08-20 1998-09-21 東電工業株式会社 煙突筒身検査システム
DE102004044786A1 (de) * 2004-09-16 2006-04-06 Saurer Gmbh & Co. Kg Vorrichtung und Verfahren zum Ablegen eines Spinnkabels
US20080009732A1 (en) * 2006-01-03 2008-01-10 Sogade Bolanle A Process of using a direct imaging apparatus (like ultrasound catheter or fiber-optic/hysteroscopic imaging) for real time intra-vaginal imaging for intra-partum assessment of cerrvical dilatation and descent of fetal presenting part and any other management of active labor with the goal of delivery
US7835567B2 (en) * 2006-01-24 2010-11-16 Ingersoll Machine Tools, Inc. Visual fiber placement inspection
US9759547B2 (en) * 2014-08-19 2017-09-12 The Boeing Company Systems and methods for fiber placement inspection during fabrication of fiber-reinforced composite components
CN104570955B (zh) * 2014-11-24 2018-06-22 中国科学院自动化研究所 一种复合材料自动铺丝机控制系统及控制方法
CN104713480B (zh) * 2015-03-16 2017-04-26 西安交通大学 大范围多角度复合材料纤维铺放拼接精度检测装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060109454A1 (en) 2004-11-24 2006-05-25 The Boeing Company In-process vision detection of flaw and fod characteristics
JP2009505075A (ja) 2005-08-11 2009-02-05 ザ・ボーイング・カンパニー 自動機械用の工程中視覚検査のためのシステムおよび方法
JP2009531715A (ja) 2006-03-28 2009-09-03 ザ・ボーイング・カンパニー 視覚検査システム装置および方法
US20110017380A1 (en) 2009-07-26 2011-01-27 The Boeing Company Mapping tow splices in composite structures
JP2011104906A (ja) 2009-11-18 2011-06-02 Mitsubishi Heavy Ind Ltd 検査方法、複合材部品の製造方法、検査装置、及び複合材部品製造装置
JP2013525140A (ja) 2010-04-16 2013-06-20 コンポジテンス ゲーエムベーハー ノンクリンプ織物の製造装置および製造方法

Also Published As

Publication number Publication date
JP2018030226A (ja) 2018-03-01
US10377092B2 (en) 2019-08-13
US20190070799A1 (en) 2019-03-07
US10144183B2 (en) 2018-12-04
US20170341314A1 (en) 2017-11-30
CN107436590A (zh) 2017-12-05
CN107436590B (zh) 2022-04-12

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