JP7105681B2 - Laminate lamination system and laminate lamination method - Google Patents

Description

The present invention relates to a laminate lamination system and a laminate lamination method.

Conventionally, a prepreg sheet automatic laminating apparatus for automatically laminating prepreg sheets is known (see, for example, Patent Document 1). In this prepreg sheet automatic laminating apparatus, prepreg sheets are laminated on an object to be laminated on a stage. The prepreg sheet automatic lamination apparatus has a configuration including a stage, various rollers provided above the stage, a cutter, and the like.

JP 2015-89647 A

However, the prepreg sheet automatic laminating apparatus of Patent Document 1 has a large apparatus configuration when molding a large laminate used for the main wing of an aircraft or the like. If the size of the apparatus is increased, it is necessary to enhance the facility where the apparatus is installed, and the cost associated with the installation increases. In addition, when an abnormality such as a failure occurs in a part of the device, the device must be stopped, making it difficult to ensure continuity of the stacking work.

Therefore, the present invention provides a laminate lamination system and a laminate that can enhance the continuity of the lamination operation of the reinforcing fiber base material and efficiently laminate the reinforcing fiber base material while suppressing the increase in the cost associated with installation. The object of the present invention is to provide a lamination method of

The laminate lamination system of the present invention is a laminate lamination system in which a reinforcing fiber base material is laminated on a forming jig to form a laminate, in which an installation area in which the reinforcing fiber base material is installed and the reinforcement An unmanned aerial vehicle capable of holding and transporting a fiber base material and capable of taking off and landing vertically; and a control unit for controlling the unmanned aerial vehicle, wherein the control unit controls the unmanned aerial vehicle to be installed in the installation area. The reinforcing fiber base material thus formed is gripped, the reinforcing fiber base material is transported from the installation area toward the forming jig, and a lamination process is performed to install the reinforcing fiber base material on the forming jig. do.

The laminate lamination method of the present invention is a laminate lamination method in which a reinforcing fiber base material is laminated on a forming jig to form a laminate. A stacking step of holding the reinforcing fiber base material, transporting the reinforcing fiber base material from the installation area toward the molding jig, and installing the reinforcing fiber base material on the molding jig; and a pressing step of pressing the reinforcing fiber base material placed on the jig toward the molding jig.

According to these configurations, the reinforcing fiber base material can be transported onto the forming jig by an unmanned aerial vehicle. Therefore, by pressing the reinforcing fiber base material placed on the forming jig toward the forming jig side, the reinforcing fiber base material can be laminated to form a laminate. As a result, a large stacking device is not required, and an increase in cost associated with installation can be suppressed. In addition, even if it becomes difficult to use the unmanned aircraft, by using an alternative unmanned aircraft, the lamination work of the reinforcing fiber base material will not be interrupted, and the continuity of the lamination work will be improved. can be done. Further, for example, by using a plurality of unmanned aerial vehicles, it is possible to improve the efficiency of the stacking work by parallelizing the stacking work.

A pressing unit for pressing the reinforcing fiber base material placed on the molding jig toward the molding jig, wherein the control unit presses the pressing unit after performing the lamination process. It is preferable to control and perform a pressing process in which the reinforcing fiber base material placed on the forming jig is pressed toward the forming jig by the pressing portion.

According to this configuration, the pressing portion can press the reinforcing fiber base material against the forming jig, so that the pressing operation can be automated.

Further, the pressing section includes a self-propelled carriage that moves on the forming jig, and the self-propelled carriage has a carriage body and a pressing roller that presses the reinforcing fiber base material attached to the carriage body. is preferred.

Further, in the pressing step, the reinforcing fiber base material placed on the forming jig is pressed by a self-propelled carriage having a pressing roller that presses the reinforcing fiber base material toward the forming jig side, preferable.

According to these configurations, the self-propelled carriage is driven, and the pressure rollers of the self-propelled carriage can appropriately press the reinforcing fiber base material against the forming jig.

Moreover, it is preferable that the unmanned aerial vehicle has a body and a pressing roller as the pressing section provided on the body.

Further, the unmanned aerial vehicle has a pressing roller that presses the reinforcing fiber base material toward the molding jig, and in the pressing step, the unmanned aerial vehicle having the pressing roller is placed on the molding jig. It is preferable to press the reinforcing fiber base material thus formed.

According to these configurations, the reinforcing fiber base material can be placed on the forming jig by the unmanned aerial vehicle, and at the same time, the reinforcing fiber base material can be pressed against the forming jig by the pressing roller of the unmanned aerial vehicle. Therefore, it is possible to efficiently perform the stacking work and the pressing work of the reinforcing fiber base material by the unmanned aerial vehicle.

Further, the unmanned aerial vehicle has a fuselage and a gripping portion that grips the reinforcing fiber base material provided in the fuselage, and the gripping portion includes an adsorption pad that adsorbs the reinforcing fiber substrate; It is preferable to have a suction part that sucks the reinforcing fiber base material through the pad.

According to this configuration, it is possible to appropriately grip and release the reinforcing fiber base material by suction. In addition, since the grasping portion by suction can be made compact, it is possible to suppress an increase in the weight of the unmanned aerial vehicle.

Moreover, it is preferable that the holding part is provided across a plurality of the unmanned aerial vehicles.

According to this configuration, even if it is difficult to transport the reinforcing fiber base material by one unmanned aircraft, it can be transported by a plurality of unmanned aircraft.

The self-propelled carriage includes a first self-propelled carriage and a second self-propelled carriage. The unmanned aerial vehicle installs the reinforcing fiber base material on the first self-propelled carriage so that the reinforcing fiber base material protrudes outward from the first self-propelled carriage; The self-propelled carriage moves to position the reinforcing fiber base material, and the second self-propelled carriage presses and fixes the portion of the reinforcing fiber base material projecting from the first self-propelled carriage, and the unmanned The aircraft is lifted from the first self-propelled carriage, the first self-propelled carriage is retracted from the forming jig, and the reinforcing fiber base material is positioned at a portion not fixed by the unmanned aerial vehicle, It is preferable that the second self-propelled carriage presses an unfixed portion of the reinforcing fiber base material.

According to this configuration, the positioning of the reinforcing fiber base material on the forming jig can be performed with high accuracy by the first self-propelled carriage, so that the laminate can be preferably formed.

FIG. 1 is a plan view schematically showing a lamination system for laminates according to Embodiment 1. FIG. FIG. 2 is a diagram relating to the control block of the lamination system for laminates according to the first embodiment. FIG. 3 is a perspective view schematically showing an unmanned aerial vehicle. FIG. 4 is a cross-sectional view schematically showing a gripping portion of the unmanned aerial vehicle. FIG. 5 is an explanatory diagram showing the operation of the gripper of the unmanned aerial vehicle. FIG. 6 is a schematic diagram of a self-propelled carriage. FIG. 7 is a flow chart regarding operation control of the laser projector. FIG. 8 is an explanatory diagram showing the operation of the unmanned aerial vehicle. FIG. 9 is a flowchart relating to operation control of an unmanned aerial vehicle. FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage. FIG. 11 is a flow chart relating to the operation control of the self-propelled carriage. FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the laminate stacking system according to the second embodiment. FIG. 13 is a two-sided view schematically showing an unmanned aerial vehicle in the laminate stacking system according to the third embodiment. FIG. 14 is a cross-sectional view schematically showing a gripping portion of an unmanned aerial vehicle in the stacking system for stacked bodies according to the fourth embodiment.

EMBODIMENT OF THE INVENTION Below, embodiment which concerns on this invention is described in detail based on drawing. In addition, this invention is not limited by this embodiment. In addition, components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same. Furthermore, the components described below can be combined as appropriate, and when there are multiple embodiments, each embodiment can be combined.

[Embodiment 1]
A laminate lamination system 10 according to the present embodiment is a system for forming a laminate 5 by laminating a plurality of reinforcing fiber substrates 6 . In the stacking system 10 , the stacks 5 are stacked using the unmanned aircraft 15 and the self-propelled carriage 16 . In Embodiment 1, the laminate 5 is formed by laminating a plurality of reinforcing fiber base materials 6 on a forming jig. As the reinforcing fiber base material 6, a prepreg (hereinafter also referred to as a prepreg 6) in which reinforcing fibers are impregnated with a resin is applied. In the first embodiment, the prepreg will be described, but as the reinforcing fiber base material 6, for example, a dry reinforcing fiber base material that is not impregnated with a resin may be applied. Further, the reinforcing fiber base material 6 is a base material formed in a sheet shape, and for example, a woven fabric is applied. The reinforcing fiber base material 6 may be a sheet in which the fiber direction is aligned in one direction, and is not particularly limited. As the reinforcing fiber, for example, carbon fiber is used, but it is not limited to carbon fiber, and other plastic fiber, glass fiber, natural fiber or metal fiber may be used.

FIG. 1 is a plan view schematically showing a lamination system for laminates according to Embodiment 1. FIG. FIG. 2 is a diagram relating to the control block of the lamination system for laminates according to the first embodiment. FIG. 3 is a perspective view schematically showing an unmanned aerial vehicle. FIG. 4 is a cross-sectional view schematically showing a gripping portion of the unmanned aerial vehicle. FIG. 5 is an explanatory diagram showing the operation of the gripper of the unmanned aerial vehicle. FIG. 6 is a schematic diagram of a self-propelled carriage. FIG. 7 is a flow chart regarding operation control of the laser projector. FIG. 8 is an explanatory diagram showing the operation of the unmanned aerial vehicle. FIG. 9 is a flowchart relating to operation control of an unmanned aerial vehicle. FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage. FIG. 11 is a flow chart relating to the operation control of the self-propelled carriage.

A stacking system 10 for the stack 5 will be described with reference to FIGS. 1 and 2. FIG. The lamination system 10 includes a forming jig 11 , a placement area (installation area) 12 , an unmanned aircraft 15 , a self-propelled carriage 16 , a laser projector 17 and a control system 20 . The unmanned aerial vehicle 15 , self-propelled vehicle 16 , laser projector 17 and control system 20 are communicably connected via a communication network 21 . The communication network 21 may connect the unmanned aerial vehicle 15, the self-propelled vehicle 16, the laser projector 17, and the control system 20 by wireless communication, or may be connected by wired communication, and is not particularly limited.

The forming jig 11 is a jig for forming the laminate 5 by laminating a plurality of prepregs 6 . A prepreg 6 transported from an unmanned aerial vehicle 15 is placed on the molding jig 11 . Further, a self-propelled carriage 16 can travel on the forming jig 11 .

The placement place 12 serves as a place for the prepreg 6 placed on the forming jig 11 . The prepregs 6 placed on the placement site 12 are cut in advance by a cutting machine or the like, and the cut prepregs 6 are placed on the placement site 12 by a transport robot or an operator. The prepreg 6 placed on the placement site 12 is transported to the forming jig 11 by the unmanned aerial vehicle 15 . In the first embodiment, the unmanned aerial vehicle 15 transports the prepregs 6 placed on the loading site 12 , but the prepregs 6 cut by a cutting machine or the like may be transported directly to the forming jig 11 .

The unmanned aerial vehicle 15 is an unmanned aerial vehicle that can take off and land vertically, and is, for example, a small unmanned aerial vehicle such as a multicopter drone. For example, a plurality of unmanned aerial vehicles 15 are prepared and arranged in a waiting area 25 . The unmanned aerial vehicle 15 transports the prepreg 6 placed on the loading site 12 . As shown in FIGS. 2 to 4, the unmanned aerial vehicle 15 includes a body 31, a drive section 32, a grip section 33, an imaging section 34, and a control section 35.

Parts 32 , 33 , 34 and 35 are attached to the body 31 . The driving unit 32 includes, for example, a plurality of propellers, and rotates the propellers to cause the airframe 31 to fly. The drive unit 32 is connected to the control unit 35 and the flight operation is controlled by the control unit 35 . The gripping part 33 grips and releases the prepreg 6 . The gripping section 33 is connected to the control section 35 , and the gripping operation is controlled by the control section 35 . Note that the grip portion 33 will be described later. The imaging unit 34 is, for example, a camera, and acquires an image captured by the unmanned aerial vehicle 15 . The imaging section 34 is connected to the control section 35 and outputs an image captured by the imaging section 34 to the control section 35 .

The control unit 35 controls various operations of the unmanned aerial vehicle 15 . The control unit 35 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 35 acquires various information via the communication network 21 . The control unit 35 executes various controls based on information obtained from each unit 32, 33, and 34, information obtained via the communication network 21, and the like. The control unit 35 controls, for example, the driving unit 32 to control the flying operation between the forming jig 11 and the placement place 12 . The control unit 35 also controls the gripping operation of the prepreg 6 by controlling the gripping unit 33 , for example. Furthermore, the control unit 35 controls the driving unit 32, for example, based on the image acquired from the imaging unit 34, and controls the flight operation so that the airframe 31 is at a predetermined position.

The unmanned aerial vehicle 15 is also connected to a control system 20 via a communication network 21 and performs various operations based on control from the control system 20 . The unmanned aerial vehicle 15 moves toward the forming jig 11, moves toward the placement site 12, and moves toward the waiting area 25 based on instructions from the control system 20, for example.

Next, the gripper 33 of the unmanned aerial vehicle 15 will be described with reference to FIG. The gripping portion 33 serves as a suction mechanism that suctions the prepreg 6 . The gripping portion 33 includes a suction pad 41 , a suction portion 42 , and a pressure passage 43 connecting the suction pad 41 and the suction portion 42 .

The suction pad 41 is, for example, a suction cup, and contacts the prepreg 6 so as to form a closed space with the prepreg 6 .

The suction unit 42 applies negative pressure or pressurization to the closed space formed between the prepreg 6 and the suction pad 41 . The suction unit 42 has a suction pump 45 and an electromagnetic valve 46 . The suction pump 45 is, for example, a diaphragm pump, and has a suction port for sucking gas such as air and a discharge port for discharging gas. The solenoid valve 46 is a four-port solenoid valve, and includes a port connected to the atmosphere (open to the atmosphere), a port connected to the pressure passage 43, a port connected to the suction port of the suction pump 45, and a port connected to the discharge port of the suction pump 45 .

As shown in FIG. 5, the electromagnetic valve 46 operates so as to be switchable between a decompression state in which the sealed space of the suction pad 41 is decompressed and a pressurization state in which the sealed space is pressurized. When the sealed space is decompressed, the electromagnetic valve 46 forms a flow path connecting the port connected to the pressure passage 43 and the suction port of the suction pump 45, and is connected to the atmosphere. A flow path connecting the port and the discharge port of the suction pump 45 is formed. As a result, the inside of the pressure passage 43 is decompressed, and the sealed space of the suction pad 41 is decompressed. On the other hand, when the sealed space is pressurized, the solenoid valve 46 forms a flow path connecting the port connected to the pressure passage 43 and the discharge port of the suction pump 45 inside thereof, and also to the atmosphere. and the suction port of the suction pump 45 are formed. As a result, the inside of the pressure passage 43 is pressurized, and the closed space of the suction pad 41 is pressurized.

Next, the self-propelled carriage 16 will be described with reference to FIG. The self-propelled carriage 16 moves on the forming jig 11 and presses the prepreg 6 placed on the forming jig 11 against the forming jig 11 side. For example, a plurality of self-propelled carts 16 are prepared and arranged in a waiting area 26 adjacent to the forming jig 11 . When the prepreg 6 is pressed, the self-propelled carriage 16 moves from the waiting area 26 onto the molding jig 11 and presses the prepreg 6 on the molding jig 11 . As shown in FIGS. 2 and 6, the self-propelled carriage 16 includes a carriage body 51, a driving section 52, a pressing roller 53, and a control section .

A drive unit 52 , a pressure roller 53 and a control unit 54 are attached to the carriage body 51 , and a weight for pressing the prepreg 6 against the forming jig 11 is mounted. Therefore, the self-propelled carriage 16 presses the prepreg 6 against the forming jig 11 by its own weight. The drive unit 32 includes, for example, a motor that drives the drive wheels, and the self-propelled carriage 16 is driven by the power of the motor. For example, two pressure rollers 53 are provided in the traveling direction of the self-propelled carriage 16 . One of the two pressing rollers 53 may be a driving wheel and the other may be a driven wheel. The pressing roller 53 rotates so as to be in rolling contact with the prepreg 6 . The drive unit 52 is connected to the control unit 54 and the running operation is controlled by the control unit 54 .

The control unit 54 controls various operations of the self-propelled carriage 16 . The control unit 54 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 54 acquires various information via the communication network 21 . The control unit 54 executes various controls based on information and the like obtained via the communication network 21 . The control unit 54 controls, for example, the drive unit 52 to control the traveling operation between the forming jig 11 and the waiting area 26 .

The self-propelled carriage 16 is also connected to a control system 20 via a communication network 21 and performs various operations based on control from the control system 20 . The self-propelled carriage 16 moves toward the forming jig 11 or toward the waiting area 26 based on instructions from the control system 20, for example.

The laser projectors 17 are installed on the molding jig 11 and the mounting place 12, respectively. A laser projector 17 a provided on the molding jig 11 is arranged above the molding jig 11 and projects an image of the stacking position of the prepregs 6 arranged on the molding jig 11 onto the molding jig 11 . . The unmanned aerial vehicle 15 picks up the image projected onto the molding jig 11 by the image pick-up unit 34, and based on the picked-up image, the prepreg 6 gripped by the grip unit 33 is stacked according to the image projected onto the prepreg 6. place in position. The laser projector 17b provided in the loading space 12 is arranged above the loading space 12, and displays an image indicating a predetermined prepreg 6 to be gripped from among the cut prepregs 6 placed on the loading space 12. is projected onto the placement field 12 . The unmanned aerial vehicle 15 captures an image projected onto the placement site 12 by the imaging unit 34, and grips a predetermined prepreg 6 by the gripping unit 33 based on the captured image.

Also, the laser projector 17 is connected to a control system 20 via a communication network 21 and performs various operations based on control from the control system 20 . The laser projector 17 projects an image onto the forming jig 11 or an image onto the placement place 12 based on instructions from the control system 20, for example.

The control system 20 performs overall control of the stacking system 10 , and controls the unmanned aircraft 15 , the self-propelled cart 16 and the laser projector 17 via the communication network 21 . The control system 20 has an input section 61 configured with input devices such as a mouse and keyboard, an output section 62 configured with an output device such as a monitor, and a control section 63 . The control unit 63 includes an integrated circuit such as a CPU (Central Processing Unit). The control system 20 may be composed of a single device, or may be composed of a plurality of devices combining a control device and a data server, etc., and is not particularly limited.

Next, a method of stacking the stack 5 using the stacking system 10 will be described with reference to FIGS. 7 to 11. FIG. First, control of the operation of the laser projector 17 by the control system 20 will be described with reference to FIG. When the stacking operation of the laminate 5 is started, the control system 20 outputs to the laser projector 17b image information of an image indicating a predetermined prepreg 6 held by the unmanned aerial vehicle 15, and to the laser projector 17a. image information about the lamination position of the prepreg 6 placed on the forming jig 11 is output.

When the image information is acquired from the control system 20, the laser projector 17b projects the acquired image onto the placement field 12 to indicate a predetermined prepreg (predetermined material) to be gripped (step S11). Further, when the image information is acquired from the control system 20, the laser projector 17a projects the acquired image onto the forming jig 11 to indicate a predetermined stacking position (step S12). Subsequently, when the stacking work by the unmanned aerial vehicle 15 and the self-propelled carriage 16 is completed, the control system 20 determines whether or not to continue stacking (step S13). If the control system 20 determines not to continue stacking (step S13: No), the control system 20 does not output image information to the laser projectors 17a and 17b. Stop the image projection operation. As a result, the laser projector 17b finishes instructing the predetermined prepreg (predetermined material) to be gripped (step S14). In addition, the laser projector 17a finishes instructing the predetermined stacking position (step S15). After executing step S15, the laser projector 17b ends the operation related to the lamination method. On the other hand, when the control system 20 determines to continue stacking (step S13: Yes), it executes steps S11 and S12 again. Then, the control system 20 repeatedly executes steps S11 and S12 until the lamination of the prepreg 6 is completed.

Next, control of the operation of the unmanned aerial vehicle 15 by the control system 20 will be described with reference to FIGS. 8 and 9. FIG. When the stacking operation of the laminate 5 is started, the control system 20 moves to the loading site 12 toward the unmanned aircraft 15 waiting in the waiting site 25, grips the predetermined material, and forms the forming jig 11. Outputs instruction information instructing to stack on. Upon acquiring the instruction information, the unmanned aerial vehicle 15 leaves the waiting area 25 (step S21). The unmanned aerial vehicle 15 leaving the waiting area 25 moves to the loading area 12 (step S22). The unmanned aerial vehicle 15, which has moved to the placement site 12, captures the image projected onto the placement site 12 from the laser projector 17b by the imaging unit 34, and recognizes the predetermined prepreg (predetermined material) to be gripped (step S23). . Subsequently, the unmanned aerial vehicle 15 descends and lands on the recognized predetermined material (step S24/P1). The unmanned aerial vehicle 15 grips the predetermined material with the gripper 33 (step S25/P2). Then, the unmanned aerial vehicle 15 leaves the placement site 12 while holding the predetermined material with the holding part 33 (step S26).

After that, the unmanned aerial vehicle 15 moves from the placement site 12 to the forming jig 11 (step S27/P3). The unmanned aerial vehicle 15 moved to the forming jig 11 captures the image projected onto the forming jig 11 from the laser projector 17a by the imaging unit 34, and recognizes the predetermined stacking position (step S28/P4). Subsequently, the unmanned aerial vehicle 15 lands at the recognized predetermined stacking position (step S29). After that, the unmanned aerial vehicle 15 releases the predetermined material by canceling the gripping of the predetermined material by the gripper 33 (step S30/P5). Then, the unmanned aerial vehicle 15 leaves the forming jig 11 (step S31). Subsequently, when the unmanned aerial vehicle 15 completes the stacking work, the control system 20 determines whether to continue stacking (step S32). If the control system 20 determines not to continue stacking (step S32: No), it outputs instruction information to the unmanned aerial vehicle 15 instructing it to wait in the waiting area 25. FIG. After acquiring the instruction information, the unmanned aerial vehicle 15 returns to the waiting area 25 (step S33/P6). On the other hand, when the control system 20 determines to continue stacking (step S32: Yes), it executes steps S22 (P1) to step S31 (P5) again. Then, the control system 20 repeats steps S22 (P1) to S31 (P5) until the lamination of the prepreg 6 is completed.

In this way, the unmanned aerial vehicle 15 repeats steps S22 (P1) to S31 (P5) to transport the prepreg 6 from the placement site 12 toward the forming jig 11 and form the prepreg 6. A stacking process (process) for placing on the jig 11 is performed.

Next, with reference to FIGS. 10 and 11, control of the operation of the self-propelled carriage 16 by the control system 20 will be described. When the stacking operation of the laminate 5 is started, the control system 20 moves to the forming jig 11 toward the self-propelled cart 16 waiting in the waiting area 26, and instructs to press a predetermined material. Output information. When the self-propelled carriage 16 acquires the instruction information, it moves from the waiting area 26 onto the forming jig 11 (step S41). The self-propelled carriage 16 moves to the vicinity of a predetermined stacking position in the image projected onto the forming jig 11 from the laser projector 17a and waits on the forming jig 11 (step S42/P11). Then, the control system 20 determines whether or not the unmanned aerial vehicle 15 has left the forming jig 11 (step S43). In step S43, for example, the control system 20 determines whether or not a predetermined time has elapsed from when the gripper 33 of the unmanned aerial vehicle 15 is instructed to release the predetermined material until the unmanned aerial vehicle 15 leaves the floor. there is

When the control system 20 determines that the unmanned aerial vehicle 15 has left the forming jig 11 (step S43: Yes), it instructs the self-propelled carriage 16 to move onto the predetermined material placed on the forming jig 11. Outputs instruction information to When the self-propelled carriage 16 acquires the instruction information, it moves onto the predetermined material placed on the forming jig 11 (step S44). On the other hand, when the control system 20 determines that the unmanned aerial vehicle 15 has not left the forming jig 11 (step S43: No), the process proceeds to step S42. That is, when the control system 20 determines that the unmanned aerial vehicle 15 has not left the forming jig 11, it outputs instruction information instructing the self-propelled carriage 16 to continue waiting. When the self-propelled carriage 16 acquires the instruction information, it waits around the predetermined stacking position.

The self-propelled carriage 16 that has moved onto the predetermined material moves on the predetermined material while pressing the predetermined material with the pressure roller 53 (step S45/P12). Then, the pressing of the predetermined material by the self-propelled carriage 16 is completed (step S46). Subsequently, when the pressing work by the self-propelled carriage 16 is completed, the control system 20 determines whether or not to continue stacking (step S47). When the control system 20 determines not to continue stacking (step S47: No), it outputs instruction information to the self-propelled carriage 16 to wait in the waiting area 26 . When the self-propelled carriage 16 acquires the instruction information, it returns to the waiting area 26 (step S48). On the other hand, when the control system 20 determines to continue stacking (step S47: Yes), it executes steps S42 to S46 again. Then, the control system 20 repeatedly executes steps S42 to S46 until the lamination of the prepreg 6 is completed.

In this way, the self-propelled carriage 16 performs the pressing process (process) for pressing the prepreg 6 placed on the forming jig 11 toward the forming jig 11 by repeatedly executing steps S42 to S46. Run.

As described above, according to Embodiment 1, the prepreg 6 can be transported onto the forming jig 11 by the unmanned aerial vehicle 15 . Therefore, by pressing the prepregs 6 placed on the forming jig 11 toward the forming jig 11 side, the prepregs 6 are laminated to form the laminate 5 . As a result, there is no need to use a large-sized stacking device, so an increase in cost associated with installation of the stacking system 10 can be suppressed. In addition, even if it becomes difficult to use the unmanned aerial vehicle 15, by using an alternative unmanned aerial vehicle 15, the lamination work of the prepregs 6 is not interrupted, and the continuity of the lamination work is enhanced. can be done. In addition, by using a plurality of unmanned aerial vehicles 15, it is possible to parallelize the stacking work, etc., so that it is possible to improve the efficiency of the stacking work.

Further, according to Embodiment 1, the pressing of the prepreg 6 against the forming jig 11 can be executed by the self-propelled carriage 16, so that the pressing operation can be automated.

Further, according to the first embodiment, the self-propelled carriage 16 can be driven and the pressure rollers 53 of the self-propelled carriage 16 can appropriately press the prepreg 6 against the forming jig 11 .

Further, according to the first embodiment, by using the gripping portion 33 as a suction mechanism, it is possible to properly grip and release the prepreg 6 by suction. In addition, since the grasping portion 33 by adsorption can be made compact, an increase in the weight of the unmanned aerial vehicle 15 can be suppressed.

In the first embodiment, the prepreg 6 is used as the reinforcing fiber base material, but a dry reinforcing fiber base material that is not impregnated with resin may be used. Instead, it may be a grasping portion that is hooked and grasped by an engaging portion such as a needle.

In the first embodiment, the imaging unit 34 provided in the unmanned aerial vehicle 15 captures the image of the laser projector 17 to position the prepreg 6. A difference between the position and the position of the prepreg 6 actually arranged may be obtained, and feedback control or machine learning may be performed so as to correct this difference.

In addition, in the first embodiment, the pressing process (process) by the self-propelled carriage 16 is performed each time the prepregs 6 are laminated. ) may be executed.

Further, although the single-layer prepreg 6 is used in the first embodiment, a pre-laminated product obtained by laminating a plurality of prepregs 6 in advance may be used. Alternatively, a pre-laminated product obtained by preliminarily laminating and temporarily fixing fiber-reinforced base materials in a dry state may be used as the reinforcing fiber base material. It is preferable that the thickness and the shape of the end portion of the preform are appropriately determined according to the weight capacity of the unmanned aerial vehicle 15, the ability of the self-propelled cart 16 to climb over steps, and the like.

[Embodiment 2]
Next, a stacking system 70 according to Embodiment 2 will be described with reference to FIG. 12 . FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the laminate stacking system according to the second embodiment. In the second embodiment, portions different from the first embodiment will be described in order to avoid redundant description, and portions having the same configurations as in the first embodiment will be described with the same reference numerals.

In the stacking system 70 of the second embodiment, the gripper 33 provided in the unmanned aerial vehicle 15 of the first embodiment is provided across a plurality of unmanned aerial vehicles 15 . The prepreg 6 transported by the unmanned aerial vehicle 15 may be difficult to transport by one unmanned aerial vehicle 15 . The gripping part 71 of the second embodiment is provided across a plurality of unmanned aerial vehicles 15 so that the prepregs 6 can be transported by the plurality of unmanned aerial vehicles 15 .

Specifically, the gripping portion 71 of the second embodiment includes a suction pad 41 , a suction portion 42 , and a pressure passage 43 connecting the suction pad 41 and the suction portion 42 .

The suction unit 42 is provided in each unmanned aerial vehicle 15 as in the first embodiment. The pressure passage 43 is provided across a plurality of (for example, two) unmanned aerial vehicles 15 . A plurality of suction pads 41 are arranged side by side along a pressure passage 43 spanning the unmanned aerial vehicle 15 .

As described above, according to the second embodiment, even if it is difficult to transport the prepreg 6 by one unmanned aerial vehicle 15 , it is possible to transport the prepreg 6 by a plurality of unmanned aerial vehicles 15 .

[Embodiment 3]
Next, a stacking system 80 according to Embodiment 3 will be described with reference to FIG. 13 . FIG. 13 is a two-sided view schematically showing an unmanned aerial vehicle in the laminate stacking system according to the third embodiment. In the third embodiment, portions different from those in the first and second embodiments will be described in order to avoid redundant description, and portions having the same configurations as those in the first and second embodiments will be described with the same reference numerals.

The lamination system 80 of Embodiment 3 is a system in which the prepreg 6 transported in the lamination system 70 of Embodiment 2 is roll-shaped. When the prepreg 6 to be transported is roll-shaped, the plurality of unmanned aerial vehicles 15 hold the ends of the prepregs 6 on the free end side by suction to the holding portions 71 . Then, the prepreg 6 is pulled out by moving the plurality of unmanned aircraft 15 onto the forming jig 11 . Note that the roll-shaped prepreg 6 is movable in horizontal and vertical directions, and its axial direction can be changed. Further, the movement of the unmanned aerial vehicle 15 may be supported by rotating the roll-shaped prepreg 6 in the pull-out direction using a mechanism (not shown).

As described above, according to Embodiment 3, even when the prepreg 6 is wound in a roll shape, the prepreg 6 can be appropriately arranged on the forming jig 11 by the unmanned aerial vehicle 15 .

[Embodiment 4]
Next, a stacking system 90 according to Embodiment 4 will be described with reference to FIG. 14 . FIG. 14 is a cross-sectional view schematically showing a gripping portion of an unmanned aerial vehicle in the stacking system for stacked bodies according to the fourth embodiment. In the fourth embodiment, in order to avoid duplication of description, portions different from those of the first to third embodiments will be described, and portions having the same configurations as those of the first to third embodiments will be described with the same reference numerals.

In the stacking system 90 of the fourth embodiment, instead of the holding part 33 serving as the adsorption mechanism provided in the unmanned aerial vehicle 15 of the first embodiment, the holding part 91 is a fan mechanism. The gripping portion 91 of Embodiment 4 includes a suction pad 95 , a pressure duct 96 and a fan 97 . The suction pad 95 is the same as the suction pad 41 of the first embodiment, so description thereof will be omitted. A pressure channel is formed inside the pressure duct 96 , a suction pad 95 is provided on one side of the pressure channel, and a fan 97 is provided on the other side of the pressure channel. The inside of the pressure duct 96 is decompressed or pressurized by the operation of the fan 97 . The fan 97 exhausts air in the pressure duct 96 or blows air into the pressure duct 96 .

The fan 97 operates so as to be switchable between a decompression state in which the sealed space of the suction pad 95 is decompressed and a pressurization state in which the sealed space is pressurized. When the sealed space is decompressed, the fan 97 discharges air from the pressure duct 96 so that the inside of the pressure duct 96 is decompressed and the sealed space of the suction pad 41 is decompressed. On the other hand, when the sealed space is pressurized, the fan 97 draws air into the pressure duct 96 so that the inside of the pressure duct 96 is pressurized and the sealed space of the suction pad 41 is pressurized. Become.

As described above, according to the fourth embodiment, by using the holding portion 91 as a fan mechanism, the prepreg 6 can be properly held and released by suction. Moreover, since the holding portion 91 by the fan 97 can have a compact configuration, an increase in the weight of the unmanned aerial vehicle 15 can be suppressed.

[Embodiment 5]
Next, a lamination system according to Embodiment 5 will be described. Although illustration is omitted, in the fifth embodiment, portions different from the first to fourth embodiments will be described in order to avoid redundant description.

The lamination system of the fifth embodiment is a system that enables the unmanned aerial vehicle 15 of the first embodiment to perform part or all of the pressing work of the prepreg 6 by the self-propelled carriage 16 of the first embodiment. Therefore, the unmanned aerial vehicle of the fifth embodiment has, in addition to the configuration of the unmanned aerial vehicle 15 of the first embodiment, a pressing roller for pressing the prepreg 6 toward the forming jig 11 side. At this time, the stacking system of the fifth embodiment may have a configuration in which the self-propelled carriage 16 of the first embodiment is omitted.

In the lamination method using the lamination system of Embodiment 5, in the pressing step, the prepreg 6 placed on the molding jig 11 is pressed by an unmanned aerial vehicle having a pressing roller. In other words, in the stacking system of the fifth embodiment, after the unmanned aerial vehicle executes steps S21 to S30 of the first embodiment, the unmanned aerial vehicle moves on the prepreg 6 and pushes the prepreg 6 to the forming jig 11 side by the pressure roller. press against.

As a mechanism for moving the unmanned aerial vehicle on the prepreg 6, an electric motor for driving the pressing roller may be mounted on the unmanned aerial vehicle, or a mechanism for varying the direction of the propulsive force generated by the propeller of the unmanned aerial vehicle may be provided. Alternatively, a separate fan mechanism or the like that generates a driving force in the direction of movement on the prepreg 6 may be provided, and is not particularly limited.

Further, the position of the prepreg 6 may be finely adjusted using the pressing rollers of the unmanned aerial vehicle prior to the pressing operation by the unmanned aerial vehicle.

If the pressing force due to the weight of the unmanned aerial vehicle is insufficient, the pressing force may be increased by magnetic force using an electromagnet or the like. In this case, the electromagnet may be provided on the forming jig 11 side, or the electromagnet may be provided on the unmanned aircraft side. When an electromagnet is provided on the unmanned aircraft side, the forming jig 11 may be configured using a magnetic material (iron, invar, or the like).

As described above, according to the fifth embodiment, the prepreg 6 can be placed on the forming jig 11 by the unmanned aerial vehicle, and the prepreg 6 can be pressed against the forming jig 11 by the pressing roller of the unmanned aerial vehicle. Therefore, it is possible to efficiently perform the stacking work and the pressing work of the prepregs 6 by the unmanned aerial vehicle.

[Embodiment 6]
Next, a lamination system according to Embodiment 6 will be described. Although illustration is omitted, in the sixth embodiment, portions different from the first to fifth embodiments will be described in order to avoid redundant description.

The lamination system of the sixth embodiment is a system that presses the prepreg 6 placed on the forming jig 11 by the unmanned aerial vehicle 15 of the first embodiment using two self-propelled carts. Specifically, the self-propelled carriage 16 includes a first self-propelled carriage 16 and a second self-propelled carriage 16 . In the stacking operation (stacking process) by the unmanned aerial vehicle 15 , the first self-propelled carriage 16 is previously moved onto the forming jig 11 . The unmanned aerial vehicle 15 installs the prepreg 6 on the first self-propelled carriage 16 so that the gripped prepreg 6 protrudes (protrudes) from the first self-propelled carriage 16 . In the pressing operation (pressing process) by the self-propelled carriage 16 , the first self-propelled carriage 16 on which the prepreg 6 is installed moves to position the prepreg 6 . Then, the second self-propelled carriage 16 presses the part of the prepreg 6 projected from the first self-propelled carriage 16 toward the forming jig 11 to temporarily fix it. After that, the unmanned aerial vehicle 15 leaves the first self-propelled carriage 16, and the first self-propelled carriage 16 retreats from the forming jig 11 with the prepreg 6 left on the forming jig 11. . Then, the unmanned aerial vehicle positions the prepreg 6 at the portion not fixed. After that, the second self-propelled carriage 16 presses the unfixed portion of the prepreg 6 .

According to this configuration, the prepreg 6 can be accurately positioned on the forming jig 11 by the first self-propelled carriage 16, so that the laminate 5 can be formed favorably.

5 laminate 6 reinforcing fiber base material (prepreg)
REFERENCE SIGNS LIST 10 Lamination system 11 Forming jig 12 Mounting site 15 Unmanned aircraft 16 Self-propelled cart 17 Laser projector 20 Control system 21 Communication network 25 Unmanned aircraft waiting area 26 Self-propelled cart waiting area 31 Airframe 32 Driving unit 33 Gripping unit 34 Imaging unit 35 control unit 41 suction pad 42 suction unit 43 pressure passage 45 suction pump 46 electromagnetic valve 51 truck body 52 drive unit 53 pressure roller 54 control unit 61 input unit 62 output unit 63 control unit 70 stacking system (second embodiment)
71 Grip 80 Stacking system (Embodiment 3)
90 Lamination system (Embodiment 4)
91 Grip 95 Suction Pad 96 Pressure Duct 97 Fan

Claims (7)

In a laminated body lamination system for forming a laminated body by laminating reinforcing fiber base materials on a forming jig,
an installation area where the reinforcing fiber base material is installed;
an unmanned aerial vehicle capable of taking off and landing vertically, holding and transporting the reinforcing fiber base material;
a pressing unit that presses the reinforcing fiber base material placed on the molding jig toward the molding jig;
a control unit that controls the unmanned aerial vehicle,
The control unit
The unmanned aerial vehicle is controlled to grip the reinforcing fiber base material installed in the installation area, transport the reinforcing fiber base material from the installation area toward the molding jig, and transport the reinforcing fiber base material. is installed on the forming jig ,
After executing the lamination process, the pressing section is controlled to perform a pressing process in which the reinforcing fiber base material placed on the forming jig is pressed by the pressing section toward the forming jig side. cage,
The pressing unit includes a self-propelled carriage that moves on the forming jig,
The self-propelled carriage is a laminate lamination system having a carriage body and a pressing roller that presses the reinforcing fiber base material attached to the carriage body . In a laminated body lamination system for forming a laminated body by laminating reinforcing fiber base materials on a forming jig,
an installation area where the reinforcing fiber base material is installed;
an unmanned aerial vehicle capable of taking off and landing vertically, holding and transporting the reinforcing fiber base material;
a pressing unit that presses the reinforcing fiber base material placed on the molding jig toward the molding jig;
a control unit that controls the unmanned aerial vehicle,
The control unit
The unmanned aerial vehicle is controlled to grip the reinforcing fiber base material installed in the installation area, transport the reinforcing fiber base material from the installation area toward the molding jig, and transport the reinforcing fiber base material. is installed on the forming jig,
After executing the lamination process, the pressing section is controlled to perform a pressing process in which the reinforcing fiber base material placed on the forming jig is pressed by the pressing section toward the forming jig side. cage,
The unmanned aerial vehicle is a laminate stacking system having a fuselage and a pressing roller as the pressing unit provided on the fuselage . The unmanned aerial vehicle has a fuselage and a gripping portion that grips the reinforcing fiber base material provided on the fuselage,
3. The laminate lamination system according to claim 1, wherein the gripping portion has a suction pad that suctions the reinforcing fiber base material, and a suction portion that suctions the reinforcing fiber base material via the suction pad. . 4. The laminate lamination system according to claim 3 , wherein the holding part is provided across a plurality of the unmanned aerial vehicles. In a laminate lamination method for forming a laminate by laminating a reinforcing fiber base material on a forming jig,
An unmanned aerial vehicle that can take off and land vertically grips the reinforcing fiber base material installed in the installation area, transports the reinforcing fiber base material from the installation area toward the molding jig, and transports the reinforcing fiber base material. A laminating step of installing on the forming jig,
a pressing step of pressing the reinforcing fiber base material placed on the molding jig toward the molding jig ,
In the pressing step, a method of laminating a laminate in which the reinforcing fiber base material placed on the forming jig is pressed against the reinforcing fiber base material by a self-propelled carriage having a pressing roller for pressing the reinforcing fiber base material toward the forming jig side. . The self-propelled carriage includes the first self-propelled carriage and the second self-propelled carriage,
In the lamination step, the first self-propelled carriage is moved onto the forming jig, and the unmanned aerial vehicle moves the reinforcing fiber base material so that the reinforcing fiber base material protrudes outward from the first self-propelled carriage. The material is installed on the first self-propelled carriage,
In the pressing step, the first self-propelled carrier moves to position the reinforcing fiber base material, and the second self-propelled carrier moves the reinforcing fiber base material projected from the first self-propelled carrier. The portion is pressed and fixed, the unmanned aerial vehicle is lifted from the first self-propelled carriage, the first self-propelled carriage is withdrawn from the forming jig, and the portion not fixed by the unmanned aerial vehicle is removed. 6. The method of laminating a laminate according to claim 5 , wherein the reinforcing fiber base material is positioned, and the second self-propelled carriage presses the unfixed portion of the reinforcing fiber base material. In a laminate lamination method for forming a laminate by laminating a reinforcing fiber base material on a forming jig,
An unmanned aerial vehicle that can take off and land vertically grips the reinforcing fiber base material installed in the installation area, transports the reinforcing fiber base material from the installation area toward the molding jig, and transports the reinforcing fiber base material. A laminating step of installing on the forming jig;
a pressing step of pressing the reinforcing fiber base material placed on the molding jig toward the molding jig,
The unmanned aerial vehicle has a pressing roller that presses the reinforcing fiber base material toward the molding jig,
In the pressing step, the method for laminating a laminate includes pressing the reinforcing fiber base material placed on the forming jig by the unmanned aircraft having the pressing roller.

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