WO2020115997A1 - Lamination system for laminate and lamination method for laminate - Google Patents

Lamination system for laminate and lamination method for laminate Download PDF

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Publication number
WO2020115997A1
WO2020115997A1 PCT/JP2019/037549 JP2019037549W WO2020115997A1 WO 2020115997 A1 WO2020115997 A1 WO 2020115997A1 JP 2019037549 W JP2019037549 W JP 2019037549W WO 2020115997 A1 WO2020115997 A1 WO 2020115997A1
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WO
WIPO (PCT)
Prior art keywords
fiber base
base material
reinforcing fiber
unmanned aerial
self
Prior art date
Application number
PCT/JP2019/037549
Other languages
French (fr)
Japanese (ja)
Inventor
英敬 服部
章仁 鈴木
誠 井野元
淳 江藤
清水　正彦
剛 大川原
祐樹 可児
了太 尾▲崎▼
Original Assignee
三菱重工業株式会社
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Filing date
Publication date
Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Publication of WO2020115997A1 publication Critical patent/WO2020115997A1/en

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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
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/141—Processes of additive manufacturing using only solid materials
    • B29C64/153—Processes of additive manufacturing using only solid materials using layers of powder being selectively joined, e.g. by selective laser sintering or melting
    • 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
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/227—Driving means
    • B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
    • 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
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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
    • B29C70/06—Fibrous reinforcements only
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to a stacking system for stacks and a stacking method for stacks.
  • a prepreg sheet automatic laminating device for automatically laminating prepreg sheets has been known (for example, refer to Patent Document 1).
  • the prepreg sheets are laminated on the object to be laminated on the stage.
  • the prepreg sheet automatic laminating apparatus is configured to include a stage, various rollers provided above the stage, a cutter, and the like.
  • the prepreg sheet automatic laminating apparatus of Patent Document 1 has a large apparatus configuration when molding a large laminated body used for the main wing of an aircraft. If the device becomes large, it is necessary to increase the facility for installing the device in order to mount the device, and the cost associated with the installation increases. Further, when an abnormality such as a failure occurs in a part of the device, the device has to be stopped, and it becomes difficult to secure continuity of the stacking work.
  • the present invention enhances the continuity of the laminating work of the reinforcing fiber base material while suppressing an increase in the cost associated with the installation, and a stacking system and a laminated body of a laminated body capable of efficiently stacking the reinforcing fiber base material. It is an object of the present invention to provide a method of laminating.
  • the lamination system of the laminated body of the present invention is a lamination system of a laminated body in which a reinforcing fiber base material is laminated on a molding jig to form a laminated body.
  • a vertical unmanned aircraft that grips and transports a fiber base material and that can be taken off and landing, and a controller that controls the unmanned aircraft, the controller controlling the unmanned aircraft and installing the unmanned aircraft in the installation area.
  • the reinforcing fiber base material is gripped, the reinforcing fiber base material is transported from the installation area toward the forming jig, and the reinforcing fiber base material is installed on the forming jig. To do.
  • the method for laminating a laminated body of the present invention is a method for laminating a laminated body in which a reinforcing fiber base material is laminated on a molding jig, and the laminated body is installed in an installation area by an unmanned aircraft capable of vertical takeoff and landing.
  • the reinforcing fiber base material onto the molding 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 materials are laminated to form a laminate. As a result, it is possible to suppress an increase in cost associated with installation because a large-sized stacking device is not used. Even if it becomes difficult to use an unmanned aerial vehicle, by using an alternative unmanned aerial vehicle, the operation of laminating the reinforcing fiber base material is not interrupted, and the continuity of the operation of laminating is improved. You can Further, for example, by using a plurality of unmanned aerial vehicles, the stacking work can be performed in parallel, so that the stacking work can be made efficient.
  • the control unit further comprising a pressing unit for pressing the reinforcing fiber base material installed on the molding jig toward the molding jig side, the control unit, after performing the laminating process, the pressing unit. It is preferable to control and perform a pressing process of pressing the reinforcing fiber base material set on the molding jig toward the molding jig by the pressing unit.
  • the pressing portion can press the reinforcing fiber base material against the molding jig, the pressing work can be automated.
  • the pressing unit includes a self-propelled carriage that moves on the forming jig, and the self-propelled carriage has a carriage main body and a pressing roller that presses the reinforcing fiber base material attached to the carriage main body. Is preferred.
  • a self-propelled carriage having a pressing roller that presses the reinforcing fiber base material toward the forming jig side may press the reinforcing fiber base material installed on the forming jig, preferable.
  • the self-propelled carriage can be run, and the reinforcing fiber base material can be appropriately pressed against the molding jig by the pressing roller of the self-propelled carriage.
  • the unmanned aerial vehicle has a body and a pressing roller as the pressing unit provided on the body.
  • the unmanned aerial vehicle has a pressing roller that presses the reinforcing fiber base material toward the molding jig side, and in the pressing step, the unmanned aerial vehicle having the pressing roller is installed on the molding jig. It is preferable to press the said reinforced fiber base material.
  • the reinforcing fiber base material can be set on the molding jig by the unmanned aerial vehicle, and the reinforcing fiber base material can be pressed against the molding 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.
  • the unmanned aerial vehicle has a body and a gripping portion that grips the reinforcing fiber base provided in the body, and the gripping portion adsorbs the reinforcing fiber base, and the adsorption. It is preferable to have a suction part that sucks the reinforcing fiber base material through the pad.
  • the grip portion is provided across a plurality of the unmanned aerial vehicles.
  • the self-propelled carriage includes a first self-propelled carriage and a second self-propelled carriage, and in the stacking step, the first self-propelled carriage moves onto the forming jig, and
  • the unmanned aerial vehicle installs the reinforcing fiber base material on the first self-propelled carriage so that the reinforcing fiber base material pops out from the first self-propelled carriage, and in the pressing step, the first A self-propelled carriage moves to position the reinforcing fiber base material, and a second self-propelled carriage presses and fixes a portion of the reinforcing fiber base material protruding from the first self-propelled carriage to fix the unmanned vehicle.
  • the aircraft is left on the bed 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 against an unfixed portion of the reinforcing fiber base material.
  • the reinforced fiber base material can be accurately positioned on the molding jig by the first self-propelled carriage, so that the laminated body can be preferably formed.
  • FIG. 1 is a plan view schematically showing a stacking system of stacked bodies according to the first embodiment.
  • FIG. 2 is a diagram regarding a control block of the stacking system for the stacked body according to the first embodiment.
  • FIG. 3 is a perspective view schematically showing the unmanned aerial vehicle.
  • FIG. 4 is a cross-sectional view schematically showing the grip portion of the unmanned aerial vehicle.
  • FIG. 5 is explanatory drawing which shows operation
  • FIG. 6 is a schematic diagram of a self-propelled carriage.
  • FIG. 7 is a flowchart regarding the operation control of the laser projector.
  • FIG. 8 is an explanatory diagram showing the operation of the unmanned aerial vehicle.
  • FIG. 1 is a plan view schematically showing a stacking system of stacked bodies according to the first embodiment.
  • FIG. 2 is a diagram regarding a control block of the stacking system for the stacked body according to the first embodiment.
  • FIG. 3 is
  • FIG. 9 is a flowchart regarding the operation control of the unmanned aerial vehicle.
  • FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage.
  • FIG. 11 is a flowchart regarding the operation control of the self-propelled carriage.
  • FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the stacking system for stacked bodies according to the second embodiment.
  • FIG. 13 is a two-sided view schematically showing the unmanned aerial vehicle in the stacking system for stacked bodies according to the third embodiment.
  • FIG. 14 is a cross-sectional view schematically showing the grip of an unmanned aerial vehicle in the stacking system for stacked bodies according to the fourth embodiment.
  • the lamination system 10 of the laminate is a system for forming a laminate 5 by laminating a plurality of reinforcing fiber base materials 6.
  • the unmanned aerial vehicle 15 and the self-propelled carriage 16 are used to stack the stacked body 5.
  • the laminated body 5 is formed by laminating a plurality of reinforcing fiber base materials 6 on a forming jig.
  • a prepreg obtained by impregnating reinforcing fibers with a resin hereinafter, also referred to as prepreg 6) is applied.
  • the prepreg is used for description.
  • the reinforcing fiber base 6 for example, a dry reinforcing fiber base not impregnated with a resin may be applied.
  • the reinforcing fiber base material 6 is a base material formed in a sheet shape, and, for example, a woven cloth is applied.
  • the reinforcing fiber base 6 may be a sheet in which the fiber directions are aligned in one direction, and is not particularly limited.
  • 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 stacking system of stacked bodies according to the first embodiment.
  • FIG. 2 is a diagram regarding a control block of the stacking system for the stacked body according to the first embodiment.
  • FIG. 3 is a perspective view schematically showing the unmanned aerial vehicle.
  • FIG. 4 is a cross-sectional view schematically showing the grip portion of the unmanned aerial vehicle.
  • FIG. 5 is explanatory drawing which shows operation
  • FIG. 6 is a schematic diagram of a self-propelled carriage.
  • FIG. 7 is a flowchart regarding the 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 regarding the operation control of the unmanned aerial vehicle.
  • FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage.
  • FIG. 11 is a flowchart regarding the operation control of the self-propelled
  • the stacking system 10 of the stack 5 will be described with reference to FIGS. 1 and 2.
  • the stacking system 10 includes a molding jig 11, a mounting place (installation area) 12, an unmanned aerial vehicle 15, a self-propelled carriage 16, a laser projector 17, and a control system 20.
  • the unmanned aerial vehicle 15, the self-propelled carriage 16, the laser projector 17, and the 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 carriage 16, the laser projector 17, and the control system 20 by wireless communication or wired communication, and is not particularly limited.
  • the molding jig 11 is a jig for molding the laminated body 5 by laminating a plurality of prepregs 6.
  • the prepreg 6 transported from the unmanned aerial vehicle 15 is arranged on the forming jig 11. Further, in the forming jig 11, the self-propelled carriage 16 can run.
  • the placing place 12 is a place for the prepreg 6 placed on the forming jig 11.
  • the prepreg 6 placed on the placing place 12 is cut in advance by a cutting machine or the like, and the cut prepreg 6 is placed on the placing place 12 by a transfer robot or an operator.
  • the prepreg 6 arranged in the mounting place 12 is transported to the forming jig 11 by the unmanned aerial vehicle 15.
  • the unmanned aerial vehicle 15 transports the prepreg 6 placed on the loading field 12, but the prepreg 6 cut by a cutting machine or the like may be transported directly to the molding jig 11.
  • the unmanned aerial vehicle 15 is an unmanned aerial vehicle that can vertically take off and land, and is, for example, a small unmanned aerial vehicle such as a multicopter drone. A plurality of unmanned aerial vehicles 15 are prepared, for example, and are arranged in the waiting area 25. The unmanned aerial vehicle 15 transports the prepreg 6 placed on the loading field 12. As shown in FIGS. 2 to 4, the unmanned aerial vehicle 15 is configured to include a body 31, a drive unit 32, a gripping unit 33, an imaging unit 34, and a control unit 35.
  • the drive unit 32 includes, for example, a plurality of propellers, and rotates the propellers to fly the airframe 31.
  • the drive unit 32 is connected to the control unit 35, and the flight operation is controlled by the control unit 35.
  • the grip portion 33 grips the prepreg 6 and releases the grip.
  • the grip 33 is connected to the controller 35, and the grip operation is controlled by the controller 35.
  • the grip 33 will be described later.
  • the image capturing unit 34 is, for example, a camera or the like, and acquires an image captured from the unmanned aerial vehicle 15.
  • the imaging unit 34 is connected to the control unit 35 and outputs the image captured by the imaging unit 34 to the control unit 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 the information obtained from the units 32, 33, 34, the information obtained via the communication network 21, and the like.
  • the control unit 35 controls, for example, the drive unit 32 to control the flight operation between the molding jig 11 and the mounting place 12.
  • the control unit 35 controls the gripping unit 33 to control the gripping operation of the prepreg 6, for example.
  • the control unit 35 controls the driving unit 32 based on the image acquired from the imaging unit 34, and controls the flight operation so that the machine body 31 is at a predetermined position.
  • the unmanned aerial vehicle 15 is connected to the control system 20 via the communication network 21, and executes various operations under the control of the control system 20.
  • the unmanned aerial vehicle 15 moves toward the forming jig 11, moves toward the placing place 12, or moves toward the standby place 25, for example, based on an instruction from the control system 20.
  • the grip 33 serves as a suction mechanism that sucks the prepreg 6.
  • the grip portion 33 includes a suction pad 41, a suction portion 42, and a pressure passage 43 that connects 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 that a closed space can be formed between the suction pad 41 and the prepreg 6.
  • the suction part 42 makes the closed space formed between the prepreg 6 and the suction pad 41 negative pressure or pressurization.
  • the suction unit 42 has a suction pump 45 and a solenoid 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 4-port solenoid valve, and has a port connected to the atmosphere (opened to the atmosphere), a port connected to the pressure passage 43, and 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.
  • the solenoid valve 46 is switchably operated between a depressurized state in which the sealed space of the suction pad 41 is depressurized and a pressurized state in which the sealed space is pressurized.
  • the electromagnetic valve 46 forms a flow path that connects the port connected to the pressure passage 43 and the suction port of the suction pump 45, and is also connected to the atmosphere.
  • a flow path that connects the port and the discharge port of the suction pump 45 is formed.
  • the inside of the pressure passage 43 is in a depressurized state, so that the sealed space of the suction pad 41 is in a depressurized state.
  • 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 the solenoid valve 46, and at the same time, to the atmosphere. And a suction port of the suction pump 45 are connected to each other to form a flow path.
  • the inside of the pressure passage 43 is brought into a pressurized state, so that the closed space of the suction pad 41 is brought into a pressurized state.
  • the self-propelled carriage 16 moves on the forming jig 11 and presses the prepreg 6 arranged on the forming jig 11 against the forming jig 11 side.
  • a plurality of self-propelled carriages 16 are prepared, for example, and are arranged in a waiting place 26 adjacent to the molding jig 11.
  • the self-propelled carriage 16 moves from the waiting place 26 onto the forming jig 11 and presses the prepreg 6 on the forming jig 11.
  • the self-propelled carriage 16 includes a carriage main body 51, a drive unit 52, a pressing roller 53, and a control unit 54.
  • a drive unit 52, a pressing roller 53, and a control unit 54 are attached to the trolley body 51, and a weight for pressing the prepreg 6 against the molding jig 11 is mounted. Therefore, the self-propelled carriage 16 presses the prepreg 6 against the molding jig 11 by its own weight.
  • the drive unit 32 includes, for example, a motor that drives drive wheels, and drives the self-propelled carriage 16 by the power of the motor.
  • two pressing 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 capable of rolling contact with the prepreg 6.
  • the drive unit 52 is connected to the control unit 54, and the traveling 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 types of information via the communication network 21.
  • the control unit 54 executes various controls based on the information acquired via the communication network 21.
  • the control unit 54 controls, for example, the driving unit 52 to control the traveling operation between the molding jig 11 and the waiting place 26.
  • the self-propelled carriage 16 is connected to the control system 20 via the communication network 21 and executes various operations under the control of the control system 20.
  • the self-propelled carriage 16 moves toward the forming jig 11 or moves toward the waiting place 26, for example, based on an instruction from the control system 20.
  • the laser projector 17 is installed in each of the molding jig 11 and the placing space 12.
  • the laser projector 17 a provided on the molding jig 11 is arranged above the molding jig 11, and projects an image regarding the stacking position of the prepreg 6 arranged on the molding jig 11 onto the molding jig 11. ..
  • the unmanned aerial vehicle 15 captures the image projected on the molding jig 11 by the image capturing unit 34, and based on the captured image, the prepreg 6 held by the holding unit 33 is stacked in a predetermined layer on which the image is projected. Place in position.
  • the laser projector 17b provided in the mounting space 12 is arranged above the mounting space 12, and an image that indicates a predetermined prepreg 6 to be gripped from among the cut prepregs 6 arranged on the mounting space 12. Are projected on the mounting place 12.
  • the unmanned aerial vehicle 15 captures the image projected on the loading field 12 with the imaging unit 34, and grips the predetermined prepreg 6 with the gripping unit 33 based on the captured image.
  • the laser projector 17 is also connected to the control system 20 via the communication network 21, and executes various operations under the control of the control system 20.
  • the laser projector 17 projects an image on the molding jig 11 or an image on the mounting place 12 based on an instruction from the control system 20, for example.
  • the control system 20 controls the laminated system 10 in a centralized manner, and controls the unmanned aerial vehicle 15, the self-propelled carriage 16 and the laser projector 17 via the communication network 21.
  • the control system 20 includes an input unit 61 configured by an input device such as a mouse and a keyboard, an output unit 62 configured by an output device such as a monitor, and a control unit 63.
  • the control unit 63 includes, for example, 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 in which a control device, a data server, and the like are combined, and is not particularly limited.
  • the control system 20 When the stacking work of the stacked body 5 is started, the control system 20 outputs image information of an image instructing a predetermined prepreg 6 held by the unmanned aerial vehicle 15 toward the laser projector 17b, and also outputs the image information to the laser projector 17a. Toward the output, image information of the image regarding the stacking position of the prepreg 6 arranged on the molding jig 11 is output.
  • the laser projector 17b When the laser projector 17b acquires the image information from the control system 20, the laser projector 17b projects the acquired image on the mounting place 12 to instruct a predetermined prepreg (a predetermined material) to be gripped (step S11). Further, when the laser projector 17a acquires the image information from the control system 20, the laser projector 17a projects the acquired image on the molding jig 11 to indicate a predetermined stacking position (step S12). Subsequently, the control system 20 determines whether or not to continue stacking after the stacking work by the unmanned aerial vehicle 15 and the self-propelled carriage 16 is completed (step S13).
  • step S13: No the control system 20 does not output the image information to the laser projector 17a and the laser projector 17b and outputs the laser projector 17a and the laser projector 17b. Stop the image projection operation.
  • the laser projector 17b ends the instruction of the predetermined prepreg (predetermined material) to be held (step S14).
  • the laser projector 17a ends the instruction of the predetermined stacking position (step S15).
  • step S15 the laser projector 17b ends the operation related to the stacking method.
  • step S13: Yes it again executes steps S11 and S12. Then, the control system 20 repeatedly executes step S11 and step S12 until the lamination of the prepreg 6 is completed.
  • the 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.
  • the control system 20 moves to the loading place 12 toward the unmanned aerial vehicle 15 waiting in the waiting place 25, holds a predetermined material, and forms the molding jig 11
  • the instruction information for instructing to stack is output.
  • the unmanned aerial vehicle 15 acquires the instruction information, it leaves the waiting area 25 (step S21).
  • the unmanned aerial vehicle 15 that has left the waiting area 25 moves to the loading area 12 (step S22).
  • the unmanned aerial vehicle 15 that has moved to the mounting space 12 captures the image projected on the mounting space 12 from the laser projector 17b by the image capturing unit 34 and recognizes the predetermined prepreg (predetermined material) to be gripped (step S23). .. Then, the unmanned aerial vehicle 15 descends onto the recognized predetermined material and lands (step S24/P1). The unmanned aerial vehicle 15 grips the predetermined material with the gripping portion 33 (step S25/P2). Then, the unmanned aerial vehicle 15 leaves the platform 12 while holding the predetermined material with the grip portion 33 (step S26).
  • the unmanned aerial vehicle 15 moves from the mounting place 12 to the forming jig 11 (step S27/P3).
  • the unmanned aerial vehicle 15 that has moved to the molding jig 11 images the image projected on the molding jig 11 from the laser projector 17a by the imaging unit 34 and recognizes a predetermined stacking position (step S28/P4).
  • the unmanned aerial vehicle 15 lands at the recognized predetermined stacking position (step S29).
  • the unmanned aerial vehicle 15 releases the grip of the predetermined material by the grip portion 33 and releases the predetermined material (step S30/P5).
  • the unmanned aerial vehicle 15 leaves the molding jig 11 (step S31).
  • control system 20 determines whether or not to continue stacking after the stacking work by the unmanned aerial vehicle 15 is completed (step S32).
  • the control system 20 determines that the stacking is not continuously performed (step S32: No)
  • the control system 20 outputs the instruction information for instructing the unmanned aerial vehicle 15 to stand by at the waiting place 25.
  • the unmanned aerial vehicle 15 acquires the instruction information, it returns to the waiting area 25 (step S33/P6).
  • step S32 determines to continue stacking (step S32: Yes)
  • the control system 20 executes step S22 (P1) to step S31 (P5) again. Then, the control system 20 repeatedly executes Step S22 (P1) to Step S31 (P5) until the lamination of the prepreg 6 is completed.
  • the unmanned aerial vehicle 15 transports the prepreg 6 from the mounting place 12 toward the molding jig 11 by repeatedly performing Step S22 (P1) to Step S31 (P5), and molds the prepreg 6.
  • a stacking process (process) to be installed on the jig 11 is executed.
  • the control system 20 instructs the self-propelled carriage 16 waiting in the waiting place 26 to move to the molding jig 11 and press a predetermined material. Output information.
  • the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 moves from the waiting place 26 onto the forming jig 11 (step S41).
  • the self-propelled carriage 16 moves to the periphery of a predetermined stacking position in the image projected on the forming jig 11 from the laser projector 17a and stands by (step S42/P11).
  • step S43 the control system 20 determines whether or not the unmanned aerial vehicle 15 has left the molding jig 11 (step S43).
  • step S43 for example, the control system 20 determines whether or not a predetermined time has elapsed from the instruction of the release of the predetermined material by the grip 33 of the unmanned aerial vehicle 15 to the departure of the unmanned aerial vehicle 15. There is.
  • step S43: Yes When the control system 20 determines that the unmanned aerial vehicle 15 has left the molding jig 11 (step S43: Yes), it instructs the self-propelled carriage 16 to move onto the predetermined material installed in the molding jig 11.
  • the instruction information to be output is output.
  • the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 moves onto the predetermined material installed in the molding jig 11 (step S44).
  • step S43: No the control system 20 proceeds to step S42.
  • control system 20 determines that the unmanned aerial vehicle 15 has not left the molding jig 11, the control system 20 outputs instruction information for instructing to continue the standby of the self-propelled carriage 16.
  • the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 stands by around a predetermined stacking position.
  • step S45/P12 The self-propelled carriage 16 that has moved onto the predetermined material moves on the predetermined material while pressing the predetermined material with the pressing 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 that the stacking is not continuously performed (step S47: No), the control system 20 outputs the instruction information for instructing the self-propelled carriage 16 to stand by at the waiting place 26. When the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 returns to the waiting place 26 (step S48). On the other hand, when the control system 20 determines to continue stacking (step S47: Yes), steps S42 to S46 are executed again. Then, the control system 20 repeatedly executes Step S42 to Step S46 until the stacking of the prepreg 6 is completed
  • the self-propelled carriage 16 performs a pressing process (step) of pressing the prepreg 6 installed on the molding jig 11 toward the molding jig 11 side by repeatedly performing steps S42 to S46. Run.
  • the prepreg 6 can be transported onto the molding jig 11 by the unmanned aerial vehicle 15. Therefore, by pressing the prepreg 6 installed on the molding jig 11 toward the molding jig 11 side, the prepreg 6 is laminated to form the laminated body 5. As a result, it is possible to suppress an increase in cost associated with the installation of the stacking system 10 because a large stacking device is not provided. Further, even when it becomes difficult to use the unmanned aerial vehicle 15, by using the alternative unmanned aerial vehicle 15, the lamination work of the prepreg 6 is not interrupted, and the continuity of the lamination work is improved. You can Further, by using a plurality of unmanned aerial vehicles 15, the stacking work can be performed in parallel, so that the stacking work can be made efficient.
  • the pressing of the prepreg 6 against the forming jig 11 can be executed by the self-propelled carriage 16, so that the pressing work can be automated.
  • the self-propelled carriage 16 can be made to travel, and the prepreg 6 can be appropriately pressed against the molding jig 11 by the pressing roller 53 of the self-propelled carriage 16.
  • the grip portion 33 as the suction mechanism, it is possible to appropriately grip the prepreg 6 by suction and release the grip. Further, since the grip portion 33 by suction can have a compact structure, it is possible to suppress an increase in weight of the unmanned aerial vehicle 15.
  • the prepreg 6 is applied as the reinforcing fiber base material, but a dry reinforcing fiber base material not impregnated with resin may be applied, and in this case, the gripping portion 33 serving as the adsorption mechanism is used. Instead, it may be a gripping part that is hooked and held by a locking part such as a needle.
  • the prepreg 6 is positioned by capturing the image of the laser projector 17 by the image capturing unit 34 provided in the unmanned aerial vehicle 15.
  • the image is instructed.
  • the difference between the position and the position of the prepreg 6 that is actually arranged may be calculated, and feedback control or machine learning may be performed so as to correct this difference.
  • the pressing process (step) by the self-propelled carriage 16 is executed every time the prepregs 6 are stacked, but the pressing process (step) by the self-propelled car 16 after stacking all the prepregs 6 is performed. ) May be executed.
  • the single layer prepreg 6 is applied in the first embodiment, a pre-laminated product in which a plurality of prepregs 6 are pre-laminated may be used.
  • a preliminary laminated product in which dry fiber reinforced base materials are preliminarily laminated and temporarily fixed may be used. It is preferable that the thickness and the end shape of the preformed product be appropriately determined depending on the weight capacity of the unmanned aerial vehicle 15 or the step-walkability of the self-propelled carriage 16.
  • FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the stacking system for stacked bodies according to the second embodiment.
  • parts different from the first embodiment will be described, and parts having the same configuration as the first embodiment will be described with the same reference numerals.
  • the grip portion 33 provided on the unmanned aerial vehicle 15 of the first embodiment is provided so as to straddle a plurality of unmanned aerial vehicles 15.
  • the prepreg 6 transported by the unmanned aerial vehicle 15 may be difficult to transport by the single unmanned aerial vehicle 15.
  • the grip portion 71 of the second embodiment is provided so as to straddle a plurality of unmanned aerial vehicles 15, so that the prepreg 6 can be transported by the plurality of unmanned aerial vehicles 15.
  • the grip portion 71 of the second embodiment includes a suction pad 41, a suction portion 42, and a pressure passage 43 that connects 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 so as to span a plurality (for example, two) of the unmanned aerial vehicles 15.
  • a plurality of suction pads 41 are mounted side by side along the pressure passage 43 that is stretched over the unmanned aerial vehicle 15.
  • FIG. 13 is a two-sided view schematically showing the unmanned aerial vehicle in the stacking system for stacked bodies according to the third embodiment.
  • parts different from those in the first and second embodiments will be described in order to avoid redundant description, and parts having the same configurations as those in the first and second embodiments will be described with the same reference numerals.
  • the laminating system 80 according to the third embodiment is a system in which the prepreg 6 transported in the laminating system 70 according to the second embodiment is in a roll shape.
  • the plurality of unmanned aerial vehicles 15 adsorb and grasp the end portion of the prepreg 6 on the free end side by the grasping portion 71. Then, the plurality of unmanned aerial vehicles 15 move onto the forming jig 11 to pull out the prepreg 6.
  • the roll-shaped prepreg 6 is movable in the horizontal direction and the vertical direction, and its axial direction can be changed. Further, the unillustrated mechanism may rotate the roll-shaped prepreg 6 in the pull-out direction to support the movement of the unmanned aerial vehicle 15.
  • the unmanned aerial vehicle 15 can appropriately arrange the prepreg 6 on the molding jig 11.
  • FIG. 14 is a cross-sectional view schematically showing the grip of an unmanned aerial vehicle in the stacking system for stacked bodies according to the fourth embodiment.
  • FIG. 14 in order to avoid redundant 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.
  • the stacking system 90 of the fourth embodiment is replaced with the grip portion 33 that is the suction mechanism provided in the unmanned aerial vehicle 15 of the first embodiment, and is a grip portion 91 of a fan mechanism.
  • the grip portion 91 of the fourth embodiment includes a suction pad 95, a pressure duct 96, and a fan 97. Since the suction pad 95 is the same as the suction pad 41 of the first embodiment, the description thereof will be omitted.
  • the pressure duct 96 has a pressure channel formed therein, the adsorption pad 95 is provided on one side of the pressure channel, and the fan 97 is provided on the other side of the pressure channel.
  • the pressure duct 96 is internally depressurized or pressurized by the operation of the fan 97.
  • the fan 97 discharges 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 depressurized state in which the sealed space of the suction pad 95 is depressurized and a pressurized state in which the sealed space is pressurized.
  • the fan 97 discharges air from the pressure duct 96, so that the inside of the pressure duct 96 is in a reduced pressure state and the closed space of the suction pad 41 is in a reduced pressure state.
  • the fan 97 takes air into the pressure duct 96, so that the inside of the pressure duct 96 is set to the pressurized state and the closed space of the suction pad 41 is set to the pressurized state.
  • the grip portion 91 as the fan mechanism, the prepreg 6 can be gripped by suction and the grip can be released appropriately.
  • the grip portion 91 by the fan 97 can have a compact structure, it is possible to suppress an increase in weight of the unmanned aerial vehicle 15.
  • the stacking system of the fifth embodiment is a system that enables the unmanned aerial vehicle 15 of the first embodiment to perform a part or all of the work of pressing the prepreg 6 by the self-propelled carriage 16 of the first embodiment. Therefore, the unmanned aerial vehicle of the fifth embodiment further includes a pressing roller that presses the prepreg 6 toward the molding jig 11 side in addition to the configuration of the unmanned aerial vehicle 15 of the first embodiment. At this time, in the stacking system of the fifth embodiment, the self-propelled carriage 16 of the first embodiment may be omitted.
  • the prepreg 6 installed on the molding jig 11 is pressed by an unmanned aerial vehicle having a pressing roller. That is, 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 the prepreg 6 is formed on the forming jig 11 side by the pressing roller. Press on.
  • an electric motor for driving the pressing roller may be mounted on the unmanned aerial vehicle, or a mechanism for changing the direction of the propulsive force generated by the propeller of the unmanned aerial vehicle is provided.
  • a separate fan mechanism or the like that generates a propulsive force in a direction of moving on the prepreg 6 may be provided, and the invention is not particularly limited.
  • the position of the prepreg 6 may be finely adjusted by using the pressure roller of the unmanned aerial vehicle.
  • the pressing force due to the dead weight of the unmanned aerial vehicle may be increased by magnetic force using an electromagnet or the like.
  • an electromagnet may be provided on the molding jig 11 side, or an electromagnet may be provided on the unmanned aerial vehicle side.
  • the molding jig 11 may be made of a magnetic material (iron, invar or the like).
  • the fifth embodiment it is possible to install the prepreg 6 on the molding jig 11 by an unmanned aerial vehicle and press the prepreg 6 against the molding 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 prepreg 6 by the unmanned aerial vehicle.
  • the stacking system according to the sixth embodiment is a system in which the prepreg 6 arranged on the molding jig 11 by the unmanned aerial vehicle 15 according to the first embodiment is pressed using two self-propelled carriages.
  • the self-propelled carriage 16 includes a first self-propelled carriage 16 and a second self-propelled carriage 16.
  • the first self-propelled carriage 16 has 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 jumps out (extends) from the first self-propelled carriage 16.
  • the first self-propelled carriage 16 on which the prepreg 6 is installed moves to position the prepreg 6.
  • the second self-propelled carriage 16 presses the part of the prepreg 6 protruding from the first self-propelled carriage 16 toward the molding jig 11 side to temporarily fix it.
  • the unmanned aerial vehicle 15 leaves the first self-propelled carriage 16 and the first self-propelled carriage 16 retracts from the forming jig 11 with the prepreg 6 left on the forming jig 11. ..
  • the prepreg 6 at a portion that is not fixed by the unmanned aerial vehicle is positioned.
  • the second self-propelled carriage 16 presses the unfixed portion of the prepreg 6.
  • the first self-propelled carriage 16 can accurately position the prepreg 6 on the molding jig 11, so that the laminated body 5 can be preferably formed.

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Abstract

A lamination system 10 for a laminate 5, which forms the laminate 5 by laminating prepregs 6 on a molding tool 11, is provided with: a mounting place 12 on which the prepregs 6 are disposed; an unmanned aircraft 15 that can vertically take-off and land for holding and transporting the prepregs 6; and a control system 20 that controls the unmanned aircraft 15. The control system 20 controls the unmanned aircraft 15 for holding the prepregs 6 placed on the mounting place 12 and transporting the prepregs 6 from the mounting place 12 toward the molding tool 11, to thereby execute a lamination process in which the prepregs 6 are placed on the molding tool 11.

Description

積層体の積層システム及び積層体の積層方法Laminating system of laminated body and laminating method of laminated body
　本発明は、積層体の積層システム及び積層体の積層方法に関するものである。 The present invention relates to a stacking system for stacks and a stacking method for stacks.
　従来、プリプレグシートを自動で積層するプリプレグシート自動積層装置が知られている（例えば、特許文献１参照）。このプリプレグシート自動積層装置では、ステージ上の被積層体に対してプリプレグシートを積層させている。プリプレグシート自動積層装置は、ステージ、ステージの上方に設けられる各種ローラ、及びカッター等を含む構成となっている。 Conventionally, a prepreg sheet automatic laminating device for automatically laminating prepreg sheets has been known (for example, refer to Patent Document 1). In this prepreg sheet automatic laminating apparatus, the prepreg sheets are laminated on the object to be laminated on the stage. The prepreg sheet automatic laminating apparatus is configured to include a stage, various rollers provided above the stage, a cutter, and the like.
特開２０１５－８９６４７号公報JP, 2005-89647, A
　しかしながら、特許文献１のプリプレグシート自動積層装置は、航空機の主翼等に用いられる大型の積層体を成形する場合、装置構成が大型化してしまう。装置が大型化してしまうと、装置を載置するために、装置を設置する施設の増強を図る必要があり、設置に伴うコストが増大する。また、装置の一部において故障等の異常が発生した場合、装置を停止させなければならず、積層作業の継続性を確保することが困難となる。 However, the prepreg sheet automatic laminating apparatus of Patent Document 1 has a large apparatus configuration when molding a large laminated body used for the main wing of an aircraft. If the device becomes large, it is necessary to increase the facility for installing the device in order to mount the device, and the cost associated with the installation increases. Further, when an abnormality such as a failure occurs in a part of the device, the device has to be stopped, and it becomes difficult to secure continuity of the stacking work.
　そこで、本発明は、設置に伴うコストの増大を抑制しつつ、強化繊維基材の積層作業の継続性を高め、強化繊維基材を効率よく積層することができる積層体の積層システム及び積層体の積層方法を提供することを課題とする。 Therefore, the present invention enhances the continuity of the laminating work of the reinforcing fiber base material while suppressing an increase in the cost associated with the installation, and a stacking system and a laminated body of a laminated body capable of efficiently stacking the reinforcing fiber base material. It is an object of the present invention to provide a method of laminating.
　本発明の積層体の積層システムは、強化繊維基材を成形治具上に積層して積層体を形成する積層体の積層システムにおいて、前記強化繊維基材が設置される設置エリアと、前記強化繊維基材を把持して輸送する、垂直に離着陸可能な無人航空機と、前記無人航空機を制御する制御部と、を備え、前記制御部は、前記無人航空機を制御して、前記設置エリアに設置された前記強化繊維基材を把持し、前記設置エリアから前記成形治具へ向けて前記強化繊維基材を輸送して、前記強化繊維基材を前記成形治具上に設置する積層処理を実行する。 The lamination system of the laminated body of the present invention is a lamination system of a laminated body in which a reinforcing fiber base material is laminated on a molding jig to form a laminated body. A vertical unmanned aircraft that grips and transports a fiber base material and that can be taken off and landing, and a controller that controls the unmanned aircraft, the controller controlling the unmanned aircraft and installing the unmanned aircraft in the installation area. The reinforcing fiber base material is gripped, the reinforcing fiber base material is transported from the installation area toward the forming jig, and the reinforcing fiber base material is installed on the forming jig. To do.
　本発明の積層体の積層方法は、成形治具上に強化繊維基材を積層して積層体を形成する積層体の積層方法において、垂直に離着陸可能な無人航空機により、設置エリアに設置された前記強化繊維基材を把持し、前記設置エリアから前記成形治具へ向けて前記強化繊維基材を輸送して、前記強化繊維基材を前記成形治具上に設置する積層工程と、前記成形治具上に設置された前記強化繊維基材を前記成形治具側へ向かって押し付ける押付工程と、を備える。 The method for laminating a laminated body of the present invention is a method for laminating a laminated body in which a reinforcing fiber base material is laminated on a molding jig, and the laminated body is installed in an installation area by an unmanned aircraft capable of vertical takeoff and landing. A laminating step of gripping the reinforcing fiber base material, transporting the reinforcing fiber base material from the installation area to the forming jig, and installing the reinforcing fiber base material on the forming jig; And a pressing step of pressing the reinforcing fiber base material set on the jig toward the molding jig.
　これらの構成によれば、無人航空機により強化繊維基材を成形治具上に輸送することができる。このため、成形治具上に設置された強化繊維基材を成形治具側へ向かって押し付けることで、強化繊維基材を積層していき、積層体を形成することができる。これにより、大型の積層装置とすることがないことから、設置に伴うコストの増大を抑制することができる。また、無人航空機の使用が困難となった場合であっても、代替の無人航空機を使用することで、強化繊維基材の積層作業が中断されることがなく、積層作業の継続性を高めることができる。また、例えば、無人航空機を複数使用することで、積層作業の並列化等を行うことにより、積層作業の効率化を図ることが可能となる。 According to these configurations, it is possible to transport the reinforcing fiber base material onto the molding 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 materials are laminated to form a laminate. As a result, it is possible to suppress an increase in cost associated with installation because a large-sized stacking device is not used. Even if it becomes difficult to use an unmanned aerial vehicle, by using an alternative unmanned aerial vehicle, the operation of laminating the reinforcing fiber base material is not interrupted, and the continuity of the operation of laminating is improved. You can Further, for example, by using a plurality of unmanned aerial vehicles, the stacking work can be performed in parallel, so that the stacking work can be made efficient.
　また、前記成形治具上に設置された前記強化繊維基材を、前記成形治具側へ向かって押し付ける押付部を、さらに備え、前記制御部は、前記積層処理の実行後、前記押付部を制御して、前記成形治具上に設置された前記強化繊維基材を、前記押付部により前記成形治具側へ向かって押し付ける押付処理を実行することが、好ましい。 Further, further comprising a pressing unit for pressing the reinforcing fiber base material installed on the molding jig toward the molding jig side, the control unit, after performing the laminating process, the pressing unit. It is preferable to control and perform a pressing process of pressing the reinforcing fiber base material set on the molding jig toward the molding jig by the pressing unit.
　この構成によれば、強化繊維基材の成形治具への押し付けを、押付部により実行することができるため、押付作業の自動化を図ることができる。 According to this configuration, since the pressing portion can press the reinforcing fiber base material against the molding jig, the pressing work can be automated.
　また、前記押付部は、前記成形治具上を移動する自走台車を含み、前記自走台車は、台車本体と、前記台車本体に取り付けられる前記強化繊維基材を押し付ける押圧ローラと、を有することが、好ましい。 The pressing unit includes a self-propelled carriage that moves on the forming jig, and the self-propelled carriage has a carriage main body and a pressing roller that presses the reinforcing fiber base material attached to the carriage main body. Is preferred.
　また、前記押付工程では、前記強化繊維基材を前記成形治具側へ向かって押し付ける押圧ローラを有する自走台車により、前記成形治具上に設置された前記強化繊維基材を押し付けることが、好ましい。 In the pressing step, a self-propelled carriage having a pressing roller that presses the reinforcing fiber base material toward the forming jig side may press the reinforcing fiber base material installed on the forming jig, preferable.
　これらの構成によれば、自走台車を走行させて、自走台車の押圧ローラにより、強化繊維基材を成形治具へ適切に押し付けることができる。 According to these configurations, the self-propelled carriage can be run, and the reinforcing fiber base material can be appropriately pressed against the molding jig by the pressing roller of the self-propelled carriage.
　また、前記無人航空機は、機体と、前記機体に設けられる前記押付部としての押圧ローラと、を有することが、好ましい。 Further, it is preferable that the unmanned aerial vehicle has a body and a pressing roller as the pressing unit provided on the body.
　また、前記無人航空機は、前記強化繊維基材を前記成形治具側へ向かって押し付ける押圧ローラを有し、前記押付工程では、前記押圧ローラを有する前記無人航空機により、前記成形治具上に設置された前記強化繊維基材を押し付けることが、好ましい。 In addition, the unmanned aerial vehicle has a pressing roller that presses the reinforcing fiber base material toward the molding jig side, and in the pressing step, the unmanned aerial vehicle having the pressing roller is installed on the molding jig. It is preferable to press the said reinforced fiber base material.
　これらの構成によれば、無人航空機による強化繊維基材の成形治具上への設置と共に、無人航空機の押圧ローラにより、強化繊維基材を成形治具へ押し付けることができる。このため、無人航空機による強化繊維基材の積層作業と押付作業とを効率よく行うことができる。 According to these configurations, the reinforcing fiber base material can be set on the molding jig by the unmanned aerial vehicle, and the reinforcing fiber base material can be pressed against the molding 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.
　また、前記無人航空機は、機体と、前記機体に設けられる前記強化繊維基材を把持する把持部と、を有し、前記把持部は、前記強化繊維基材を吸着する吸着パッドと、前記吸着パッドを介して前記強化繊維基材を吸引する吸引部と、を有することが、好ましい。 Further, the unmanned aerial vehicle has a body and a gripping portion that grips the reinforcing fiber base provided in the body, and the gripping portion adsorbs the reinforcing fiber base, and the adsorption. It is preferable to have a suction part that sucks the reinforcing fiber base material through the pad.
　この構成によれば、吸着による強化繊維基材の把持と把持の解除とを適切に行うことができる。また、吸着による把持部は、コンパクトな構成とできることから、無人航空機の重量増加を抑制することができる。 With this configuration, it is possible to appropriately grasp and release the reinforcing fiber base material by adsorption. Moreover, since the gripping portion by suction can have a compact structure, it is possible to suppress an increase in weight of the unmanned aerial vehicle.
　また、前記把持部は、複数の前記無人航空機に跨って設けられることが、好ましい。 Moreover, it is preferable that the grip portion is provided across a plurality of the unmanned aerial vehicles.
　この構成によれば、強化繊維基材が１台の無人航空機によって輸送することが困難である場合であっても、複数の無人航空機によって輸送することが可能となる。 With this configuration, even if it is difficult to transport the reinforcing fiber base material by one unmanned aerial vehicle, it is possible to transport it by a plurality of unmanned aerial vehicles.
　また、前記自走台車は、第１の前記自走台車と第２の前記自走台車とを含み、前記積層工程では、第１の前記自走台車が前記成形治具上に移動し、前記強化繊維基材が第１の前記自走台車から外側に飛び出るように、前記無人航空機が前記強化繊維基材を第１の前記自走台車上に設置し、前記押付工程では、第１の前記自走台車が移動して前記強化繊維基材の位置決めを行い、第２の前記自走台車が第１の前記自走台車から飛び出た前記強化繊維基材の部位を押し付けて固定し、前記無人航空機を第１の前記自走台車から離床させ、第１の前記自走台車を前記成形治具上から退避させ、前記無人航空機により固定されていない部位の前記強化繊維基材の位置決めを行い、第２の前記自走台車が前記強化繊維基材の固定されていない部位を押し付けることが、好ましい。 Also, the self-propelled carriage includes a first self-propelled carriage and a second self-propelled carriage, and in the stacking step, the first self-propelled carriage moves onto the forming jig, and The unmanned aerial vehicle installs the reinforcing fiber base material on the first self-propelled carriage so that the reinforcing fiber base material pops out from the first self-propelled carriage, and in the pressing step, the first A self-propelled carriage moves to position the reinforcing fiber base material, and a second self-propelled carriage presses and fixes a portion of the reinforcing fiber base material protruding from the first self-propelled carriage to fix the unmanned vehicle. The aircraft is left on the bed 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 against an unfixed portion of the reinforcing fiber base material.
　この構成によれば、第１の自走台車により強化繊維基材の成形治具上への位置決めを精度よく行うことができるため、積層体を好適に形成することができる。 According to this configuration, the reinforced fiber base material can be accurately positioned on the molding jig by the first self-propelled carriage, so that the laminated body can be preferably formed.
図１は、実施形態１に係る積層体の積層システムを模式的に示す平面図である。FIG. 1 is a plan view schematically showing a stacking system of stacked bodies according to the first embodiment. 図２は、実施形態１に係る積層体の積層システムの制御ブロックに関する図である。FIG. 2 is a diagram regarding a control block of the stacking system for the stacked body according to the first embodiment. 図３は、無人航空機を模式的に示す斜視図である。FIG. 3 is a perspective view schematically showing the unmanned aerial vehicle. 図４は、無人航空機の把持部を模式的に示す断面図である。FIG. 4 is a cross-sectional view schematically showing the grip portion of the unmanned aerial vehicle. 図５は、無人航空機の把持部の動作を示す説明図である。FIG. 5: is explanatory drawing which shows operation|movement of the holding part of an unmanned aerial vehicle. 図６は、自走台車の模式図である。FIG. 6 is a schematic diagram of a self-propelled carriage. 図７は、レーザプロジェクタの動作制御に関するフローチャートである。FIG. 7 is a flowchart regarding the operation control of the laser projector. 図８は、無人航空機の動作を示す説明図である。FIG. 8 is an explanatory diagram showing the operation of the unmanned aerial vehicle. 図９は、無人航空機の動作制御に関するフローチャートである。FIG. 9 is a flowchart regarding the operation control of the unmanned aerial vehicle. 図１０は、自走台車の動作を示す説明図である。FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage. 図１１は、自走台車の動作制御に関するフローチャートである。FIG. 11 is a flowchart regarding the operation control of the self-propelled carriage. 図１２は、実施形態２に係る積層体の積層システムにおける無人航空機を模式的に示す二面図である。FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the stacking system for stacked bodies according to the second embodiment. 図１３は、実施形態３に係る積層体の積層システムにおける無人航空機を模式的に示す二面図である。FIG. 13 is a two-sided view schematically showing the unmanned aerial vehicle in the stacking system for stacked bodies according to the third embodiment. 図１４は、実施形態４に係る積層体の積層システムにおける無人航空機の把持部を模式的に示す断面図である。FIG. 14 is a cross-sectional view schematically showing the grip of an unmanned aerial vehicle in the stacking system for stacked bodies according to the fourth embodiment.
　以下に、本発明に係る実施形態を図面に基づいて詳細に説明する。なお、この実施形態によりこの発明が限定されるものではない。また、下記実施形態における構成要素には、当業者が置換可能かつ容易なもの、あるいは実質的に同一のものが含まれる。さらに、以下に記載した構成要素は適宜組み合わせることが可能であり、また、実施形態が複数ある場合には、各実施形態を組み合わせることも可能である。 Embodiments according to the present invention will be described below in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, constituent elements in the following embodiments include elements that can be easily replaced by those skilled in the art, or substantially the same elements. Furthermore, the constituent elements described below can be combined as appropriate, and when there are a plurality of embodiments, the respective embodiments can be combined.
［実施形態１］
　本実施形態に係る積層体の積層システム１０は、複数の強化繊維基材６を積層して、積層体５を成形するためのシステムである。積層システム１０では、無人航空機１５と自走台車１６とを用いて、積層体５を積層している。実施形態１において、積層体５は、成形治具上に複数の強化繊維基材６が積層されることで成形されるものである。強化繊維基材６としては、強化繊維に樹脂を含浸させたプリプレグ（以降、プリプレグ６とも言う）が適用される。なお、実施形態１では、プリプレグに適用して説明するが、強化繊維基材６としては、例えば、樹脂が含浸されていないドライ状態の強化繊維基材を適用してもよい。また、強化繊維基材６は、シート状に形成された基材となっており、例えば、織布が適用される。なお、強化繊維基材６としては、繊維方向を一方向に引き揃えたシートであってもよく、特に限定されない。また、強化繊維としては、例えば、炭素繊維が用いられるが、炭素繊維に限定されず、その他のプラスチック繊維、ガラス繊維、天然繊維又は金属繊維でもよい。 [Embodiment 1]
The lamination system 10 of the laminate according to the present embodiment is a system for forming a laminate 5 by laminating a plurality of reinforcing fiber base materials 6. In the stacking system 10, the unmanned aerial vehicle 15 and the self-propelled carriage 16 are used to stack the stacked body 5. In the first embodiment, the laminated body 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 obtained by impregnating reinforcing fibers with a resin (hereinafter, also referred to as prepreg 6) is applied. In the first embodiment, the prepreg is used for description. However, as the reinforcing fiber base 6, for example, a dry reinforcing fiber base 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 cloth is applied. The reinforcing fiber base 6 may be a sheet in which the fiber directions are aligned in one direction, and is not particularly limited. Further, 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.
　図１は、実施形態１に係る積層体の積層システムを模式的に示す平面図である。図２は、実施形態１に係る積層体の積層システムの制御ブロックに関する図である。図３は、無人航空機を模式的に示す斜視図である。図４は、無人航空機の把持部を模式的に示す断面図である。図５は、無人航空機の把持部の動作を示す説明図である。図６は、自走台車の模式図である。図７は、レーザプロジェクタの動作制御に関するフローチャートである。図８は、無人航空機の動作を示す説明図である。図９は、無人航空機の動作制御に関するフローチャートである。図１０は、自走台車の動作を示す説明図である。図１１は、自走台車の動作制御に関するフローチャートである。 FIG. 1 is a plan view schematically showing a stacking system of stacked bodies according to the first embodiment. FIG. 2 is a diagram regarding a control block of the stacking system for the stacked body according to the first embodiment. FIG. 3 is a perspective view schematically showing the unmanned aerial vehicle. FIG. 4 is a cross-sectional view schematically showing the grip portion of the unmanned aerial vehicle. FIG. 5: is explanatory drawing which shows operation|movement of the holding part of an unmanned aerial vehicle. FIG. 6 is a schematic diagram of a self-propelled carriage. FIG. 7 is a flowchart regarding the 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 regarding the operation control of the unmanned aerial vehicle. FIG. 10 is an explanatory diagram showing the operation of the self-propelled carriage. FIG. 11 is a flowchart regarding the operation control of the self-propelled carriage.
　図１及び図２を参照して、積層体５の積層システム１０について説明する。積層システム１０は、成形治具１１と、載置場（設置エリア）１２と、無人航空機１５と、自走台車１６と、レーザプロジェクタ１７と、制御システム２０と、を備える。無人航空機１５、自走台車１６、レーザプロジェクタ１７及び制御システム２０は、通信ネットワーク２１を介して通信可能に接続される。通信ネットワーク２１は、無人航空機１５、自走台車１６、レーザプロジェクタ１７及び制御システム２０を無線通信により接続してもよいし、有線通信により接続してもよく、特に限定されない。 The stacking system 10 of the stack 5 will be described with reference to FIGS. 1 and 2. The stacking system 10 includes a molding jig 11, a mounting place (installation area) 12, an unmanned aerial vehicle 15, a self-propelled carriage 16, a laser projector 17, and a control system 20. The unmanned aerial vehicle 15, the self-propelled carriage 16, the laser projector 17, and the 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 carriage 16, the laser projector 17, and the control system 20 by wireless communication or wired communication, and is not particularly limited.
　成形治具１１は、複数のプリプレグ６が積層されることで積層体５を成形するための治具である。成形治具１１上には、無人航空機１５から輸送されるプリプレグ６が配置される。また、成形治具１１においては、自走台車１６が走行可能となっている。 The molding jig 11 is a jig for molding the laminated body 5 by laminating a plurality of prepregs 6. The prepreg 6 transported from the unmanned aerial vehicle 15 is arranged on the forming jig 11. Further, in the forming jig 11, the self-propelled carriage 16 can run.
　載置場１２は、成形治具１１上に配置されるプリプレグ６の置き場となっている。載置場１２に置かれるプリプレグ６は、予めカッティングマシン等で裁断されたものであり、裁断済みのプリプレグ６を、搬送用ロボットまたは作業者によって載置場１２に配置される。載置場１２に配置されたプリプレグ６は、無人航空機１５によって成形治具１１に輸送される。なお、実施形態１において、無人航空機１５は、載置場１２に配置されたプリプレグ６を輸送するが、カッティングマシン等で裁断されたプリプレグ６を直接成形治具１１に輸送してもよい。 The placing place 12 is a place for the prepreg 6 placed on the forming jig 11. The prepreg 6 placed on the placing place 12 is cut in advance by a cutting machine or the like, and the cut prepreg 6 is placed on the placing place 12 by a transfer robot or an operator. The prepreg 6 arranged in the mounting place 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 prepreg 6 placed on the loading field 12, but the prepreg 6 cut by a cutting machine or the like may be transported directly to the molding jig 11.
　無人航空機１５は、垂直に離着陸できる無人航空機であり、例えば、マルチコプター型のドローン等である小型無人機となっている。無人航空機１５は、例えば、複数台用意されており、待機場２５に配置されている。無人航空機１５は、載置場１２に置かれたプリプレグ６を輸送する。図２から図４に示すように、無人航空機１５は、機体３１と、駆動部３２と、把持部３３と、撮像部３４と、制御部３５と、を含んで構成されている。 The unmanned aerial vehicle 15 is an unmanned aerial vehicle that can vertically take off and land, and is, for example, a small unmanned aerial vehicle such as a multicopter drone. A plurality of unmanned aerial vehicles 15 are prepared, for example, and are arranged in the waiting area 25. The unmanned aerial vehicle 15 transports the prepreg 6 placed on the loading field 12. As shown in FIGS. 2 to 4, the unmanned aerial vehicle 15 is configured to include a body 31, a drive unit 32, a gripping unit 33, an imaging unit 34, and a control unit 35.
　機体３１には、各部３２、３３、３４、３５が取り付けられる。駆動部３２は、例えば、複数のプロペラを含み、プロペラが回転駆動することで、機体３１を飛行させる。駆動部３２は、制御部３５に接続され、制御部３５によって飛行動作が制御される。把持部３３は、プリプレグ６の把持と把持の解除と行う。把持部３３は、制御部３５に接続され、制御部３５によって把持動作が制御される。なお、把持部３３については後述する。撮像部３４は、例えば、カメラ等であり、無人航空機１５から撮影した画像を取得する。撮像部３４は、制御部３５に接続され、撮像部３４により撮影した画像を制御部３５に出力する。 Each part 32, 33, 34, 35 is attached to the machine body 31. The drive unit 32 includes, for example, a plurality of propellers, and rotates the propellers to fly the airframe 31. The drive unit 32 is connected to the control unit 35, and the flight operation is controlled by the control unit 35. The grip portion 33 grips the prepreg 6 and releases the grip. The grip 33 is connected to the controller 35, and the grip operation is controlled by the controller 35. The grip 33 will be described later. The image capturing unit 34 is, for example, a camera or the like, and acquires an image captured from the unmanned aerial vehicle 15. The imaging unit 34 is connected to the control unit 35 and outputs the image captured by the imaging unit 34 to the control unit 35.
　制御部３５は、無人航空機１５の各種動作を制御する。制御部３５は、例えば、ＣＰＵ（Central　Processing　Unit）等の集積回路を含んでいる。制御部３５は、通信ネットワーク２１を介して各種情報を取得する。制御部３５は、各部３２、３３、３４から得られる情報、及び通信ネットワーク２１を介して取得した情報等に基づいて、各種制御を実行する。制御部３５は、例えば、駆動部３２を制御して、成形治具１１と載置場１２との間の飛行動作を制御する。また、制御部３５は、例えば、把持部３３を制御して、プリプレグ６の把持動作を制御する。さらに、制御部３５は、例えば、撮像部３４から取得した画像に基づき、駆動部３２を制御して、機体３１が所定の位置となるように、飛行動作を制御する。 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 the information obtained from the units 32, 33, 34, the information obtained via the communication network 21, and the like. The control unit 35 controls, for example, the drive unit 32 to control the flight operation between the molding jig 11 and the mounting place 12. Further, the control unit 35 controls the gripping unit 33 to control the gripping operation of the prepreg 6, for example. Further, for example, the control unit 35 controls the driving unit 32 based on the image acquired from the imaging unit 34, and controls the flight operation so that the machine body 31 is at a predetermined position.
　また、無人航空機１５は、通信ネットワーク２１を介して制御システム２０に接続されており、制御システム２０からの制御に基づいて、各種動作を実行する。無人航空機１５は、例えば、制御システム２０からの指示に基づいて、成形治具１１へ向かって移動したり、載置場１２へ向かって移動したり、待機場２５へ向かって移動したりする。 Further, the unmanned aerial vehicle 15 is connected to the control system 20 via the communication network 21, and executes various operations under the control of the control system 20. The unmanned aerial vehicle 15 moves toward the forming jig 11, moves toward the placing place 12, or moves toward the standby place 25, for example, based on an instruction from the control system 20.
　次に、図４を参照して、無人航空機１５の把持部３３について説明する。把持部３３は、プリプレグ６を吸着する吸着機構となっている。把持部３３は、吸着パッド４１と、吸引部４２と、吸着パッド４１と吸引部４２とを接続する圧力通路４３とを含んでいる。 Next, the grip portion 33 of the unmanned aerial vehicle 15 will be described with reference to FIG. The grip 33 serves as a suction mechanism that sucks the prepreg 6. The grip portion 33 includes a suction pad 41, a suction portion 42, and a pressure passage 43 that connects the suction pad 41 and the suction portion 42.
　吸着パッド４１は、例えば、サクションカップであり、プリプレグ６との間に密閉空間を形成可能に、プリプレグ６に接触する。 The suction pad 41 is, for example, a suction cup, and contacts the prepreg 6 so that a closed space can be formed between the suction pad 41 and the prepreg 6.
　吸引部４２は、プリプレグ６と吸着パッド４１との間に形成される密閉空間を負圧としたり、加圧としたりする。吸引部４２は、吸引ポンプ４５と電磁弁４６とを有する。吸引ポンプ４５は、例えば、ダイヤフラム式のポンプであり、空気等の気体を吸引する吸引ポートと、気体を吐出する吐出ポートとを有する。電磁弁４６は、４ポート式の電磁弁となり、大気に接続される（大気開放される）ポートと、圧力通路４３に接続されるポートと、吸引ポンプ４５の吸引ポートに接続されるポートと、吸引ポンプ４５の吐出ポートに接続されるポートとを含む。 The suction part 42 makes the closed space formed between the prepreg 6 and the suction pad 41 negative pressure or pressurization. The suction unit 42 has a suction pump 45 and a solenoid 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 4-port solenoid valve, and has a port connected to the atmosphere (opened to the atmosphere), a port connected to the pressure passage 43, and 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.
　図５に示すように、電磁弁４６は、吸着パッド４１の密閉空間を減圧する減圧状態と、密閉空間を加圧する加圧状態とに切り替え可能に作動する。密閉空間を減圧状態とする場合、電磁弁４６は、その内部において、圧力通路４３に接続されるポートと、吸引ポンプ４５の吸引ポートとを接続する流路を形成すると共に、大気に接続されるポートと、吸引ポンプ４５の吐出ポートとを接続する流路を形成する。これにより、圧力通路４３の内部が減圧状態となることで、吸着パッド４１の密閉空間が減圧状態となる。一方で、密閉空間を加圧状態とする場合、電磁弁４６は、その内部において、圧力通路４３に接続されるポートと、吸引ポンプ４５の吐出ポートとを接続する流路を形成すると共に、大気に接続されるポートと、吸引ポンプ４５の吸引ポートとを接続する流路を形成する。これにより、圧力通路４３の内部が加圧状態となることで、吸着パッド４１の密閉空間が加圧状態となる。 As shown in FIG. 5, the solenoid valve 46 is switchably operated between a depressurized state in which the sealed space of the suction pad 41 is depressurized and a pressurized state in which the sealed space is pressurized. When the closed space is in a depressurized state, the electromagnetic valve 46 forms a flow path that connects the port connected to the pressure passage 43 and the suction port of the suction pump 45, and is also connected to the atmosphere. A flow path that connects the port and the discharge port of the suction pump 45 is formed. As a result, the inside of the pressure passage 43 is in a depressurized state, so that the sealed space of the suction pad 41 is in a depressurized state. On the other hand, when the closed space is in a pressurized state, 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 the solenoid valve 46, and at the same time, to the atmosphere. And a suction port of the suction pump 45 are connected to each other to form a flow path. As a result, the inside of the pressure passage 43 is brought into a pressurized state, so that the closed space of the suction pad 41 is brought into a pressurized state.
　次に、図６を参照して、自走台車１６について説明する。自走台車１６は、成形治具１１上を移動して、成形治具１１上に配置されたプリプレグ６を、成形治具１１側に押し付ける。自走台車１６は、例えば、複数台用意されており、成形治具１１に隣接した待機場２６に配置されている。自走台車１６は、プリプレグ６の押し付け時において、待機場２６から成形治具１１上に移動し、成形治具１１上のプリプレグ６を押し付ける。図２及び図６に示すように、自走台車１６は、台車本体５１と、駆動部５２と、押圧ローラ５３と、制御部５４と、を含んで構成されている。 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 arranged on the forming jig 11 against the forming jig 11 side. A plurality of self-propelled carriages 16 are prepared, for example, and are arranged in a waiting place 26 adjacent to the molding jig 11. When the prepreg 6 is pressed, the self-propelled carriage 16 moves from the waiting place 26 onto the forming jig 11 and presses the prepreg 6 on the forming jig 11. As shown in FIGS. 2 and 6, the self-propelled carriage 16 includes a carriage main body 51, a drive unit 52, a pressing roller 53, and a control unit 54.
　台車本体５１には、駆動部５２、押圧ローラ５３、制御部５４が取り付けられる他、プリプレグ６を成形治具１１に押し付けるための錘が搭載されている。このため、自走台車１６は、その自重によって、プリプレグ６を成形治具１１に押し付ける。駆動部３２は、例えば、駆動輪を駆動させるモータを含み、モータの動力によって、自走台車１６を走行させる。押圧ローラ５３は、例えば、自走台車１６の走行方向において、２つ設けられている。２つの押圧ローラ５３は、一方が駆動輪となり、他方が従動輪となるように構成されていてもよい。押圧ローラ５３は、プリプレグ６に対して転接可能に回転する。駆動部５２は、制御部５４に接続され、制御部５４によって走行動作が制御される。 A drive unit 52, a pressing roller 53, and a control unit 54 are attached to the trolley body 51, and a weight for pressing the prepreg 6 against the molding jig 11 is mounted. Therefore, the self-propelled carriage 16 presses the prepreg 6 against the molding jig 11 by its own weight. The drive unit 32 includes, for example, a motor that drives drive wheels, and drives the self-propelled carriage 16 by the power of the motor. For example, two pressing 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 capable of rolling contact with the prepreg 6. The drive unit 52 is connected to the control unit 54, and the traveling operation is controlled by the control unit 54.
　制御部５４は、自走台車１６の各種動作を制御する。制御部５４は、例えば、ＣＰＵ（Central　Processing　Unit）等の集積回路を含んでいる。制御部５４は、通信ネットワーク２１を介して各種情報を取得する。制御部５４は、通信ネットワーク２１を介して取得した情報等に基づいて、各種制御を実行する。制御部５４は、例えば、駆動部５２を制御して、成形治具１１と待機場２６との間の走行動作を制御する。 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 types of information via the communication network 21. The control unit 54 executes various controls based on the information acquired via the communication network 21. The control unit 54 controls, for example, the driving unit 52 to control the traveling operation between the molding jig 11 and the waiting place 26.
　また、自走台車１６は、通信ネットワーク２１を介して制御システム２０に接続されており、制御システム２０からの制御に基づいて、各種動作を実行する。自走台車１６は、例えば、制御システム２０からの指示に基づいて、成形治具１１へ向かって移動したり、待機場２６へ向かって移動したりする。 Further, the self-propelled carriage 16 is connected to the control system 20 via the communication network 21 and executes various operations under the control of the control system 20. The self-propelled carriage 16 moves toward the forming jig 11 or moves toward the waiting place 26, for example, based on an instruction from the control system 20.
　レーザプロジェクタ１７は、成形治具１１及び載置場１２にそれぞれ設置されている。成形治具１１に設けられるレーザプロジェクタ１７ａは、成形治具１１の上方に配置されており、成形治具１１上に配置されるプリプレグ６の積層位置に関する画像を、成形治具１１上に投影する。無人航空機１５は、成形治具１１上に投影された画像を撮像部３４により撮像し、撮像した画像に基づいて、把持部３３により把持しているプリプレグ６を、画像が投影された所定の積層位置に配置する。載置場１２に設けられるレーザプロジェクタ１７ｂは、載置場１２の上方に配置されており、載置場１２上に配置されている裁断済みのプリプレグ６の中から、把持する所定のプリプレグ６を指示する画像を、載置場１２上に投影する。無人航空機１５は、載置場１２上に投影された画像を撮像部３４により撮像し、撮像した画像に基づいて、把持部３３により所定のプリプレグ６を把持する。 The laser projector 17 is installed in each of the molding jig 11 and the placing space 12. The laser projector 17 a provided on the molding jig 11 is arranged above the molding jig 11, and projects an image regarding the stacking position of the prepreg 6 arranged on the molding jig 11 onto the molding jig 11. .. The unmanned aerial vehicle 15 captures the image projected on the molding jig 11 by the image capturing unit 34, and based on the captured image, the prepreg 6 held by the holding unit 33 is stacked in a predetermined layer on which the image is projected. Place in position. The laser projector 17b provided in the mounting space 12 is arranged above the mounting space 12, and an image that indicates a predetermined prepreg 6 to be gripped from among the cut prepregs 6 arranged on the mounting space 12. Are projected on the mounting place 12. The unmanned aerial vehicle 15 captures the image projected on the loading field 12 with the imaging unit 34, and grips the predetermined prepreg 6 with the gripping unit 33 based on the captured image.
　また、レーザプロジェクタ１７は、通信ネットワーク２１を介して制御システム２０に接続されており、制御システム２０からの制御に基づいて、各種動作を実行する。レーザプロジェクタ１７は、例えば、制御システム２０からの指示に基づいて、成形治具１１上へ画像を投影したり、載置場１２上へ画像を投影したりする。 The laser projector 17 is also connected to the control system 20 via the communication network 21, and executes various operations under the control of the control system 20. The laser projector 17 projects an image on the molding jig 11 or an image on the mounting place 12 based on an instruction from the control system 20, for example.
　制御システム２０は、積層システム１０を統括制御しており、通信ネットワーク２１を介して、無人航空機１５、自走台車１６及びレーザプロジェクタ１７の制御を実行する。制御システム２０は、マウス及びキーボード等の入力デバイスで構成された入力部６１と、モニタ等の出力デバイスで構成された出力部６２と、制御部６３とを有している。制御部６３は、例えば、ＣＰＵ（Central　Processing　Unit）等の集積回路を含んでいる。なお、制御システム２０は、単体の装置で構成してもよいし、制御装置及びデータサーバ等を組み合わせた複数の装置で構成してもよく、特に限定されない。 The control system 20 controls the laminated system 10 in a centralized manner, and controls the unmanned aerial vehicle 15, the self-propelled carriage 16 and the laser projector 17 via the communication network 21. The control system 20 includes an input unit 61 configured by an input device such as a mouse and a keyboard, an output unit 62 configured by an output device such as a monitor, and a control unit 63. The control unit 63 includes, for example, 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 in which a control device, a data server, and the like are combined, and is not particularly limited.
　次に、図７から図１１を参照して、積層システム１０を用いた積層体５の積層方法について説明する。先ずは、図７を参照して、制御システム２０によるレーザプロジェクタ１７の動作の制御について説明する。積層体５の積層作業が開始されると、制御システム２０は、レーザプロジェクタ１７ｂへ向けて、無人航空機１５が把持する所定のプリプレグ６を指示する画像の画像情報を出力すると共に、レーザプロジェクタ１７ａへ向けて、成形治具１１上に配置されるプリプレグ６の積層位置に関する画像の画像情報を出力する。 Next, a stacking method of the stack 5 using the stacking system 10 will be described with reference to FIGS. 7 to 11. First, the control of the operation of the laser projector 17 by the control system 20 will be described with reference to FIG. 7. When the stacking work of the stacked body 5 is started, the control system 20 outputs image information of an image instructing a predetermined prepreg 6 held by the unmanned aerial vehicle 15 toward the laser projector 17b, and also outputs the image information to the laser projector 17a. Toward the output, image information of the image regarding the stacking position of the prepreg 6 arranged on the molding jig 11 is output.
　レーザプロジェクタ１７ｂは、制御システム２０から画像情報を取得すると、取得した画像を載置場１２上に投影することで、把持する所定のプリプレグ（所定材料）を指示する（ステップＳ１１）。また、レーザプロジェクタ１７ａは、制御システム２０から画像情報を取得すると、取得した画像を成形治具１１上に投影することで、所定の積層位置を指示する（ステップＳ１２）。続いて、制御システム２０は、無人航空機１５及び自走台車１６による積層作業が終了すると、継続して積層を行うか否かを判定する（ステップＳ１３）。制御システム２０は、継続して積層を行わないと判定する（ステップＳ１３：Ｎｏ）と、レーザプロジェクタ１７ａ及びレーザプロジェクタ１７ｂへの画像情報の出力を行わずに、レーザプロジェクタ１７ａ及びレーザプロジェクタ１７ｂへの画像投影の動作を停止させる。これにより、レーザプロジェクタ１７ｂは、把持する所定のプリプレグ（所定材料）の指示を終了する（ステップＳ１４）。また、レーザプロジェクタ１７ａは、所定の積層位置の指示を終了する（ステップＳ１５）。ステップＳ１５の実行後、レーザプロジェクタ１７ｂは、積層方法に関する動作を終了する。一方で、制御システム２０は、継続して積層を行うと判定する（ステップＳ１３：Ｙｅｓ）と、再び、ステップＳ１１及びステップＳ１２を実行する。そして、制御システム２０は、プリプレグ６の積層が終了するまで、ステップＳ１１及びステップＳ１２を繰り返し実行する。 When the laser projector 17b acquires the image information from the control system 20, the laser projector 17b projects the acquired image on the mounting place 12 to instruct a predetermined prepreg (a predetermined material) to be gripped (step S11). Further, when the laser projector 17a acquires the image information from the control system 20, the laser projector 17a projects the acquired image on the molding jig 11 to indicate a predetermined stacking position (step S12). Subsequently, the control system 20 determines whether or not to continue stacking after the stacking work by the unmanned aerial vehicle 15 and the self-propelled carriage 16 is completed (step S13). When the control system 20 determines that the stacking is not continuously performed (step S13: No), the control system 20 does not output the image information to the laser projector 17a and the laser projector 17b and outputs the laser projector 17a and the laser projector 17b. Stop the image projection operation. As a result, the laser projector 17b ends the instruction of the predetermined prepreg (predetermined material) to be held (step S14). Further, the laser projector 17a ends the instruction of the predetermined stacking position (step S15). After executing step S15, the laser projector 17b ends the operation related to the stacking method. On the other hand, if the control system 20 determines to continue stacking (step S13: Yes), it again executes steps S11 and S12. Then, the control system 20 repeatedly executes step S11 and step S12 until the lamination of the prepreg 6 is completed.
　次に、図８及び図９を参照して、制御システム２０による無人航空機１５の動作の制御について説明する。積層体５の積層作業が開始されると、制御システム２０は、待機場２５で待機している無人航空機１５へ向けて、載置場１２へ移動し、所定材料を把持して、成形治具１１へ積層するように指示する指示情報を出力する。無人航空機１５は、指示情報を取得すると、待機場２５を離床する（ステップＳ２１）。待機場２５から離床した無人航空機１５は、載置場１２へ移動する（ステップＳ２２）。載置場１２へ移動した無人航空機１５は、レーザプロジェクタ１７ｂから載置場１２上に投影されている画像を、撮像部３４により撮像し、把持する所定のプリプレグ（所定材料）を認識する（ステップＳ２３）。続いて、無人航空機１５は、認識した所定材料上へ降下し着陸する（ステップＳ２４／Ｐ１）。無人航空機１５は、把持部３３により所定材料を把持する（ステップＳ２５／Ｐ２）。そして、無人航空機１５は、把持部３３により所定材料を把持したまま、載置場１２を離床する（ステップＳ２６）。 Next, the 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. When the stacking work of the stacked body 5 is started, the control system 20 moves to the loading place 12 toward the unmanned aerial vehicle 15 waiting in the waiting place 25, holds a predetermined material, and forms the molding jig 11 The instruction information for instructing to stack is output. When the unmanned aerial vehicle 15 acquires the instruction information, it leaves the waiting area 25 (step S21). The unmanned aerial vehicle 15 that has left the waiting area 25 moves to the loading area 12 (step S22). The unmanned aerial vehicle 15 that has moved to the mounting space 12 captures the image projected on the mounting space 12 from the laser projector 17b by the image capturing unit 34 and recognizes the predetermined prepreg (predetermined material) to be gripped (step S23). .. Then, the unmanned aerial vehicle 15 descends onto the recognized predetermined material and lands (step S24/P1). The unmanned aerial vehicle 15 grips the predetermined material with the gripping portion 33 (step S25/P2). Then, the unmanned aerial vehicle 15 leaves the platform 12 while holding the predetermined material with the grip portion 33 (step S26).
　この後、無人航空機１５は、載置場１２から成形治具１１へ移動する（ステップＳ２７／Ｐ３）。成形治具１１へ移動した無人航空機１５は、レーザプロジェクタ１７ａから成形治具１１上に投影されている画像を、撮像部３４により撮像し、所定の積層位置を認識する（ステップＳ２８／Ｐ４）。続いて、無人航空機１５は、認識した所定の積層位置へ着陸する（ステップＳ２９）。この後、無人航空機１５は、把持部３３による所定材料の把持を解除して、所定材料を解放する（ステップＳ３０／Ｐ５）。そして、無人航空機１５は、成形治具１１を離床する（ステップＳ３１）。続いて、制御システム２０は、無人航空機１５による積層作業が終了すると、継続して積層を行うか否かを判定する（ステップＳ３２）。制御システム２０は、継続して積層を行わないと判定する（ステップＳ３２：Ｎｏ）と、無人航空機１５へ向けて、待機場２５で待機するように指示する指示情報を出力する。無人航空機１５は、指示情報を取得すると、待機場２５へ戻る（ステップＳ３３／Ｐ６）。一方で、制御システム２０は、継続して積層を行うと判定する（ステップＳ３２：Ｙｅｓ）と、再び、ステップＳ２２（Ｐ１）からステップＳ３１（Ｐ５）までを実行する。そして、制御システム２０は、プリプレグ６の積層が終了するまで、ステップＳ２２（Ｐ１）からステップＳ３１（Ｐ５）までを繰り返し実行する。 After that, the unmanned aerial vehicle 15 moves from the mounting place 12 to the forming jig 11 (step S27/P3). The unmanned aerial vehicle 15 that has moved to the molding jig 11 images the image projected on the molding jig 11 from the laser projector 17a by the imaging unit 34 and recognizes a predetermined stacking position (step S28/P4). Then, the unmanned aerial vehicle 15 lands at the recognized predetermined stacking position (step S29). Thereafter, the unmanned aerial vehicle 15 releases the grip of the predetermined material by the grip portion 33 and releases the predetermined material (step S30/P5). Then, the unmanned aerial vehicle 15 leaves the molding jig 11 (step S31). Subsequently, the control system 20 determines whether or not to continue stacking after the stacking work by the unmanned aerial vehicle 15 is completed (step S32). When the control system 20 determines that the stacking is not continuously performed (step S32: No), the control system 20 outputs the instruction information for instructing the unmanned aerial vehicle 15 to stand by at the waiting place 25. When the unmanned aerial vehicle 15 acquires the instruction information, it 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), the control system 20 executes step S22 (P1) to step S31 (P5) again. Then, the control system 20 repeatedly executes Step S22 (P1) to Step S31 (P5) until the lamination of the prepreg 6 is completed.
　このように、無人航空機１５は、ステップＳ２２（Ｐ１）からステップＳ３１（Ｐ５）までを繰り返し実行することで、載置場１２から成形治具１１へ向けてプリプレグ６を輸送して、プリプレグ６を成形治具１１上に設置する積層処理（工程）を実行する。 In this way, the unmanned aerial vehicle 15 transports the prepreg 6 from the mounting place 12 toward the molding jig 11 by repeatedly performing Step S22 (P1) to Step S31 (P5), and molds the prepreg 6. A stacking process (process) to be installed on the jig 11 is executed.
　次に、図１０及び図１１を参照して、制御システム２０による自走台車１６の動作の制御について説明する。積層体５の積層作業が開始されると、制御システム２０は、待機場２６で待機している自走台車１６へ向けて、成形治具１１へ移動し、所定材料を押し付けるように指示する指示情報を出力する。自走台車１６は、指示情報を取得すると、待機場２６から成形治具１１上へ移動する（ステップＳ４１）。自走台車１６は、成形治具１１上において、レーザプロジェクタ１７ａから成形治具１１上に投影されている画像における所定の積層位置の周囲へ移動して待機する（ステップＳ４２／Ｐ１１）。そして、制御システム２０は、無人航空機１５が成形治具１１から離床したか否かを判定する（ステップＳ４３）。ステップＳ４３では、例えば、制御システム２０が、無人航空機１５の把持部３３による所定材料の解放を指示してから、無人航空機１５が離床するまでの所定の時間が経過したか否かを判定している。 Next, the control of the operation of the self-propelled carriage 16 by the control system 20 will be described with reference to FIGS. 10 and 11. When the stacking operation of the stacked body 5 is started, the control system 20 instructs the self-propelled carriage 16 waiting in the waiting place 26 to move to the molding jig 11 and press a predetermined material. Output information. When the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 moves from the waiting place 26 onto the forming jig 11 (step S41). On the forming jig 11, the self-propelled carriage 16 moves to the periphery of a predetermined stacking position in the image projected on the forming jig 11 from the laser projector 17a and stands by (step S42/P11). Then, the control system 20 determines whether or not the unmanned aerial vehicle 15 has left the molding jig 11 (step S43). In step S43, for example, the control system 20 determines whether or not a predetermined time has elapsed from the instruction of the release of the predetermined material by the grip 33 of the unmanned aerial vehicle 15 to the departure of the unmanned aerial vehicle 15. There is.
　制御システム２０は、無人航空機１５が成形治具１１から離床したと判定する（ステップＳ４３：Ｙｅｓ）と、自走台車１６が、成形治具１１に設置された所定材料上へ移動するように指示する指示情報を出力する。自走台車１６は、指示情報を取得すると、成形治具１１に設置された所定材料上へ移動する（ステップＳ４４）。一方で、制御システム２０は、無人航空機１５が成形治具１１から離床していないと判定する（ステップＳ４３：Ｎｏ）と、ステップＳ４２へ進む。つまり、制御システム２０は、無人航空機１５が成形治具１１から離床していないと判定すると、自走台車１６の待機の継続を指示する指示情報を出力する。自走台車１６は、指示情報を取得すると、所定の積層位置の周囲において待機する。 When the control system 20 determines that the unmanned aerial vehicle 15 has left the molding jig 11 (step S43: Yes), it instructs the self-propelled carriage 16 to move onto the predetermined material installed in the molding jig 11. The instruction information to be output is output. When the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 moves onto the predetermined material installed in the molding jig 11 (step S44). On the other hand, when the control system 20 determines that the unmanned aerial vehicle 15 has not left the molding jig 11 (step S43: No), the control system 20 proceeds to step S42. That is, when the control system 20 determines that the unmanned aerial vehicle 15 has not left the molding jig 11, the control system 20 outputs instruction information for instructing to continue the standby of the self-propelled carriage 16. When the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 stands by around a predetermined stacking position.
　所定材料上へ移動した自走台車１６は、押圧ローラ５３により所定材料を押し付けながら、所定材料上を移動する（ステップＳ４５／Ｐ１２）。そして、自走台車１６による所定材料の押し付けが完了する（ステップＳ４６）。続いて、制御システム２０は、自走台車１６による押付作業が終了すると、継続して積層を行うか否かを判定する（ステップＳ４７）。制御システム２０は、継続して積層を行わないと判定する（ステップＳ４７：Ｎｏ）と、自走台車１６へ向けて、待機場２６で待機するように指示する指示情報を出力する。自走台車１６は、指示情報を取得すると、待機場２６へ戻る（ステップＳ４８）。一方で、制御システム２０は、継続して積層を行うと判定する（ステップＳ４７：Ｙｅｓ）と、再び、ステップＳ４２からステップＳ４６までを実行する。そして、制御システム２０は、プリプレグ６の積層が終了するまで、ステップＳ４２からステップＳ４６までを繰り返し実行する。 The self-propelled carriage 16 that has moved onto the predetermined material moves on the predetermined material while pressing the predetermined material with the pressing 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 that the stacking is not continuously performed (step S47: No), the control system 20 outputs the instruction information for instructing the self-propelled carriage 16 to stand by at the waiting place 26. When the self-propelled carriage 16 acquires the instruction information, the self-propelled carriage 16 returns to the waiting place 26 (step S48). On the other hand, when the control system 20 determines to continue stacking (step S47: Yes), steps S42 to S46 are executed again. Then, the control system 20 repeatedly executes Step S42 to Step S46 until the stacking of the prepreg 6 is completed.
　このように、自走台車１６は、ステップＳ４２からステップＳ４６までを繰り返し実行することで、成形治具１１上に設置されたプリプレグ６を成形治具１１側へ向かって押し付ける押付処理（工程）を実行する。 In this way, the self-propelled carriage 16 performs a pressing process (step) of pressing the prepreg 6 installed on the molding jig 11 toward the molding jig 11 side by repeatedly performing steps S42 to S46. Run.
　以上のように、実施形態１によれば、無人航空機１５によりプリプレグ６を成形治具１１上に輸送することができる。このため、成形治具１１上に設置されたプリプレグ６を成形治具１１側へ向かって押し付けることで、プリプレグ６を積層していき、積層体５を形成することができる。これにより、大型の積層装置とすることがないことから、積層システム１０の設置に伴うコストの増大を抑制することができる。また、無人航空機１５の使用が困難となった場合であっても、代替の無人航空機１５を使用することで、プリプレグ６の積層作業が中断されることがなく、積層作業の継続性を高めることができる。また、無人航空機１５を複数使用することで、積層作業の並列化等を行うことができるため、積層作業の効率化を図ることが可能となる。 As described above, according to the first embodiment, the prepreg 6 can be transported onto the molding jig 11 by the unmanned aerial vehicle 15. Therefore, by pressing the prepreg 6 installed on the molding jig 11 toward the molding jig 11 side, the prepreg 6 is laminated to form the laminated body 5. As a result, it is possible to suppress an increase in cost associated with the installation of the stacking system 10 because a large stacking device is not provided. Further, even when it becomes difficult to use the unmanned aerial vehicle 15, by using the alternative unmanned aerial vehicle 15, the lamination work of the prepreg 6 is not interrupted, and the continuity of the lamination work is improved. You can Further, by using a plurality of unmanned aerial vehicles 15, the stacking work can be performed in parallel, so that the stacking work can be made efficient.
　また、実施形態１によれば、プリプレグ６の成形治具１１への押し付けを、自走台車１６により実行することができるため、押付作業の自動化を図ることができる。 According to the first embodiment, the pressing of the prepreg 6 against the forming jig 11 can be executed by the self-propelled carriage 16, so that the pressing work can be automated.
　また、実施形態１によれば、自走台車１６を走行させて、自走台車１６の押圧ローラ５３により、プリプレグ６を成形治具１１へ適切に押し付けることができる。 Further, according to the first embodiment, the self-propelled carriage 16 can be made to travel, and the prepreg 6 can be appropriately pressed against the molding jig 11 by the pressing roller 53 of the self-propelled carriage 16.
　また、実施形態１によれば、把持部３３を吸着機構とすることで、吸着によるプリプレグ６の把持と把持の解除とを適切に行うことができる。また、吸着による把持部３３は、コンパクトな構成とできることから、無人航空機１５の重量増加を抑制することができる。 Further, according to the first embodiment, by using the grip portion 33 as the suction mechanism, it is possible to appropriately grip the prepreg 6 by suction and release the grip. Further, since the grip portion 33 by suction can have a compact structure, it is possible to suppress an increase in weight of the unmanned aerial vehicle 15.
　なお、実施形態１では、強化繊維基材としてプリプレグ６を適用したが、樹脂が含浸されていないドライ状態の強化繊維基材を適用してもよく、この場合、吸着機構となる把持部３３に代えて、針等の係止部により引っ掛けて把持する把持部としてもよい。 In the first embodiment, the prepreg 6 is applied as the reinforcing fiber base material, but a dry reinforcing fiber base material not impregnated with resin may be applied, and in this case, the gripping portion 33 serving as the adsorption mechanism is used. Instead, it may be a gripping part that is hooked and held by a locking part such as a needle.
　また、実施形態１では、無人航空機１５に設けた撮像部３４により、レーザプロジェクタ１７の画像を捉えることで、プリプレグ６の位置決めを行っていたが、位置決めの精度を高めるために、画像で指示した位置と、実際に配置されたプリプレグ６の位置との差分をとり、この差分を補正するように、フィードバック制御を行ったり、機械学習を行ったりしてもよい。 Further, in the first embodiment, the prepreg 6 is positioned by capturing the image of the laser projector 17 by the image capturing unit 34 provided in the unmanned aerial vehicle 15. However, in order to improve the positioning accuracy, the image is instructed. The difference between the position and the position of the prepreg 6 that is actually arranged may be calculated, and feedback control or machine learning may be performed so as to correct this difference.
　また、実施形態１では、プリプレグ６を積層するごとに、自走台車１６による押付処理（工程）を実行していたが、全てのプリプレグ６を積層した後に、自走台車１６による押付処理（工程）を実行してもよい。 In the first embodiment, the pressing process (step) by the self-propelled carriage 16 is executed every time the prepregs 6 are stacked, but the pressing process (step) by the self-propelled car 16 after stacking all the prepregs 6 is performed. ) May be executed.
　また、実施形態１では、単層のプリプレグ６を適用したが、複数のプリプレグ６を予め積層した予備積層品を用いてもよい。また、強化繊維基材としてドライ状態の繊維強化基材を予め積層、仮止めした予備積層品を用いてもよい。予備成形品の厚さや端部形状は無人航空機１５の可搬重量または自走台車１６の段差踏破性などにより適宜決定することが好ましい。 In addition, although the single layer prepreg 6 is applied in the first embodiment, a pre-laminated product in which a plurality of prepregs 6 are pre-laminated may be used. Further, as the reinforcing fiber base material, a preliminary laminated product in which dry fiber reinforced base materials are preliminarily laminated and temporarily fixed may be used. It is preferable that the thickness and the end shape of the preformed product be appropriately determined depending on the weight capacity of the unmanned aerial vehicle 15 or the step-walkability of the self-propelled carriage 16.
［実施形態２］
　次に、図１２を参照して、実施形態２に係る積層システム７０について説明する。図１２は、実施形態２に係る積層体の積層システムにおける無人航空機を模式的に示す二面図である。実施形態２では、重複した記載を避けるべく、実施形態１と異なる部分について説明し、実施形態１と同様の構成である部分については、同じ符号を付して説明する。 [Embodiment 2]
Next, a stacking system 70 according to the second embodiment will be described with reference to FIG. FIG. 12 is a two-sided view schematically showing an unmanned aerial vehicle in the stacking system for stacked bodies according to the second embodiment. In the second embodiment, in order to avoid duplicated description, parts different from the first embodiment will be described, and parts having the same configuration as the first embodiment will be described with the same reference numerals.
　実施形態２の積層システム７０は、実施形態１の無人航空機１５に設けられた把持部３３が、複数の無人航空機１５に跨って設けられたものとなっている。無人航空機１５によって輸送されるプリプレグ６は、１台の無人航空機１５によって輸送することが困難な場合が考えられる。実施形態２の把持部７１は、複数の無人航空機１５に跨って設けられることで、複数の無人航空機１５によってプリプレグ６を輸送することが可能となっている。 In the laminated system 70 of the second embodiment, the grip portion 33 provided on the unmanned aerial vehicle 15 of the first embodiment is provided so as to straddle a plurality of unmanned aerial vehicles 15. The prepreg 6 transported by the unmanned aerial vehicle 15 may be difficult to transport by the single unmanned aerial vehicle 15. The grip portion 71 of the second embodiment is provided so as to straddle a plurality of unmanned aerial vehicles 15, so that the prepreg 6 can be transported by the plurality of unmanned aerial vehicles 15.
　具体的に、実施形態２の把持部７１は、吸着パッド４１と、吸引部４２と、吸着パッド４１と吸引部４２とを接続する圧力通路４３とを含んでいる。 Specifically, the grip portion 71 of the second embodiment includes a suction pad 41, a suction portion 42, and a pressure passage 43 that connects the suction pad 41 and the suction portion 42.
　吸引部４２は、実施形態１と同様に、各無人航空機１５に設けられている。圧力通路４３は、複数（例えば２台）の無人航空機１５に掛け渡されて設けられている。吸着パッド４１は、無人航空機１５に掛け渡された圧力通路４３に沿って、複数並べて取り付けられている。 The suction unit 42 is provided in each unmanned aerial vehicle 15 as in the first embodiment. The pressure passage 43 is provided so as to span a plurality (for example, two) of the unmanned aerial vehicles 15. A plurality of suction pads 41 are mounted side by side along the pressure passage 43 that is stretched over the unmanned aerial vehicle 15.
　以上のように、実施形態２によれば、プリプレグ６が１台の無人航空機１５によって輸送することが困難である場合であっても、複数の無人航空機１５によって輸送することが可能となる。 As described above, according to the second embodiment, even if it is difficult for the prepreg 6 to be transported by one unmanned aerial vehicle 15, it is possible to transport the prepreg 6 by a plurality of unmanned aerial vehicles 15.
［実施形態３］
　次に、図１３を参照して、実施形態３に係る積層システム８０について説明する。図１３は、実施形態３に係る積層体の積層システムにおける無人航空機を模式的に示す二面図である。実施形態３では、重複した記載を避けるべく、実施形態１及び２と異なる部分について説明し、実施形態１及び２と同様の構成である部分については、同じ符号を付して説明する。 [Third Embodiment]
Next, with reference to FIG. 13, a stacking system 80 according to the third embodiment will be described. FIG. 13 is a two-sided view schematically showing the unmanned aerial vehicle in the stacking system for stacked bodies according to the third embodiment. In the third embodiment, parts different from those in the first and second embodiments will be described in order to avoid redundant description, and parts having the same configurations as those in the first and second embodiments will be described with the same reference numerals.
　実施形態３の積層システム８０は、実施形態２の積層システム７０において輸送されるプリプレグ６が、ロール状となっている場合のシステムである。輸送されるプリプレグ６がロール状である場合、複数の無人航空機１５は、プリプレグ６の自由端側の端部を、把持部７１に吸着して把持する。そして、複数の無人航空機１５が成形治具１１上に移動することで、プリプレグ６を引き出す。なお、ロール状のプリプレグ６は、水平方向及び鉛直方向に対して移動可能となっており、また、軸方向の向きを変更可能となっている。また、非図示の機構により、引出し方向にロール状のプリプレグ６を回転することで、無人航空機１５の移動をサポートしても良い。 The laminating system 80 according to the third embodiment is a system in which the prepreg 6 transported in the laminating system 70 according to the second embodiment is in a roll shape. When the prepreg 6 to be transported is in a roll shape, the plurality of unmanned aerial vehicles 15 adsorb and grasp the end portion of the prepreg 6 on the free end side by the grasping portion 71. Then, the plurality of unmanned aerial vehicles 15 move onto the forming jig 11 to pull out the prepreg 6. The roll-shaped prepreg 6 is movable in the horizontal direction and the vertical direction, and its axial direction can be changed. Further, the unillustrated mechanism may rotate the roll-shaped prepreg 6 in the pull-out direction to support the movement of the unmanned aerial vehicle 15.
　以上のように、実施形態３によれば、プリプレグ６がロール状に巻回される場合であっても、無人航空機１５によりプリプレグ６を成形治具１１上に適切に配置することができる。 As described above, according to the third embodiment, even if the prepreg 6 is wound in a roll, the unmanned aerial vehicle 15 can appropriately arrange the prepreg 6 on the molding jig 11.
［実施形態４］
　次に、図１４を参照して、実施形態４に係る積層システム９０について説明する。図１４は、実施形態４に係る積層体の積層システムにおける無人航空機の把持部を模式的に示す断面図である。実施形態４では、重複した記載を避けるべく、実施形態１から３と異なる部分について説明し、実施形態１から３と同様の構成である部分については、同じ符号を付して説明する。 [Embodiment 4]
Next, with reference to FIG. 14, a stacking system 90 according to the fourth embodiment will be described. FIG. 14 is a cross-sectional view schematically showing the grip 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 redundant 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.
　実施形態４の積層システム９０は、実施形態１の無人航空機１５に設けられた吸着機構となる把持部３３に代えて、ファン機構の把持部９１となっている。実施形態４の把持部９１は、吸着パッド９５と、圧力ダクト９６と、ファン９７とを備えている。吸着パッド９５は、実施形態１の吸着パッド４１と同様であるため、説明を省略する。圧力ダクト９６は、内部に圧力流路が形成されており、圧力流路の一方側に吸着パッド９５が設けられ、圧力流路の他方側にファン９７が設けられている。圧力ダクト９６は、ファン９７の作動によってその内部が減圧状態となったり、加圧状態となったりする。ファン９７は、圧力ダクト９６内の空気を排出したり、圧力ダクト９６内に空気を吹き込んだりする。 The stacking system 90 of the fourth embodiment is replaced with the grip portion 33 that is the suction mechanism provided in the unmanned aerial vehicle 15 of the first embodiment, and is a grip portion 91 of a fan mechanism. The grip portion 91 of the fourth embodiment includes a suction pad 95, a pressure duct 96, and a fan 97. Since the suction pad 95 is the same as the suction pad 41 of the first embodiment, the description thereof will be omitted. The pressure duct 96 has a pressure channel formed therein, the adsorption pad 95 is provided on one side of the pressure channel, and the fan 97 is provided on the other side of the pressure channel. The pressure duct 96 is internally depressurized or pressurized by the operation of the fan 97. The fan 97 discharges air in the pressure duct 96 or blows air into the pressure duct 96.
　ファン９７は、吸着パッド９５の密閉空間を減圧する減圧状態と、密閉空間を加圧する加圧状態とに切り替え可能に作動する。密閉空間を減圧状態とする場合、ファン９７は、圧力ダクト９６内から空気を排出することで、圧力ダクト９６の内部が減圧状態となり、吸着パッド４１の密閉空間が減圧状態となる。一方で、密閉空間を加圧状態とする場合、ファン９７は、圧力ダクト９６内に空気を取り込むことで、圧力ダクト９６の内部が加圧状態となり、吸着パッド４１の密閉空間が加圧状態となる。 The fan 97 operates so as to be switchable between a depressurized state in which the sealed space of the suction pad 95 is depressurized and a pressurized state in which the sealed space is pressurized. When the closed space is in a reduced pressure state, the fan 97 discharges air from the pressure duct 96, so that the inside of the pressure duct 96 is in a reduced pressure state and the closed space of the suction pad 41 is in a reduced pressure state. On the other hand, when the closed space is set to the pressurized state, the fan 97 takes air into the pressure duct 96, so that the inside of the pressure duct 96 is set to the pressurized state and the closed space of the suction pad 41 is set to the pressurized state. Become.
　以上のように、実施形態４によれば、把持部９１をファン機構とすることで、吸着によるプリプレグ６の把持と把持の解除とを適切に行うことができる。また、ファン９７による把持部９１は、コンパクトな構成とできることから、無人航空機１５の重量増加を抑制することができる。 As described above, according to the fourth embodiment, by using the grip portion 91 as the fan mechanism, the prepreg 6 can be gripped by suction and the grip can be released appropriately. In addition, since the grip portion 91 by the fan 97 can have a compact structure, it is possible to suppress an increase in weight of the unmanned aerial vehicle 15.
［実施形態５］
　次に、実施形態５に係る積層システムについて説明する。なお、図示は省略するが、実施形態５では、重複した記載を避けるべく、実施形態１から４と異なる部分について説明する。 [Fifth Embodiment]
Next, a stacking system according to the fifth embodiment will be described. Although illustration is omitted, in the fifth embodiment, parts different from the first to fourth embodiments will be described in order to avoid duplicate description.
　実施形態５の積層システムは、実施形態１の無人航空機１５により、実施形態１の自走台車１６によるプリプレグ６の押付作業の一部または全部を実施可能としたシステムである。このため、実施形態５の無人航空機は、実施形態１の無人航空機１５の構成に加え、プリプレグ６を成形治具１１側へ向かって押し付ける押圧ローラをさらに有したものとなっている。このとき、実施形態５の積層システムでは、実施形態１の自走台車１６を省いた構成としてもよい。 The stacking system of the fifth embodiment is a system that enables the unmanned aerial vehicle 15 of the first embodiment to perform a part or all of the work of pressing the prepreg 6 by the self-propelled carriage 16 of the first embodiment. Therefore, the unmanned aerial vehicle of the fifth embodiment further includes a pressing roller that presses the prepreg 6 toward the molding jig 11 side in addition to the configuration of the unmanned aerial vehicle 15 of the first embodiment. At this time, in the stacking system of the fifth embodiment, the self-propelled carriage 16 of the first embodiment may be omitted.
　実施形態５の積層システムを用いた積層方法において、押付工程では、押圧ローラを有する無人航空機により、成形治具１１上に設置されたプリプレグ６を押し付ける。つまり、実施形態５の積層システムでは、無人航空機が実施形態１のステップＳ２１からステップＳ３０までを実行した後、無人航空機がプリプレグ６上を移動して、押圧ローラによりプリプレグ６を成形治具１１側に押し付ける。 In the stacking method using the stacking system of Embodiment 5, in the pressing step, the prepreg 6 installed on the molding jig 11 is pressed by an unmanned aerial vehicle having a pressing roller. That is, 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 the prepreg 6 is formed on the forming jig 11 side by the pressing roller. Press on.
　なお、プリプレグ６上において無人航空機を移動させる機構としては、押圧ローラを駆動させる電動モータを無人航空機に搭載してもよいし、無人航空機のプロペラにより発生する推進力の方向を可変させる機構を設けてもよいし、プリプレグ６上を移動する方向に推進力を発生させる別体のファン機構等を設けてもよく、特に限定されない。 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 changing the direction of the propulsive force generated by the propeller of the unmanned aerial vehicle is provided. Alternatively, a separate fan mechanism or the like that generates a propulsive force in a direction of moving on the prepreg 6 may be provided, and the invention is not particularly limited.
　また、無人航空機による押付作業の前に、無人航空機の押圧ローラを用いてプリプレグ６の位置を微調整してもよい。 Also, before the pressing operation by the unmanned aerial vehicle, the position of the prepreg 6 may be finely adjusted by using the pressure roller of the unmanned aerial vehicle.
　また、無人航空機の自重による押付力が不足する場合、電磁石等を用いて磁力により押付力を増大させてもよい。この場合、成形治具１１側に電磁石を設けてもよいし、無人航空機側に電磁石を設けてもよい。無人航空機側に電磁石を設ける場合には、成形治具１１を磁性材料（鉄、またはインバー等）を用いて構成してもよい。 Also, if the pressing force due to the dead 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, an electromagnet may be provided on the molding jig 11 side, or an electromagnet may be provided on the unmanned aerial vehicle side. When the electromagnet is provided on the unmanned aerial vehicle side, the molding jig 11 may be made of a magnetic material (iron, invar or the like).
　以上のように、実施形態５によれば、無人航空機によるプリプレグ６の成形治具１１上への設置と共に、無人航空機の押圧ローラにより、プリプレグ６を成形治具１１へ押し付けることができる。このため、無人航空機によるプリプレグ６の積層作業と押付作業とを効率よく行うことができる。 As described above, according to the fifth embodiment, it is possible to install the prepreg 6 on the molding jig 11 by an unmanned aerial vehicle and press the prepreg 6 against the molding 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 prepreg 6 by the unmanned aerial vehicle.
［実施形態６］
　次に、実施形態６に係る積層システムについて説明する。なお、図示は省略するが、実施形態６では、重複した記載を避けるべく、実施形態１から５と異なる部分について説明する。 [Sixth Embodiment]
Next, a stacking system according to the sixth embodiment will be described. Although illustration is omitted, in the sixth embodiment, parts different from the first to fifth embodiments will be described in order to avoid duplicate description.
　実施形態６の積層システムは、実施形態１の無人航空機１５により成形治具１１上に配置されたプリプレグ６を、２台の自走台車を用いて押し付けるシステムとなっている。具体的に、自走台車１６は、第１の自走台車１６と第２の自走台車１６とを含んでいる。無人航空機１５による積層作業（積層工程）では、第１の自走台車１６が成形治具１１上に予め移動している。無人航空機１５は、把持したプリプレグ６が第１の自走台車１６から外側に飛び出る（はみ出る）ように、プリプレグ６を第１の自走台車１６上に設置する。自走台車１６による押付作業（押付工程）では、プリプレグ６が設置された第１の自走台車１６が移動して、プリプレグ６の位置決めを行う。そして、第２の自走台車１６が第１の自走台車１６から飛び出たプリプレグ６の部位を成形治具１１側へ押し付けて仮固定する。この後、無人航空機１５が第１の自走台車１６から離床し、第１の自走台車１６が、成形治具１１上にプリプレグ６を残置させた状態で、成形治具１１上から退避する。そして、無人航空機により固定されていない部位のプリプレグ６の位置決めを行う。この後、第２の自走台車１６がプリプレグ６の固定されていない部位を押し付ける。 The stacking system according to the sixth embodiment is a system in which the prepreg 6 arranged on the molding jig 11 by the unmanned aerial vehicle 15 according to the first embodiment is pressed using two self-propelled carriages. 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) performed by the unmanned aerial vehicle 15, the first self-propelled carriage 16 has 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 jumps out (extends) from the first self-propelled carriage 16. In the pressing operation (pressing step) 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 protruding from the first self-propelled carriage 16 toward the molding jig 11 side to temporarily fix it. Thereafter, the unmanned aerial vehicle 15 leaves the first self-propelled carriage 16 and the first self-propelled carriage 16 retracts from the forming jig 11 with the prepreg 6 left on the forming jig 11. .. Then, the prepreg 6 at a portion that is not fixed by the unmanned aerial vehicle is positioned. After that, the second self-propelled carriage 16 presses the unfixed portion of the prepreg 6.
　この構成によれば、第１の自走台車１６によりプリプレグ６の成形治具１１上への位置決めを精度よく行うことができるため、積層体５を好適に形成することができる。 According to this configuration, the first self-propelled carriage 16 can accurately position the prepreg 6 on the molding jig 11, so that the laminated body 5 can be preferably formed.
　５　積層体
　６　強化繊維基材（プリプレグ）
　１０　積層システム
　１１　成形治具
　１２　載置場
　１５　無人航空機
　１６　自走台車
　１７　レーザプロジェクタ
　２０　制御システム
　２１　通信ネットワーク
　２５　無人航空機の待機場
　２６　自走台車の待機場
　３１　機体
　３２　駆動部
　３３　把持部
　３４　撮像部
　３５　制御部
　４１　吸着パッド
　４２　吸引部
　４３　圧力通路
　４５　吸引ポンプ
　４６　電磁弁
　５１　台車本体
　５２　駆動部
　５３　押圧ローラ
　５４　制御部
　６１　入力部
　６２　出力部
　６３　制御部
　７０　積層システム（実施形態２）
　７１　把持部
　８０　積層システム（実施形態３）
　９０　積層システム（実施形態４）
　９１　把持部
　９５　吸着パッド
　９６　圧力ダクト
　９７　ファン 5 Laminated body 6 Reinforcing fiber base material (prepreg)
10 Lamination system 11 Forming jig 12 Placement place 15 Unmanned aerial vehicle 16 Self-propelled trolley 17 Laser projector 20 Control system 21 Communication network 25 Standby place for unmanned aerial vehicle 26 Standby place for self-propelled trolley 31 Airframe 32 Drive section 33 Grasp section 34 Imaging section 35 Control Part 41 Adsorption Pad 42 Suction Part 43 Pressure Passage 45 Suction Pump 46 Solenoid Valve 51 Car Body 52 Drive Part 53 Pressing Roller 54 Control Part 61 Input Part 62 Output Part 63 Control Part 70 Laminating System (Embodiment 2)
71 Grasping part 80 Laminating system (Embodiment 3)
90 Stacking system (Embodiment 4)
91 gripping part 95 adsorption pad 96 pressure duct 97 fan

Claims (10)

  1. 　強化繊維基材を成形治具上に積層して積層体を形成する積層体の積層システムにおいて、
    　前記強化繊維基材が設置される設置エリアと、
    　前記強化繊維基材を把持して輸送する、垂直に離着陸可能な無人航空機と、
    　前記無人航空機を制御する制御部と、を備え、
    　前記制御部は、
    　前記無人航空機を制御して、前記設置エリアに設置された前記強化繊維基材を把持し、前記設置エリアから前記成形治具へ向けて前記強化繊維基材を輸送して、前記強化繊維基材を前記成形治具上に設置する積層処理を実行する積層体の積層システム。     In a lamination system of a laminated body in which a reinforcing fiber base material is laminated on a molding jig to form a laminated body,
    An installation area in which the reinforcing fiber base material is installed,
    A vertically unmanned aerial vehicle capable of gripping and transporting the reinforcing fiber base material,
    A control unit for controlling the unmanned aerial vehicle,
    The control unit is
    The unmanned aerial vehicle is controlled, the reinforcing fiber base material installed in the installation area is gripped, and the reinforcing fiber base material is transported from the installation area toward the forming jig, and the reinforcing fiber base material is transported. A stacking system of a stack for performing a stacking process of placing the above on the molding jig.
  2. 　前記成形治具上に設置された前記強化繊維基材を、前記成形治具側へ向かって押し付ける押付部を、さらに備え、
    　前記制御部は、
    　前記積層処理の実行後、前記押付部を制御して、前記成形治具上に設置された前記強化繊維基材を、前記押付部により前記成形治具側へ向かって押し付ける押付処理を実行する請求項１に記載の積層体の積層システム。     The reinforcing fiber base material installed on the molding jig, further comprising a pressing portion for pressing toward the molding jig side,
    The control unit is
    After performing the laminating process, the pressing unit is controlled to perform a pressing process of pressing the reinforcing fiber base material installed on the molding jig toward the molding jig by the pressing unit. Item 2. A stacking system for a stack according to item 1.
  3. 　前記押付部は、前記成形治具上を移動する自走台車を含み、
    　前記自走台車は、台車本体と、前記台車本体に取り付けられる前記強化繊維基材を押し付ける押圧ローラと、を有する請求項２に記載の積層体の積層システム。     The pressing portion includes a self-propelled carriage that moves on the forming jig,
    The stacking system for a laminate according to claim 2, wherein the self-propelled carriage includes a carriage main body and a pressing roller that presses the reinforcing fiber base material that is attached to the carriage main body.
  4. 　前記無人航空機は、機体と、前記機体に設けられる前記押付部としての押圧ローラと、を有する請求項２に記載の積層体の積層システム。 The stacking system for a stack according to claim 2, wherein the unmanned aerial vehicle has a body and a pressing roller as the pressing unit provided on the body.
  5. 　前記無人航空機は、機体と、前記機体に設けられる前記強化繊維基材を把持する把持部と、を有し、
    　前記把持部は、前記強化繊維基材を吸着する吸着パッドと、前記吸着パッドを介して前記強化繊維基材を吸引する吸引部と、を有する請求項１から４のいずれか１項に記載の積層体の積層システム。     The unmanned aerial vehicle has a body, and a gripping portion that grips the reinforcing fiber base provided in the body,
    The gripping part has a suction pad for adsorbing the reinforcing fiber base material, and a suction part for sucking the reinforcing fiber base material through the adsorption pad, according to any one of claims 1 to 4. Stacking system for stacks.
  6. 　前記把持部は、複数の前記無人航空機に跨って設けられる請求項５に記載の積層体の積層システム。 The stacking system for a stack according to claim 5, wherein the grip portion is provided across a plurality of the unmanned aerial vehicles.
  7. 　成形治具上に強化繊維基材を積層して積層体を形成する積層体の積層方法において、
    　垂直に離着陸可能な無人航空機により、設置エリアに設置された前記強化繊維基材を把持し、前記設置エリアから前記成形治具へ向けて前記強化繊維基材を輸送して、前記強化繊維基材を前記成形治具上に設置する積層工程と、
    　前記成形治具上に設置された前記強化繊維基材を前記成形治具側へ向かって押し付ける押付工程と、を備える積層体の積層方法。     In a method for laminating a laminated body in which a reinforcing fiber base material is laminated on a molding jig to form a laminated body,
    An unmanned aircraft capable of vertical takeoff and landing grips the reinforcing fiber base material installed in the installation area, transports the reinforcing fiber base material from the installation area to the forming jig, and the reinforcing fiber base material. A laminating step of installing on the molding jig,
    And a pressing step of pressing the reinforcing fiber base material placed on the molding jig toward the molding jig side.
  8. 　前記押付工程では、前記強化繊維基材を前記成形治具側へ向かって押し付ける押圧ローラを有する自走台車により、前記成形治具上に設置された前記強化繊維基材を押し付ける請求項７に記載の積層体の積層方法。 The said reinforcing process WHEREIN: The said reinforced fiber base material installed on the said molding jig is pressed by the self-propelled trolley|bogie which has the pressing roller which presses the said reinforced fiber base material toward the said molding jig side. Laminating method of the laminated body of.
  9. 　前記自走台車は、第１の前記自走台車と第２の前記自走台車とを含み、
    　前記積層工程では、第１の前記自走台車が前記成形治具上に移動し、前記強化繊維基材が第１の前記自走台車から外側に飛び出るように、前記無人航空機が前記強化繊維基材を第１の前記自走台車上に設置し、
    　前記押付工程では、第１の前記自走台車が移動して前記強化繊維基材の位置決めを行い、第２の前記自走台車が第１の前記自走台車から飛び出た前記強化繊維基材の部位を押し付けて固定し、前記無人航空機を第１の前記自走台車から離床させ、第１の前記自走台車を前記成形治具上から退避させ、前記無人航空機により固定されていない部位の前記強化繊維基材の位置決めを行い、第２の前記自走台車が前記強化繊維基材の固定されていない部位を押し付ける請求項７に記載の積層体の積層方法。     The self-propelled carriage includes a first self-propelled carriage and a second self-propelled carriage,
    In the laminating step, the unmanned aerial vehicle is operated by the unmanned aerial vehicle so that the first self-propelled carriage moves onto the forming jig and the reinforcing fiber base material pops out from the first self-propelled carriage. Install the material on the first self-propelled carriage,
    In the pressing step, the first self-propelled carriage moves to position the reinforcing fiber base material, and the second self-propelled carriage moves out of the first self-propelled carriage of the reinforcing fiber base material. The part is pressed and fixed, the unmanned aerial vehicle is taken out of the bed from the first self-propelled carriage, the first self-propelled carriage is evacuated from the molding jig, and the unmanned aircraft is fixed to the unmanned aircraft. The method for laminating a laminate according to claim 7, wherein the reinforcing fiber base material is positioned, and the second self-propelled carriage presses an unfixed portion of the reinforcing fiber base material.
  10. 　前記無人航空機は、前記強化繊維基材を前記成形治具側へ向かって押し付ける押圧ローラを有し、
    　前記押付工程では、前記押圧ローラを有する前記無人航空機により、前記成形治具上に設置された前記強化繊維基材を押し付ける請求項７に記載の積層体の積層方法。     The unmanned aerial vehicle has a pressing roller that presses the reinforcing fiber base material toward the molding jig side,
    The method for laminating a laminate according to claim 7, wherein, in the pressing step, the unmanned aerial vehicle having the pressing roller presses the reinforcing fiber base material installed on the molding jig.
PCT/JP2019/037549 2018-12-05 2019-09-25 Lamination system for laminate and lamination method for laminate WO2020115997A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015150697A (en) * 2014-02-10 2015-08-24 三菱重工業株式会社 Compactor, and prepreg sheet automatic laminate device
JP2017213663A (en) * 2016-06-02 2017-12-07 国立大学法人東京工業大学 Adsorption device and flight robot
JP2018517589A (en) * 2015-05-29 2018-07-05 サイテック インダストリーズ インコーポレイテッド Automated method for transporting prepregs of prepregs including dry fiber veil surface layer and prepreg

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015150697A (en) * 2014-02-10 2015-08-24 三菱重工業株式会社 Compactor, and prepreg sheet automatic laminate device
JP2018517589A (en) * 2015-05-29 2018-07-05 サイテック インダストリーズ インコーポレイテッド Automated method for transporting prepregs of prepregs including dry fiber veil surface layer and prepreg
JP2017213663A (en) * 2016-06-02 2017-12-07 国立大学法人東京工業大学 Adsorption device and flight robot

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