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WO2019151861A3 - An end effector, system and methods for handling stacked sheets - Google Patents

An end effector, system and methods for handling stacked sheets Download PDF

Info

Publication number
WO2019151861A3
WO2019151861A3 PCT/NL2019/050064 NL2019050064W WO2019151861A3 WO 2019151861 A3 WO2019151861 A3 WO 2019151861A3 NL 2019050064 W NL2019050064 W NL 2019050064W WO 2019151861 A3 WO2019151861 A3 WO 2019151861A3
Authority
WO
WIPO (PCT)
Prior art keywords
handling
catch
end effector
stacked sheets
plane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/NL2019/050064
Other languages
French (fr)
Other versions
WO2019151861A2 (en
Inventor
Mark Muilwijk
Thomas Theodorus Arnoldus Van Overbeek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airborne International BV
Original Assignee
Airborne International BV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Airborne International BV filed Critical Airborne International BV
Priority to EP19714861.2A priority Critical patent/EP3746272A2/en
Publication of WO2019151861A2 publication Critical patent/WO2019151861A2/en
Publication of WO2019151861A3 publication Critical patent/WO2019151861A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
    • B32B37/0007—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding involving treatment or provisions in order to avoid deformation or air inclusion, e.g. to improve surface quality
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
    • B32B37/14—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers
    • B32B37/16—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers with all layers existing as coherent layers before laminating
    • B32B37/18—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers with all layers existing as coherent layers before laminating involving the assembly of discrete sheets or panels only
    • B32B37/187—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the properties of the layers with all layers existing as coherent layers before laminating involving the assembly of discrete sheets or panels only the layers being placed in a carrier before going through the lamination process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B38/00—Ancillary operations in connection with laminating processes
    • B32B38/10—Removing layers, or parts of layers, mechanically or chemically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B38/00—Ancillary operations in connection with laminating processes
    • B32B38/18—Handling of layers or the laminate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B38/00—Ancillary operations in connection with laminating processes
    • B32B38/18—Handling of layers or the laminate
    • B32B38/1825—Handling of layers or the laminate characterised by the control or constructional features of devices for tensioning, stretching or registration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B38/00—Ancillary operations in connection with laminating processes
    • B32B38/18—Handling of layers or the laminate
    • B32B38/1825—Handling of layers or the laminate characterised by the control or constructional features of devices for tensioning, stretching or registration
    • B32B38/1833—Positioning, e.g. registration or centering
    • B32B38/1841—Positioning, e.g. registration or centering during laying up

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

An end effector, system and methods for handling stacked sheets, such as fiber reinforced laminate, a compressed stack of fiber reinforced laminate and a method of machining the compressed stack of fiber reinforced laminate. The end effector is arranged for handling a set of press plates and stacked sheets to be sandwiched there between and comprises a carrier with a central portion and a peripheral portion. The central portion is provided with a number of suction grippers arranged to operate in a suction plane. The peripheral portion includes a number of hooks, each hook having a stem that is arranged to reach through the suction plane, and a catch carried thereon having a carrying face arranged to operate in a carrying plane parallel to the suction plane. The hooks are movably disposed, so that the catch can move along the carrying plane between a first position in which the catch can pass through a set of aligned handling apertures in the set of press plates, and a second position in which the catch hooks behind a periphery of a handling aperture in a bottom press plate of the set of press plates.
PCT/NL2019/050064 2018-01-31 2019-01-31 An end effector, system and methods for handling stacked sheets Ceased WO2019151861A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19714861.2A EP3746272A2 (en) 2018-01-31 2019-01-31 An end effector, system and methods for handling stacked sheets

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2020363A NL2020363B1 (en) 2018-01-31 2018-01-31 An end effector, system and methods for handling stacked sheets
NL2020363 2018-01-31

Publications (2)

Publication Number Publication Date
WO2019151861A2 WO2019151861A2 (en) 2019-08-08
WO2019151861A3 true WO2019151861A3 (en) 2019-12-05

Family

ID=62598017

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2019/050064 Ceased WO2019151861A2 (en) 2018-01-31 2019-01-31 An end effector, system and methods for handling stacked sheets

Country Status (3)

Country Link
EP (1) EP3746272A2 (en)
NL (1) NL2020363B1 (en)
WO (1) WO2019151861A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019123916B3 (en) * 2019-09-05 2021-01-28 J. Schmalz Gmbh Support frame for a handling device comprising a plurality of radial beams and lattice wings, method for producing a support frame

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996001183A1 (en) * 1994-07-05 1996-01-18 Ford Motor Company Windshield assembly system
WO2000064663A2 (en) * 1999-04-08 2000-11-02 Alliedsignal Inc. A laminate article and a process for manufacturing it
DE102011114015A1 (en) * 2011-06-21 2012-12-27 Brötje-Automation GmbH end effector
WO2014160483A1 (en) * 2013-03-13 2014-10-02 Cubic Tech Corporation Flexible composite systems and methods
DE102013208778A1 (en) * 2013-05-13 2014-11-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Device for picking up, handling and / or depositing textile structures
WO2014197098A1 (en) * 2013-03-15 2014-12-11 Gordon Holdings, Inc. High performance thermoplastic composite laminates and composite structures made therefrom
US20170021394A1 (en) * 2014-04-30 2017-01-26 Semiconductor Energy Laboratory Co., Ltd. Wiping device and stack manufacturing apparatus

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011076152A1 (en) * 2011-05-19 2012-11-22 Dieffenbacher GmbH Maschinen- und Anlagenbau Method and device for transporting a cut out of a flat fiber fabric fiber contour in the course of the production of fiber-reinforced plastic molded parts

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996001183A1 (en) * 1994-07-05 1996-01-18 Ford Motor Company Windshield assembly system
WO2000064663A2 (en) * 1999-04-08 2000-11-02 Alliedsignal Inc. A laminate article and a process for manufacturing it
DE102011114015A1 (en) * 2011-06-21 2012-12-27 Brötje-Automation GmbH end effector
WO2014160483A1 (en) * 2013-03-13 2014-10-02 Cubic Tech Corporation Flexible composite systems and methods
WO2014197098A1 (en) * 2013-03-15 2014-12-11 Gordon Holdings, Inc. High performance thermoplastic composite laminates and composite structures made therefrom
DE102013208778A1 (en) * 2013-05-13 2014-11-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Device for picking up, handling and / or depositing textile structures
US20170021394A1 (en) * 2014-04-30 2017-01-26 Semiconductor Energy Laboratory Co., Ltd. Wiping device and stack manufacturing apparatus

Also Published As

Publication number Publication date
EP3746272A2 (en) 2020-12-09
NL2020363B1 (en) 2019-08-07
WO2019151861A2 (en) 2019-08-08

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