• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    APPARATUS TO MANUFACTURE EACH LAMINATED STRUCTURE FROM A PLURALITY OF DIFFERENT LAMINATED STRUCTURES IN A FAMILY OF STRUCTURES WITH COMMON RESOURCES, AND, METHOD OF MANUFACTURING EACH PART OF A PLURALITY OF DIFFERENT PARTS IN A FAMILY OF PARTS WITH COMMON RESOURCES. A plurality of identical fabrication modules are connected together and are configurable to fabricate any laminated structure from a plurality of different laminated structures in a family of structures with common features. Each of these fabrication modules is locally adapted to fabricate a section of the frame laminated to a corresponding tool. A controller controls and coordinates the automated operation of the manufacturing modules.
    公开号:BR112015016158B1
    申请号:R112015016158-8
    申请日:2013-11-21
    公开日:2021-04-20
    发明作者:James N. Buttrick；David P. Banks；Dennis W. Stewart；Jesus Sanchez；Andrew E. Modin；Edoardo P. Depase
    申请人:The Boeing Company；
    IPC主号:
    专利说明:

    FUNDAMENTALS OF THE INVENTION 1. Field of Invention
    [001] The present description of the invention relates, in general terms, to the manufacture of laminates, especially those laminates that are contoured, and concerns, more particularly, a method and an apparatus for disposing and for automatic forming of different laminated structures in a family of structures with common features. 2. Fundamentals of Technique
    [002] Structures of composite materials, especially those that have contours, sometimes have characteristics that require the structure to be formed from multiple parts. For example, in the aviation industry or aircraft industry, contoured composite fuselage barrel frame sections can be formed employing a two-piece assembly comprising a channel 'type' section frame and a mechanically shear bond or link. stuck together. More recently, one-piece composite frame sections have been proposed that employ woven composite materials, however such a fabrication approach is time-consuming and labor-intensive, and can result in a frame that is heavier than desired. The problem of manufacturing those frame sections from one-piece composite material is more difficult in high throughput environments where production run-off times can be important to achieving manufacturing efficiencies.
    [003] Consequently, there is a need for a method and an apparatus to produce one-piece laminated structures, especially those that are contoured, which reduce labor and assembly time through automation. There is also a need for a method and apparatus for producing different laminated structures within a family of structures with common features in order to reduce material and labor costs while increasing production rates. Furthermore, there is a need for a method and apparatus for fabricating laminated structures using certain forms of material, such as unidirectional prepreg tape, which cannot be produced using conventional manual fabrication methods. SUMMARY
    [004] The described embodiments provide a method and apparatus to produce different laminated structures of composite materials within a family of structures with common features. The apparatus comprises an automatic reconfigurable composite material forming system specially designed to form unidirectional prepreg tape in the production of structural elements such as aircraft fuselage frames. The apparatus comprises a plurality of substantially identical forming modules connected together to form a simple former that can be reconfigured to conform to a wide range of tools defining corresponding structural shapes. Each of the training modules has the ability to locally adapt or transform the tool's unique design, shape or features. In an aircraft application, the apparatus can be employed to fabricate frame sections from multi-layer composite material with a cross-sectional Z shape by arranging, forming and compacting each layer of the frame section. The layers are formed from an inner cord outward to an outer cord, sometimes referred to as a shear bond. Each of the training modules adapts to the local shape of the tool. The modules are linked together in a way to form a simple shaper that fits every tool. Different tool arc lengths can be accommodated by adding or removing forming modules. It is not necessary for the forming modules to match exactly the full arc length of a tool in those cases where the framework is contoured. The apparatus employs an adaptive control system based on a profile of the generic structural form of structures within a family of structures. The adaptive control system forms each layer of the structure based on a combination of force feedback and positional control. Each forming module has two servo geometry axes and employs force feedback on one of these two geometry axes at a time. The use of force feedback depends on the area of the structure being formed. During the forming process, the feedback switches back and forth between the two geometry axes. The commutation between the two geometry axes is controlled by the adaptive system and is determined by the generic shape parameters of the structure being formed. Having a generic motion profile allows the device to form any of a plurality of unique structures, layer by layer, without the need for NC (numerical control) programming. The apparatus is easily scale-adjustable to fabricate structures of different sizes within a family of structures by adding or removing forming modules, and arranging the modules to substantially match corresponding tool shapes.
    [005] According to a described embodiment, a system for manufacturing a plurality of unique pieces is provided. The system comprises a plurality of unique overlay tools, respectively, corresponding to the plurality of parts to be manufactured, and a plurality of former modules configured to be combined together to define a plurality of unique formers, respectively, corresponding to the plurality of parts and the plurality of superposition tools. Each of the formers is adapted to arrange material in a corresponding one of the overlay tools to form a corresponding one of the pieces. The former modules are substantially identical, and each of the plurality of unique formers is configured by coupling each of the former modules substantially to the corresponding single overlay tool. The former modules are linked together and are mounted on bases that allow the former modules to move in multiple directions. Each of the forming modules includes a forming head adapted to form material in a corresponding one of the overlay tools. Each of the training heads is malleable. The part can be a laminated structure, and the laminated structure can be a carbon fiber reinforced plastic.
    [006] According to another described embodiment, an apparatus is provided to manufacture each of a plurality of different laminated structures in a family of structures with common resources. The apparatus comprises a plurality of separate fabrication modules, each locally adapted to fabricate a section of the structure laminated to a corresponding tool. Fabrication modules are reconfigurable to fabricate each of the laminated structures in your family. The apparatus also includes a controller to control and coordinate the automatic operation of the manufacturing modules. The apparatus may further comprise a forming element adapted to form laminated layers through the tool. The forming element extends along a length of the fabrication modules, and is mounted to each of the fabrication modules for movement through the tool along at least two geometric axes. The forming element is continuous along the length of the manufacturing modules. The forming element is controlled along two geometric axes, but has a shape that adapts to changes between different areas of the structure being formed, such as, in the case of a one-piece aircraft fuselage frame, between a radius of the inner rope and a radius of the frame shear bond. Each of the fabrication modules includes a track on which a portion of the forming element is locally mounted. A simple forming element can be used to fabricate a particular structure, however, the forming element is detachably mounted on the track to allow interchangeability of a plurality of forming elements, respectively, with different shapes to fabricate differently shaped structures. The track allows lateral (or tangential) sliding of the forming element relative to each module as the arc length of the structure changes as the forming element moves over the structure. The forming element is adapted to sweep laminated layers through the tool, and is malleable. Each of the fabrication modules includes a fastener adapted to secure a portion of a laminated layer against a portion of the tool. Each of the fabrication modules includes a drive unit coupled with the forming element to sweep the forming element over the laminated layers and compact the laminated layers into the tool. The apparatus may further comprise a flexible layer support adapted to contain at least one layer laminated thereon, wherein each of the manufacturing modules includes a pair of spaced tracks adapted to releasably contain the layer support, and a control assembly. of the layer support to keep the layer support under tension as the forming element forms the layer through the tool. The forming element is dockable with the layer support to sweep the layer support along with the layer thereon through the tool, and the layer support control assembly includes drives to adjust the position of the layer support along the two axes geometric. Each of the manufacturing modules additionally includes a force sensor for sensing a level of force applied to the layers laminated by the forming element, and a position sensor for sensing the position of the forming element. Each of the fabrication modules additionally includes a fastener to secure the fabrication module to the tool. The apparatus may also comprise articulation between the fabrication modules to couple the fabrication modules together and align the fabrication modules with respect to the tool. The hinge is configured to allow the forming modules to rotate along an arc that is substantially the same as the retracted arc of the continuously extending forming element. The manufacturing modules are substantially identical and interchangeable with each other. The apparatus also includes a central controller to control and coordinate the operation of the fabrication modules to collectively fabricate the laminated structure.
    [007] According to yet another modality, a method of manufacturing a plurality of different parts in a family of parts with common features is provided, in which each of the parts is manufactured using a single tool. The method comprises arranging a plurality of separate substantially identical fabrication modules to substantially match a tool on which one of the parts is to be fabricated, and adapting each of the fabrication modules to a local section of the tool. The method further comprises controlling and coordinating the operation of the fabrication modules to fabricate portions of the part over a corresponding section of the tool. Arranging the fabrication modules includes moving each fabrication module closer to the tool, and linking the fabrication modules together. The method may further comprise securing each of the fabrication modules to the tool. Adapting each of the fabrication modules includes learning, for each of the fabrication modules, the location of surfaces on the tool on which the part is to be fabricated. The method may also comprise sweeping materials across tool surfaces using a forming element, and using the forming element to learn the location of surfaces on the tool. Learning the location of surfaces includes sensing the position of the forming element as the forming element sweeps materials across the tool surfaces, and recording the sensing position of the forming element. Adapting each of the fabrication modules includes adjusting the elevation of the fabrication modules on a common water line. The method may further comprise forming a continuous flute along all the fabrication modules. Forming the continuous flute includes mounting a continuous forming element substantially along the entire length of the fabrication modules. Each of the manufacturing modules may be a laminated layer forming module to form a local section of a layer. Arranging the fabrication modules includes connecting the fabrication modules together to form a single laminated layer former.
    [008] According to another described embodiment, a method of manufacturing a laminated structure of composite material is provided. The method comprises arranging a plurality of substantially identical forming modules to generally match a tool in which layers of composite material are to be formed to fabricate the laminated structure, and connecting the forming modules together to form a single former to form a whole. a laminated structure of composite material. The method further comprises mounting a continuous forming element on the forming modules, the continuous forming element defining a flute extending substantially the entire length of the former, and using the forming element to form and compact the layers of composite material in the tool. The method may also include placing the layers of composite material on a layer support. The forming element is used to snap and sweep the layer holder along with the layers through the tool.
    [009] According to yet another described embodiment, a forming module is provided to form a composite laminate piece through a tool. The forming module comprises a base and a layer support control assembly adapted to control the position of a flexible layer support on which composite material resin layers are mounted. The forming module further comprises a head section mounted on the base and adapted to automatically form the composite material resin layers of the layer support through the tool. The base is adapted to move over a support surface, and the head section includes adaptive control for learning a tool profile. The forming module may additionally include a fastener to secure the head section to the tool, and an automatically controlled forming element to form layers through the tool.
    [0010] According to an aspect of the present description, there is provided a system for manufacturing a plurality of unique pieces, comprising: a plurality of unique overlapping tools, respectively, corresponding to the plurality of pieces to be fabricated, and a plurality of modules formers configured to be combined with each other to define a plurality of unique formers, respectively, corresponding to the plurality of pieces and the plurality of overlay tools, each of the formers being adapted to arrange material in a corresponding one of the overlay tools to form a corresponding parts. Advantageously, the system is such that the formers modules are substantially identical, and each of the plurality of unique formers is configured by coupling each of the substantially identical formers into the unique corresponding overlay tool. Advantageously, the system is such that the formers are mounted on bases that allow the formers to move in multiple directions. Advantageously, the system is such that forming modules are rigidly connected together. Advantageously, the system is such that each of the forming modules includes a forming head section adapted to form material in a corresponding one of the overlay tools. Advantageously, the system is such that each of the forming head sections is malleable. Advantageously, the system is such that malleability is removed when the former modules are coupled to the overlay tool. Advantageously, the system is such that the part is a laminated structure. Advantageously, the system is such that the part is a carbon fiber reinforced plastic.
    [0011] According to a further aspect of the present description, an apparatus is provided for fabricating each of a plurality of different laminated structures in a family of structures with common resources, comprising: a plurality of separate fabrication modules, each of which is locally adapted to fabricate a section of the laminated structure in a corresponding tool, the fabrication modules being reconfigurable to fabricate each of the laminated structures in its family, and a controller to control and coordinate the automatic operation of the fabrication modules. Advantageously, the apparatus further comprises a forming element adapted to form laminated layers through the tool, the forming element extending along a length of the fabrication modules, the forming element being mounted to each of the fabrication modules for movement through the tool along at least two geometric axes. Advantageously, the apparatus is such that the forming element is continuous along the length of the manufacturing modules. Advantageously, the apparatus is such that each of the manufacturing modules includes a track on which a portion of the forming element is mounted locally. Advantageously, the apparatus is such that the forming element is detachably mounted on the tracks to allow interchangeability of a plurality of forming elements respectively of different shapes. Advantageously, the apparatus is such that the forming element is adapted to sweep laminated layers through the tool, and is malleable. Advantageously, the apparatus is such that each of the fabrication modules includes a fastener adapted to secure a portion of a laminated layer against a portion of the tool. Advantageously, the apparatus is such that each of the fabrication modules includes a drive unit coupled with the forming element to sweep the forming element over the laminated layers and compact laminated layers in the tool. Advantageously, the apparatus further comprises: a flexible layer support adapted to contain at least one layer laminated thereon, and wherein each of the manufacturing modules includes a pair of spaced tracks adapted to releasably contain the layer support, and an array control of the layer support to keep the layer support under tension as the forming element forms the layer through the tool. Advantageously, the apparatus is such that: the forming element is engageable with the layer support to sweep the layer support along with the layer thereon through the tool, and the layer support control assembly includes actuators for adjusting the position of the layer support along two geometric axes. Advantageously, the apparatus is such that each of the manufacturing modules additionally includes: a force sensor for sensing a level of force applied to the layers laminated by the forming element, and a position sensor for sensing the position of the forming element. Advantageously, the apparatus is such that each of the fabrication modules includes a fastener for securing the fabrication module to the tool. Advantageously, the apparatus further comprises articulation between the fabrication modules to rigidly couple the fabrication modules together and to align the fabrication modules with respect to the tool. Advantageously, the apparatus is such that the manufacturing modules are substantially identical and interchangeable with each other. Advantageously, the apparatus further comprises a central controller to control and coordinate the operation of the fabrication modules to collectively fabricate the laminated structure.
    [0012] In accordance with also a further aspect of the present description, a method of manufacturing each of a plurality of different parts in a family of parts with common features is provided, wherein each of the parts is manufactured using a single tool, comprising: arranging a plurality of separate substantially identical manufacturing modules to substantially match a tool in which one of the parts is to be manufactured, adapting each of the manufacturing modules to a local section of the tool, and controlling and coordinating the operation of the manufacturing modules to manufacture parts of the part over a section of the corresponding tool. Advantageously, the method is such that arranging the fabrication modules includes: moving each fabrication module closer to the tool, and rigidly connecting the fabrication modules together. Advantageously, the method further comprises: clamping each of the manufacturing modules to the tool. Advantageously, the method is such that adapting each of the fabrication modules includes learning, by each of the fabrication modules, the location of surfaces on the tool on which the part is to be fabricated. Advantageously, the method further comprises: sweeping materials across tool surfaces using a forming element, and using the forming element to learn the location of surfaces on the tool. Advantageously, the method is such that learning the location of surfaces includes: sensing a position of the forming element as the forming element sweeps materials across the surfaces of the tool, and recording the sensed position of the forming element. Advantageously, the method is such that adapting each of the fabrication modules includes adjusting the elevation of the fabrication modules to a common water line. Advantageously, the method further comprises: forming a continuous flute along all manufacturing modules. Advantageously, the method is such that forming the continuous flute includes mounting a continuous forming element substantially along the entire length of the fabrication modules. Advantageously, the method is such that: each of the fabrication modules is a laminated layer former module to form a local section of a layer, and arranging the fabrication modules includes connecting the fabrication modules together to form a laminated layer former simple.
    [0013] In accordance with also a further aspect of the present description, there is provided a method of fabricating a laminated structure of composite material, comprising: arranging a plurality of substantially identical forming modules to generally match a tool in which material layers composite should be formed to fabricate the laminated structure, connect the forming modules together to form a simple former to form an entire laminated structure of composite material, assemble a continuous forming element on the forming modules, the continuous forming element defining a flute extending substantially the entire length of the former, and using the forming element to form and compact the layers of composite material in the tool. Advantageously, the method further comprises: placing the layers of composite material on a layer support, and wherein using the forming element includes snapping and sweeping the layer support along with the layers through the tool.
    [0014] According to also a further aspect of the present description, there is provided a forming module for forming a composite laminate piece by means of a tool, comprising: a base, a layer support control assembly adapted to control the position of a flexible layer support on which composite material resin layers are mounted, and a head section mounted on the base and adapted to automatically form the composite material resin layers of the layer support through the tool. Advantageously, the forming module is such that the base is adapted to move over a bearing surface. Advantageously, the forming module further comprises a fastener for securing the head section to the tool. Advantageously, the forming module is such that the head section includes an adaptive control for learning a tool profile. Advantageously, the forming module further comprises a nose piece for engaging the layer holder and forming the layers on the tool, the nose piece being mounted for movement in the head section along the first and second geometric axes. Advantageously, the forming module is such that the head section includes a load cell for sensing the magnitude of a force applied by the nose piece to the ply holder and tool. Advantageously, the forming module is such that the base includes a mechanical slide assembly for moving the head section along a third geometric axis substantially orthogonal to the first and second geometric axes. Advantageously, the forming module is such that the head section includes at least one position sensor for sensing the position of the nose piece. Advantageously, the forming module is such that the nose piece has malleability which allows the nose piece to conform to the features of the tool. Advantageously, the forming module is such that the layer support control assembly includes a device for controlling tension on the flexible layer support. Advantageously, the forming module is such that the layer support control assembly is mounted on the head section. Advantageously, the forming module is such that the layer support control assembly includes an automatically controlled motorized arm to support and move the layer support as layers are being formed from the layer support through the tool. Advantageously, the forming module is such that the head section includes a data finder for locating data about the tool.
    [0015] The features, functions and advantages can be achieved independently in various embodiments of the present description, or can be combined in other embodiments as well in which further details can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS
    [0016] The unpublished resources considered characteristic of the illustrative modalities are presented in the attached claims. The illustrative embodiments, however, as well as a preferred mode of use, its additional objectives and advantages, will be understood by reference to the following detailed description of an illustrative embodiment of the present description when read in conjunction with the accompanying drawings, in which:
    [0017] Figure 1 is an illustration of a block diagram of a system for manufacturing any of a plurality of parts within a family with common features using corresponding manufacturing tools and modules according to the described modalities.
    [0018] Figure 2 is an illustration of a diagrammatic plan view of apparatus for fabricating contoured composite laminated structures.
    [0019] Figure 3 is an illustration of a perspective view of a section of laminated frame of composite material with a Z-shaped cross section.
    [0020] Figure 4 is an illustration of a cross-sectional view of the frame section shown in Figure 3.
    [0021] Figure 5 is an illustration of an end view of a tool with the frame section shown in Figures 3 and 4 disposed and compacted therein.
    [0022] Figure 6 is an illustration of a functional block diagram of the apparatus of Figure 2, shown attached to the tool illustrated in Figure 5.
    [0023] Figure 7 is an illustration of a perspective view of the apparatus, before being moved close and secured to a tool, a layer holder not shown for clarity.
    [0024] Figure 8 is an illustration of a front perspective view of three adjacent manufacturing modules forming part of the apparatus shown in Figure 7.
    [0025] Figure 9 is an illustration of a front perspective view of one of the manufacturing modules shown in Figure 8, representing additional details of the module.
    [0026] Figure 10 is an illustration of a plan view of a layer support with a layer mounted on it.
    [0027] Figure 11 is an illustration of a front view of a nose piece track forming piece of each of the manufacturing modules shown in Figures 7-9.
    [0028] Figure 12 is an illustration of a perspective view of a portion of the length of a nose piece adapted to be mounted in the nose piece track shown in Figure 11.
    [0029] Figure 13 is a flowchart illustration of a method of fabricating each of a plurality of different parts in a family of parts with common features.
    [0030] Figure 14 is an illustration of a flowchart of a method of fabricating a laminated structure of composite material.
    [0031] Figure 15 is an illustration of a flowchart of the method used to configure and teach each of the manufacturing modules.
    [0032] Figure 16 is an end view of the tool shown in Figure 5, illustrating the progressive movement of the nose piece during the setup and teaching phase shown in Figure 15.
    [0033] Figure 17 is an illustration of a flowchart of an adaptive control method employed by each of the manufacturing modules
    [0034] Figure 18 is an illustration of a flowchart of aircraft production and service methodology.
    [0035] Figure 19 is an illustration of a block diagram of an aircraft. DETAILED DESCRIPTION OF THE INVENTION
    [0036] Referring first to Figure 1, a system 38 is provided for fabricating any of a plurality of unique parts 54 within a family 56 of parts 54 with common features or characteristics. The unique pieces 54 can be fabricated using corresponding unique tools 48, which can be overlay tools, and a combination 43 of fabrication modules 42 arranged and configured to form a fabricator 40, sometimes also referred to hereinafter as a former 40. As will be discussed in more detail below, the fabrication modules 42 may be identical and interchangeable. The number and arrangement of the manufacturing modules 42 are matched with the particular tool 48 required to manufacture a particular part 54. The manufacturer 40 manufactures the part 54 by placing and forming material 46 in the particular tool 48. In one application, the part 54 may be a laminate of multilayer composite material, and material 46 may be a carbon fiber reinforced plastic (CFRP).
    [0037] Attention now turns to Figure 2, which illustrates an embodiment of the system 38 shown in Figure 1. In this example, a plurality of former modules 42 is arranged in a configuration generally matching the shape of a tool. overlay 48 in which a particular part (not shown in figure 2) is to be formed. In the illustrated example, the former modules 42 are arranged in an arc shape that substantially matches the arc-shaped overlay tool 48, however, a variety of other shapes are possible. The former 40 forms and laminates layers of composite material 46 on the tool 48. The former modules 42 are rigidly connected together by the hinge 44 to form a former 40. The former 40 adapts and aligns with each particular tool 48 needed to produce a particular part 54 (Figure 1). The former modules 42 may be substantially identical to each other and are thus interchangeable with the modules 42a for purposes of repairing, exchanging or reconfiguration of the former 40 to form unique parts within a family of parts with common features or characteristics. Each of the former modules 42 is coupled with a central controller 52 which may comprise a general or special purpose computer, or a PLC (programmable logic controller). The central controller 52 controls and coordinates the automatic operation of the former modules 42.
    [0038] As previously mentioned, the former 40 can be used to form a variety of composite material parts within a family of parts with common features or characteristics. For example, referring to Figures 3 and 4, former 40 can be used to form and laminate a section of composite material frame 58 used in an aircraft fuselage (not shown). Frame 58 section is curved or eqpVqmcfc cq nqpiq fg ugw eqortkogpVq g Vgo wo tckq “T” Q fotocfqt 62 can be used to form any of a range of frame 58 sections with different arc lengths, radii or other common features within of a family of frame sections 58. These features, including contours or spokes, can be continuous or non-continuous along the length of frame section 58 or other parts being formed. The frame section 58 is generally Z-shaped in cross section, and comprises an inner rope flange 62 and an outer rope flange 64 (sometimes also referred to as a shear connection 64). The inner and outer rope flanges 62, 64 respectively are connected by a central web 60. The shear link 64 is connected to the web 60 by a radius of the shear link 68, and the inner rope flange 62 is connected to the web 60 by a radius of the inner rope 70. Although a section of the Z-shaped frame 58 has been illustrated in exemplary embodiment, it should be noted that the described method and apparatus can be employed to fabricate laminated parts of composite material with a variety of others cross-sectional shapes, including, but not limited to, cross-sectional shapes in L, I, and C.
    [0039] Referring now to Figure 5, former 40 forms and laminates composite material prepreg layers 46 into a tool 48. Tool 48 has tool features matching frame section 58. In this example, tool 48 includes an inner rope tool flange 72, an inner rope tool radius 74, a tool core 76, shear bond tool radius 78, and an outer rope tool flange 80. Tool 48 also includes a flange of grip 82 extending around its entire inner chord. Other types of overlay tools 48 may be used in connection with the described method and apparatus to form other types and sizes of laminated composite material parts having cross-sectional shapes other than Z-shaped cross sections. In addition, the illustrated tool 48 may be used to arrange a section of the laminated frame of curved composite material or other part with an L-shaped cross section.
    [0040] Attention is now directed to Figures 6-9, which illustrate an embodiment of former 40. Figure 6 is a functional block diagram showing one of former modules 42, in the process of arranging a single prepreg layer 46 on the tool 48. Layer 46 is supported in a desired position, or indexed, on a layer support 84 discussed in more detail below. The layer support 84 is held along its upper edge in a support track 120 at the end of a support arm 95 forming part of the former module 42. The former module 42 generally comprises a layer support control assembly. 86 mounted to a head section 92 that is supported on a movable base 106. The base 106 may include an onboard controller 110 that is coupled with the central controller 52 (Figure 2) previously discussed. Wheels or casters 112 on base 106 allow former module 42 to be moved along a support surface such as a shop floor (not shown) in any direction to allow former module 42 to be positioned in a desired configuration. with other former modules 42 such that the collective geometry of former modules 42 substantially matches that of tool 48. Base 106 includes a slide assembly on the Z axis 108 which moves the head section 92 and the control assembly of the layer support 86 in the vertical direction, on the geometric axis Z within a machine coordinate system 124.
    [0041] The layer 86 support control assembly controls the attitude and tension on the layer support 84 in order to support and continually reposition the position of layer 46 as it is being formed in tool 48. layer support 86 may include an electrical drive system that moves support arm 95 and thus support support track 120 along both the Y and Z geometric axes. For example, the electrical drive system may comprise a servo motor 88 to drive the support support track 120 along the axis Y, and a pneumatic cylinder 90 to drive the support arm 95 and the support support track 120 along the axis Z. Other drive arrangements are possible .
    [0042] The head section 92 includes a layer-forming element, hereinafter referred to as a nose piece 116, which engages the layer holder 84 and follows the shape of tool 48 to form and compact layer 46 into tool 48 The nose piece 116 is detachably mounted on a track of the nose piece 118 discussed in more detail later. Nose piece 116 continuously extends the entire arc length of tool 48, and effectively forms a spline between forming modules 42. Both nose piece 116 and track 120 can be flexible along their length to conform to the curvature and other features of the tool 48. The nosepiece track 118 is coupled with an electrical drive system which may comprise, for example, and without limitation, a plurality of pneumatic cylinders 102 that move the nosepiece 116 in the Y direction.
    [0043] The movement of the nose piece 116 in the Z direction can be done by moving the head section 92 by the Z axis sliding assembly 108 at the base 106. The head section 92 additionally includes an actuated inner rope grip 122 in the Y direction by pneumatic cylinders 104 or similar engine drives. Inner rope fastener 122 staples the lower edge of layer holder 84 and layer 46 against the flange of inner rope tool 72 (Figure 5) while layer 46 is being formed over other surfaces of tool 48. The head section 92 may include a data locator 98, which may comprise, for example, but is not limited to, a proximity sensor, as well as servo motors 94 and encoders 96. Servo motors 94 and encoders 96 can be used to determine the position of the part. nose 116, and thus the location of surfaces on tool 48, during an adaptive tool learning process discussed below. One or more load cells 100 in the head section 92 can be used to sense the amount of force being applied by the nose piece 116 during both the learning and layering processes.
    [0044] As can be seen from the description presented, the former 40 allows controlled scanning of 2 geometric axes (Y-Z) of the prepreg layers with coordinated movement in 2 geometric axes. However, motion is not limited to 2 geometry axes. For example, the required motion can be achieved using multiple robots (not shown) operating in unison. The adaptive control employed by the former 40 allows the former 42 to adapt to each particular tool 48 used to manufacture any of several parts within a part family, using a generic profile of the parts in the family, and force feedback to learn and follow the specific tool and part geometry. The adaptive control used by former 40 also automatically adapts or adjusts to the shape of the part 54 as the thickness of the part 54 increases with the disposition of each successive layer 46. The use of a combination of position control and motor torque feedback allows constant pressure to be applied by the nose piece 116 on the piece 54 during the forming process.
    [0045] As shown in Figure 7, tool 48 can be supported on a wheeled cart 126 for movement toward a former 40 comprising a plurality of former modules 42 that have been configured to substantially match the geometry of tool 48. former modules 42 are rigidly connected to each other by mechanical hinges 44 (see Figure 8) between bases 106 of adjacent former modules 42. Referring particularly to Figure 9, the layer support control assembly 86 (Figure 6) includes a Z axis slider which allows movement of support arm 95 (see Figures 6-8) along the Z axis, and a slider 130 providing movement of support arm 95 along the Y axis. actuated by pneumatic cylinders 136 function to secure flange 82 (Figure 5) of tool 48 against an index plate 132 which estadgngeg woc "linlic fg águc" eoouo, qw fcfq fg tefetênekc, rctc all former modules 42, automatically aligning all former modules 42 with respect to tool 48. Each of the former modules 42 includes a slight amount of "float" that allows each of the head sections 92 to align with the tool's waterline and then lock into position. As a result of this feature, tool 48 does not have to be located on a precise platform, and the forming process can be carried out on standard shop floors that may be uneven. Although not shown in the drawings, tool 48 and/or layers 46 can be heated during a disposition process in order to soften the resin and facilitate formation. Heating can be done using any suitable technique, including but not limited to infrared radiation using IR heat lamps.
    [0046] Referring to Figure 10, the layer support 84 may be formed of a durable, flexible material that can be stretched into one or more dktg>õgu. rqt gzgornq. cq nqpiq fg uwc nctiwtc "Y" Woc qw ocku layers 46 may be placed at preselected indexed positions on layer support 84 before layer support 84 is loaded into former 40. Layer support 84 may include guides upper and lower support 140, 142 which are used to detachably mount the layer support on the former 40. For example, the upper support guide 140 may include individual guide elements (not shown) at the bottom of the layer support 84 which are received in a notch (not shown) in the support support track 120. Similarly, the lower support guide 142 may comprise a continuous guide strip (not shown) in the bottom of the layer support 84 that is received in a notch (not shown ) extending along the inner rope fastener 122.
    [0047] Figure 11 illustrates further details of an embodiment of the track 118 of the nose piece. In this example, the nose piece track 118 comprises a plurality of spaced apart segments 144 that allow the track 118 to flex in the manner required to allow the nose piece 116 to conform to the features of tool 48. As shown in Figure 12, a Nose piece 116 includes an outer forming tip 146 that has a profile suitable for the particular application and features of tool 48. Nose piece 116 is mounted to nose piece track 118 by a T-shaped guide 148 which is slidably received in a notch 145 in track 118 of the nose piece. The nose piece 116 can be removably installed on the nose piece track 118 by sliding lengthwise through the notch 145. Thus, nose pieces 116 of different sizes and shapes are interchangeable, allowing selection of a nose piece 116 that it is suitable for the application and shape of the tool. Nose piece 116 may be malleable in order to better conform it to the features of tool 48 during the forming process.
    [0048] Figure 13 generally illustrates the steps of a method of fabricating each of the plurality of different parts 54 into a family 56 of parts 54 with common features, where each of the parts 54 is manufactured using a single tool 48. Starting at 154, identical fabrication modules 42 are arranged to match a tool 48 on which part 54 will be fabricated. At 156, each of the fabrication modules 42 is adapted to a local section of the tool 48. At 158, the operation of the fabrication modules 42 is controlled and coordinated to fabricate portions of the part 54 over a corresponding section of the tool 48.
    [0049] Figure 14 generally illustrates the steps of a method of fabricating a laminated structure of composite material 54. Starting at 160, a plurality of forming modules 42 is arranged to match a tool 48 in which the structure 54 is to be formed. At 162, 40 the modules 42 are connected together to form a single former 40 to form the entire laminated structure of composite material 54. At 164, a continuous forming element 116 is mounted on the forming modules 42. The forming element 116 defines a flute extending substantially the entire length of former 40. At 166, forming element 116 is used to form and compact layers of composite material 46 in tool 48.
    [0050] Attention is now directed to figure 15 which illustrates in general the steps that can be taken to configure and teach each of the training modules 42 in preparation for a training process using a particular tool 48. At 168, the trainer 40 is configured by arranging and connecting the former modules 42 together using hinges 44, and initiating the adjustments of each of the modules 42. Then, at 170, the connected former modules 42 are moved to engage and lock the tool 48. The tool holders 114 (Figure 9) secures flange 82 (Figure 5) of tool 48 against the waterline index plate of tool 132. Form modules 42 are aligned to match the curvature of tool 48, and hinge 44 maintains the shape and alignment of former modules 42. At 172, former module 42 learns the position of the inner rope gripper with respect to tool 48, and at 174, the position of the nose piece with respect to tool 48 is ap. rendered. At 176, servo motors 94 (Figure 6) and encoders 96 are used to initially learn the shape of the tool, and then relearn the surface of laminated layers 46 as each of layers 46 is disposed.
    [0051] Attention now turns to figures 16 and 17, which illustrate additional details of the described formation method. Starting at 178 (Figure 17), tool 48 is moved close to former 40 and, at 180, tool 48 is stapled to former 40. At 182, one or more layers 46 are mounted on layer holder 84. At 184 , the layer support 84 with the layer 46 mounted thereon is loaded into the former 40. This loading process is done by inserting the lower support guide 142 into the former at 186 and, in step 188, inserting the upper guide 140 into the rail track top guide 120 on former 40. At 190, the position of the nose piece 116 along the Y axis is determined by driving the nose piece 116 forward along the Y axis into contact with the flange of the inner chord 72 using a predetermined motor torque. An encoder 96 coupled with the servo motor 94 is ready to indicate the position of the nose piece 116. At 192, the nose piece 116 is pressed against the inner rope flange with a predetermined amount of force. At 194, the nosepiece 116 is moved upward along the Z axis at a predetermined speed. Layer 46 is swept and compacted against the inner rope tool surface 72 at step 194.
    [0052] At 196, the transition of the nose piece 116 from the inner rope tool surface 72 to the core tool surface 76 is sensed by monitoring a Y axis 96 encoder for a change. At 198, control of the nosepiece 116 along the Y axis is switched from a torque mode to a position mode, and along the Z axis from a position mode to a torque mode. Nose piece 116 maintains compaction pressure against layer 46 during transition over inner corner 74 from inner chord to core radius. At 200, the nose piece 116 sweeps and compacts the layer against the surface of the web tool 76 on the tool 48. At 202, movement of the nose piece 116 is terminated when the nose piece 116 is within a short distance of the radius of the shear bond 78. At 204, nose piece 116 is used to "find out" the radius shape of shear bond 78. This is done by advancing nose piece 116 along geometric axis Y until a torque limit pre-selected is reached. At step 206, control of the nosepiece 116 is switched to torque mode along the Y axis and along the Z axis. At 208, the nosepiece 116 sweeps and compacts and to apply force against the surface of the shear bond tool 80. During this step, the nose piece 116 applies force along the Y axis in torque mode, while still being driven up along the Z axis in position mode. At step 210, the layer formation process is completed and steps 182208 can be repeated to arrange, form and compact additional layers.
    [0053] Modalities of the description may find use in a variety of potential applications, particularly in the transportation industry, including, for example, aerospace, marine, automotive and other applications that require automatic fabrication of a variety of parts within a family of parts with common features or characteristics. Thus, referring now to Figures 18 and 19, embodiments of the description can be used in the context of a method of manufacturing and servicing an aircraft 212 shown in Figure 18 and an aircraft 214 shown in Figure 19. include, for example, without limitation, fuselage frame sections, spars, longitudinal spars, and other structural elements, to name but a few. During preproduction, exemplary method 212 may include specification and design 216 of aircraft 214 and acquisition of material 218. During production, component and subassembly 220 fabrication and system integration 222 of aircraft 214 occur. pass certification and delivery 224 in order to be placed in service 226. While in service by a customer, aircraft 214 is scheduled for routine maintenance and service 228, which may also include modification, reconfiguration, remanufacturing, and so on.
    [0054] Each of the processes of method 212 can be done or performed by a system integrator, a third party and/or an operator (e.g., a customer). For purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and main system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors and suppliers; and an operator can be an airline, leasing company, military entity, service organization, and so on.
    [0055] As shown in Figure 19, the aircraft 214 produced by exemplary method 212 may include a mainframe 230 with a plurality of systems 232 and an interior 234. Examples of high-level systems 232 include one or more than one propulsion system 236, an electrical system 238, a hydraulic system 240, and an environmental system 242. Any number of other systems can be included. Although an aerospace example is shown, the principles of the description can be applied to other industries, such as marine and automotive industries.
    [0056] Systems and methods conceived herein may be employed during any one or more of the stages of the production and service method 212. For example, components or subassemblies corresponding to the production process 220 may be made or manufactured in a manner similar to the components or subassemblies produced while the aircraft 214 is in service. Also, one or more apparatus modalities, method modalities, or a combination thereof may be utilized during production stages 220 and 222, for example, substantially shipping the assembly or reducing the cost of an aircraft 214. Similarly, one or more of apparatus modalities, method modalities or a combination thereof may be used while the aircraft 242 is in service, for example, and without limitation, for maintenance and service 228.
    权利要求:
    Claims (20)
    [0001]
    1. Apparatus for fabricating each laminated structure (54) from a plurality of different laminated structures in a family (56) of structures (54) with common resources, comprising: a plurality of separate fabrication modules (42) each locally adapted to fabricating a section of laminated structure (54) on a corresponding tool (48), the fabrication modules (42) being reconfigurable to fabricate each of the laminated structures (54) in the family (56) thereof; a controller (52) for controlling and coordinating automated operation of the manufacturing modules (42); characterized in that it further comprises a forming element (116) adapted to form laminated layers (46) through the tool (48), the forming element (116) extending along a length of the manufacturing modules (42) , the forming element (116) being mounted on each of the fabrication modules (42) for movement, through the tool (48), along at least two geometric axes (Y, Z), wherein each of the modules The manufacturing element (42) includes a track (118) on which a portion (148) of the forming element (116) is mounted in place.
    [0002]
    2. Apparatus according to claim 1, characterized in that the forming element (116) is continuous along the length of the manufacturing modules (42).
    [0003]
    3. Apparatus according to claim 1, characterized in that the forming element (116) is detachably mounted on the tracks (118) to allow interchangeability of a plurality of forming elements (116), respectively, with different shapes.
    [0004]
    4. Apparatus according to any one of claims 1 to 3, characterized in that the forming element (116) is adapted to sweep laminated layers (46) through the tool (48), and is malleable.
    [0005]
    5. Apparatus according to any one of claims 1 to 4, characterized in that each of the manufacturing modules (42) includes a fastener (122) adapted to secure a portion of a laminated layer (46) against a portion of the tool (48).
    [0006]
    6. Apparatus according to any one of claims 1 to 5, characterized in that each of the manufacturing modules (42) includes a drive unit (102) coupled with the forming element (116) for sweeping that forming element (116) onto the laminated layers (46), and compact laminated layers (46) onto the tool (48).
    [0007]
    7. Apparatus according to any one of claims 1 to 4, characterized in that it further comprises: a flexible layer support (84) adapted to contain at least one laminated layer (46) thereon, and wherein each of the manufacturing modules (42) includes a pair of spaced tracks (120), adapted to releasably hold the layer support (84), and a layer support control assembly (86) for maintaining the layer support ( 84) under tension as that forming element (116) forms the layer through the tool (48).
    [0008]
    8. Apparatus according to claim 7, characterized in that: the forming element (116) is engageable with the layer support (84) to sweep the layer support (84) together with the layer (46) over the same through the tool (48), and the layer support control assembly (86) includes drives (88, 90) to adjust a position of the layer support (84) along two geometric axes (Y, Z) .
    [0009]
    9. Apparatus according to claim 1, characterized in that each of the manufacturing modules (42) additionally includes: a load cell (100) to sense a level of force applied to the laminated layers (46) by the element of forming (116), and a position sensor (98) for sensing the position of the forming element (116).
    [0010]
    10. Apparatus according to any one of claims 1 to 9, characterized in that each of the manufacturing modules (42) includes a fastener (114) to secure the manufacturing module (42) to the tool (48).
    [0011]
    11. Apparatus according to any one of claims 1 to 10, characterized in that it further comprises: articulation (44) between the manufacturing modules (42) to rigidly couple the manufacturing modules (42) to each other and to align the fabrication modules (42) in relation to the tool (48).
    [0012]
    Method of manufacturing, using the apparatus as defined in claim 1, of each laminated structure (54) of a plurality of different laminated structures in a family (56) of laminated structures (54) with common features, wherein each of the laminated structures (54) is manufactured using a single tool (48), the method comprising the steps of: arranging a plurality of separate, identical manufacturing modules (42) to match a tool (48), on which one of the laminated structures (54) must be manufactured; adapting each of the manufacturing modules (42) to a local section of the tool (48); controlling and coordinating the operation of the fabrication modules (42) to fabricate portions of laminated structures (54) through a corresponding section of that tool (48); and forming a continuous flute along all of the fabrication modules (42) characterized in that each of the fabrication modules (42) includes a track (118) in which a portion (148) of the forming element (116 ) is mounted on site; and sweeping materials (46) across the surfaces (72, 74, 76, 78, 80) of the tool (48) using a forming element (116).
    [0013]
    13. Method according to claim 12, characterized in that arranging a plurality of fabrication modules (42) includes: moving each of the fabrication modules (42) closer to the tool (48), and rigidly connecting the modules of manufacturing (42) with each other.
    [0014]
    14. Method according to any one of claims 12 or 13, characterized in that it further comprises: fastening each of the manufacturing modules (42) to the tool (48).
    [0015]
    15. Method according to any one of claims 12 to 14, characterized in that adapting each of the manufacturing modules (42) includes learning, for each of the manufacturing modules (42), the location of surfaces (72, 74, 76, 78, 80) in the tool (48), on which the part (54) is to be manufactured.
    [0016]
    16. The method of claim 15, further comprising: using the forming element (116) to learn the location of the surfaces (72, 74, 76, 78, 80) on the tool (48).
    [0017]
    17. The method of claim 16, characterized in that learning the location of the surfaces (72, 74, 76, 78, 80) includes: sensing a position of said forming element (116) as the forming (116) sweeps materials (46) across the surfaces (72, 74, 76, 78, 80) of the tool (48), and records the sensed position of said forming element (116).
    [0018]
    18. Method according to any one of claims 12 to 17, characterized in that adapting each of the manufacturing modules (42) includes adjusting the elevation of the manufacturing modules (42) in a common water line (132).
    [0019]
    19. Method according to claim 12, characterized in that forming a continuous flute includes assembling a continuous forming element (116) along the entire length of said manufacturing modules (42).
    [0020]
    20. The method of claim 12, characterized in that: each of the manufacturing modules (42) is a laminated layer forming module (42) for forming a local section of a layer (56), and arranging a The plurality of fabrication modules (42) includes connecting the fabrication modules (42) together to form a simple laminated layer former (40).
    类似技术:
    公开号 | 公开日 | 专利标题
    BR112015016158B1|2021-04-20|apparatus for manufacturing each laminated structure of a plurality of different laminated structures in a family of structures with common resources, and, method of manufacturing each piece of a plurality of different pieces in a family of parts with common resources
    EP2444240B1|2017-03-15|Composite manufacturing method using an assembly of composite modules
    EP2328803B1|2015-08-12|Method of fabricating structures using composite modules and structures made thereby
    US10828846B2|2020-11-10|Method and apparatus for fabricating contoured laminate structures
    US9017510B2|2015-04-28|Method and apparatus for fabricating large scale integrated airfoils
    EP2731752B1|2015-05-27|Rapid fabrication of a composite part
    US8844108B2|2014-09-30|Large area repair of composite aircraft
    EP1755868A2|2007-02-28|Forming a composite structure by filament placement on a tool surface of a tablet
    EP3597414B1|2021-09-01|Apparatuses and methods for fabricating a composite structure and reacting to a placement force
    EP3023234B1|2020-01-08|Fabrication of stiffened composite panels
    US10786955B2|2020-09-29|Apparatuses and methods for fabricating a composite structure and reacting to a placement force
    JP2019084818A|2019-06-06|Systems and methods for in situ manufacturing of minimally tooled stringers
    US11230072B2|2022-01-25|Apparatuses for fabricating a composite structure and reacting to a placement force
    同族专利:
    公开号 | 公开日
    EP3750694A1|2020-12-16|
    BR112015016158A8|2019-10-22|
    BR112015016158A2|2017-07-11|
    CA2897045A1|2014-07-10|
    CN104903080A|2015-09-09|
    JP6357486B2|2018-07-11|
    EP2941342A1|2015-11-11|
    EP2941342B1|2020-09-09|
    WO2014107243A1|2014-07-10|
    US9314974B2|2016-04-19|
    CN104903080B|2018-09-07|
    US10464265B2|2019-11-05|
    JP2016508900A|2016-03-24|
    US20200039154A1|2020-02-06|
    ES2834957T3|2021-06-21|
    US20140190625A1|2014-07-10|
    CA2897045C|2017-08-29|
    US20160214330A1|2016-07-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5352306A|1993-05-27|1994-10-04|Cincinnati Milacron Inc.|Tape laying apparatus and method|
    US6298896B1|2000-03-28|2001-10-09|Northrop Grumman Corporation|Apparatus for constructing a composite structure|
    US7341086B2|2004-10-29|2008-03-11|The Boeing Company|Automated fabric layup system and method|
    ES2338551T3|2004-12-06|2010-05-10|Saab Ab|MANUFACTURING PROCEDURE OF A CURVED ARM OF COMPOSITE MATERIAL.|
    US8632653B2|2005-05-03|2014-01-21|The Boeing Company|Method of manufacturing curved composite structural elements|
    US7943076B1|2005-05-03|2011-05-17|The Boeing Company|Method of manufacturing curved composite structural elements|
    US7362437B2|2006-03-28|2008-04-22|The Boeing Company|Vision inspection system device and method|
    US7993480B2|2007-11-17|2011-08-09|The Boeing Company|Method and apparatus for placing plies on curved substrates|
    CA2711929C|2008-01-31|2013-10-15|Alliant Techsystems Inc.|A stiffener tool positioning apparatus|
    US9090028B2|2008-04-17|2015-07-28|The Boeing Company|Method for producing contoured composite structures and structures produced thereby|
    US9278484B2|2008-04-17|2016-03-08|The Boeing Company|Method and apparatus for producing contoured composite structures and structures produced thereby|
    US8932423B2|2008-04-17|2015-01-13|The Boeing Company|Method for producing contoured composite structures and structures produced thereby|
    US8349105B2|2008-04-17|2013-01-08|The Boeing Company|Curved composite frames and method of making the same|
    FR2942741B1|2009-03-05|2014-05-16|Mediterranee Const Ind|METHOD AND DEVICE FOR THE AUTOMATED MANUFACTURE OF AT LEAST ONE PIECE EXTENDED TO ONE OR MORE LAYERS OF COMPOSITE MATERIALS|
    US8282760B2|2010-06-10|2012-10-09|Haworth, Inc.|Apparatus and process for wrapping and securing edge flaps of flexible cover sheet to panel structure|
    DE102010039955A1|2010-08-30|2012-03-01|Deutsches Zentrum für Luft- und Raumfahrt e.V.|Production plant for the production of fiber composite components|
    US9387657B2|2010-11-12|2016-07-12|The Boeing Company|Method of fabricating a curved composite structure using composite prepreg tape|
    US8551380B2|2010-11-12|2013-10-08|The Boeing Company|Method of laying up prepreg plies on contoured tools using a deformable carrier film|
    JP2012146067A|2011-01-11|2012-08-02|Nippon Software Management Kk|Nucleic acid information processing apparatus and processing method thereof|
    US10828846B2|2013-01-07|2020-11-10|The Boeing Company|Method and apparatus for fabricating contoured laminate structures|
    US9314974B2|2013-01-07|2016-04-19|The Boeing Company|Method and apparatus for fabricating contoured laminate structures|
    US20140338829A1|2013-05-20|2014-11-20|Invisible Gadget Guard, Inc.|Protective Film Installation Apparatus and Method|US10828846B2|2013-01-07|2020-11-10|The Boeing Company|Method and apparatus for fabricating contoured laminate structures|
    US9314974B2|2013-01-07|2016-04-19|The Boeing Company|Method and apparatus for fabricating contoured laminate structures|
    US9505354B2|2013-09-16|2016-11-29|The Boeing Company|Carbon fiber reinforced polymer cargo beam with integrated cargo stanchions and c-splices|
    US9782937B1|2014-05-16|2017-10-10|The Boeing Company|Apparatus for forming contoured composite laminates|
    US10399284B2|2014-05-16|2019-09-03|The Boeing Company|Method and apparatus for forming contoured composite laminates|
    US9889610B2|2014-07-29|2018-02-13|The Boeing Company|Automated ply forming and compaction using flexible roller contact|
    US9636876B2|2014-10-29|2017-05-02|The Boeing Company|Method, device and apparatus for vacuum forming composite laminates|
    GB2533567A|2014-12-19|2016-06-29|Airbus Operations Ltd|Method of forming laminar composite charge|
    US10086596B2|2015-03-12|2018-10-02|The Boeing Company|Apparatus and method for automated layup of composite structures|
    US10800111B2|2015-06-16|2020-10-13|The Boeing Company|Composite structure fabrication systems and methods|
    US20180327071A1|2017-05-10|2018-11-15|The Boeing Company|Systems and methods for aircraft integrated composite frames|
    GB2566433A|2017-07-13|2019-03-20|Spirit Aerosystems Europe Ltd|Composite lay-up apparatus and method|
    US10688711B2|2017-07-14|2020-06-23|The Boeing Company|Heat blanket assembly for forming a composite charge|
    US10703055B2|2017-07-14|2020-07-07|The Boeing Company|Clamping system for holding a composite charge during forming over a forming mandrel|
    US10843449B2|2017-12-14|2020-11-24|The Boeing Company|Method and apparatus for forming composite plies on contoured tool surfaces|
    US11014314B2|2018-06-28|2021-05-25|The Boeing Company|End effector for forming prepreg plies on highly contoured surfaces|
    US10994502B2|2018-11-01|2021-05-04|The Boeing Company|Lamination system and method using a plurality of static lamination heads|
    US10960615B2|2018-11-13|2021-03-30|The Boeing Company|System and method for laminating a composite laminate along a continuous loop lamination path|
    JP2020090110A|2018-12-03|2020-06-11|川崎重工業株式会社|Component for aircraft made of composite material, and method of manufacturing the same|
    WO2020252158A1|2019-06-14|2020-12-17|Fives Machining Systems, Inc.|Modular fiber placement head|
    US11148373B2|2019-07-01|2021-10-19|The Boeing Company|System and method for laying up a composite laminate having integrally laminated filler elements|
    US11260640B2|2020-02-06|2022-03-01|Fives Machining Systems, Inc.|Tape lamination machine scrap collection assembly|
    US11141937B2|2020-02-06|2021-10-12|Fives Machining Systems, Inc.|Tape lamination head with tape tension control system|
    WO2021255880A1|2020-06-17|2021-12-23|三菱重工業株式会社|Jig and composite material processing method|
    法律状态:
    2018-03-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2018-03-20| B06I| Publication of requirement cancelled [chapter 6.9 patent gazette]|Free format text: ANULADA A PUBLICACAO CODIGO 6.6.1 NA RPI NO 2462 DE 13/03/2018 POR TER SIDO INDEVIDA. |
    2019-12-24| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-30| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-04-20| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 21/11/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201361749881P| true| 2013-01-07|2013-01-07|
    US61/749,881|2013-01-07|
    US13/901,813|2013-05-24|
    US13/901,813|US9314974B2|2013-01-07|2013-05-24|Method and apparatus for fabricating contoured laminate structures|
    PCT/US2013/071124|WO2014107243A1|2013-01-07|2013-11-21|Method and apparatus for fabricating contoured laminate structures|
    [返回顶部]