WO2012175151A1 - Effecteur terminal et procédé pour la manipulation d'une portion prédécoupée de fibres - Google Patents

Effecteur terminal et procédé pour la manipulation d'une portion prédécoupée de fibres Download PDF

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Publication number
WO2012175151A1
WO2012175151A1 PCT/EP2012/001348 EP2012001348W WO2012175151A1 WO 2012175151 A1 WO2012175151 A1 WO 2012175151A1 EP 2012001348 W EP2012001348 W EP 2012001348W WO 2012175151 A1 WO2012175151 A1 WO 2012175151A1
Authority
WO
WIPO (PCT)
Prior art keywords
arrangement
binder material
end effector
pressing
gripping
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/EP2012/001348
Other languages
German (de)
English (en)
Inventor
Raphael Reinhold
Carsten STEINHÄUSER
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.)
Broetje Automation GmbH
Original Assignee
Broetje Automation GmbH
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 Broetje Automation GmbH filed Critical Broetje Automation GmbH
Publication of WO2012175151A1 publication Critical patent/WO2012175151A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
    • B29B11/00—Making preforms
    • B29B11/14—Making preforms characterised by structure or composition
    • B29B11/16—Making preforms characterised by structure or composition comprising fillers or reinforcement
    • 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
    • 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
    • B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
    • B29C70/543—Fixing the position or configuration of fibrous reinforcements before or during moulding

Definitions

  • the invention relates to an end effector, for the handling of fiber blanks and their fixation by means of a binder material according to claim 1 and a method for the handling of a fiber blank and its fixation by means of a binder material according to claim 11.
  • the end effector in question is a manipulator-guided tool, that is to say a tool which, as intended, is arranged on a manipulator, in particular flanged there.
  • the manipulator may be any kind of musculoskeletal system. Regularly, the manipulator is a robot.
  • the handling and fixing of fiber blanks plays an important role in the production of fiber composite components.
  • Such fiber composite components for example, increasingly used in the aircraft industry to provide structural components such as fuselage shells with low weight and good mechanical properties can (DE 10 2007 003 275 AI).
  • the manufacturing processes used in the manufacture of fiber composite components in many cases comprise the process step of introducing a matrix resin into a preform. This is the case, for example, in the known resin injection method (Resin Transfer Molding, RTM). In the resin injection process, a matrix resin is injected into a closed forming tool in which an above-mentioned fiber preform is located.
  • the fiber preform regularly consists of several layers of fiber blanks, which are fixed by means of a binder material in the sense of stitching together. Care must be taken in the production of the fiber preforms that an exact positioning of the fiber blanks relative to one another is maintained and that a sufficiently secure fixation of the fiber blanks with one another is realized. The fixation must not adversely affect the later introduction of the matrix resin into the fiber preform.
  • CONFIRMATION COPY In a known apparatus for producing a fiber preform (DE 103 53 070 B4) find fiber blanks of carbon fibers application containing a binder material. To melt the first binder material present in a solid state, an electrical voltage is applied to the respective fiber blank. Thus, the fiber blanks can be heated in areas, so that the binder material is liquefied accordingly.
  • the disadvantage here is the fact that the device is complicated and the method is less efficient, since the fiber blanks are generally wetted over the entire surface with binder material.
  • Another known device for the production of fiber preforms (DE 102 37 694) is based on the principle of arranging a whole-area binder material film between two fiber blanks to be fixed to one another and heating this arrangement for melting the binder material. This device is complex and also in the above sense is not very efficient, as far as the use of binder material is concerned.
  • the invention is based on the problem to provide a structurally simple device with which a fiber preform with regard to an efficient use of binder material can be produced.
  • an end effector for a manipulator for a manipulator according to claim 1.
  • the fundamental consideration is first of all that both the handling of fiber blanks and their fixation by means of a binder material can be provided by one and the same end effector, which, as explained above, is assigned to a manipulator of some kind.
  • the end effector is equipped with a gripping arrangement, by which a holding engagement with a fiber blank can be produced and, in each case separately from the gripping arrangement, equipped with an applicator arrangement for applying binder material to a substrate and an activation arrangement for the activation of the applied binder material.
  • Activation may be attributed to the addition of chemical additives, to mechanical action, to heat treatment or the like, in which case the activation may be achieved by melting the binder material previously present in the solid state
  • the activation of the binder material is equivalent to the curing of a binder material previously in the liquid state.
  • the handling of the fiber blanks on the one hand and the fixation of the fiber blanks by means of a binder material can be accomplished each with high operational safety, which essentially goes back to the separate realization of the gripping arrangement on the one hand and the applicator arrangement and the activation arrangement on the other hand.
  • the binder material can be applied spatially targeted with a suitable design, which increases the above-mentioned efficiency in terms of the consumption of binder material.
  • binder material can be applied to predetermined adhesive areas by means of the applicator arrangement. On a full-surface application of binder material can be dispensed with. In a particularly preferred embodiment, the application of binder material is even substantially pointwise, so that largely any application pattern can be applied to a substrate, as far as the end effector by means of a manipulator accordingly becomes.
  • a pressing arrangement is provided separately from the gripping arrangement. This takes into account the fact that a compacting of two fiber blanks to be fixed before or during the activation of the binder material has proven itself.
  • the activation arrangement is equipped with a heating arrangement for the activation of the binder material, which is assigned to a variant of the pressing arrangement. is net.
  • the last-mentioned embodiment presents itself with regard to a compact design as being particularly advantageous.
  • the essential feature of the proposed method is first of all the fact that a proposed end effector is used. With suitable positioning of the end effector by the manipulator binder agent is applied to a substrate in a first step by means of Applizieran Aunt, which is advantageously already a fiber blank. In a second step, an optionally further fiber blank is placed on the substrate by means of the gripping arrangement of the end effector, wherein the applied binder material is finally cured in a third step by means of the activation arrangement.
  • the sequence of steps from steps 1 to 3 is repeated several times in order to produce a fiber preform from at least two layers of fiber blanks.
  • the proposed method opens up hitherto unknown flexibility in the automated production of fiber preforms. This applies in particular to large-area components, as they occur, for example, in the field of the aircraft industry.
  • FIG. 1 a shows a proposed end effector, which is flanged to a manipulator and b) the end effector according to a) in a perspective view obliquely from above, the end effector of FIG. 1 a) in located in the operating position Andrückan angel and b) in the parking position rather pressing arrangement, each in a perspective view obliquely from below,
  • Fig. 3 shows the proposed end effector according to FIG. 1 in a partially disassembled state in a perspective view obliquely from above and
  • Fig. 4 shows the end effector according to Fig. 1 a) when applying binder material, b) when gripping a fiber blank and c) when fixing the gripped fiber blank.
  • the proposed end effector is a manipulator-guided tool, which is arranged as intended on a manipulator 1.
  • the manipulator 1 can, as explained above, be traction devices of any kind.
  • the manipulator 1 is a robot, as shown in Fig. La.
  • the proposed end effector is primarily used in the production of multi-layered, bonded fiber fiber formulations 2.
  • a fiber preform 2 is shown in FIG. 4c.
  • the fiber preform 2 consists of at least two layers of fiber blanks 3, which are fixed to each other.
  • the fiber blanks 3 may be fiber blanks made of glass fiber, carbon fiber, aramid fiber or the like, for example.
  • the proposed end effector is used to handle a fiber blank 3 above and fix it on a base 4. In principle, several fiber blanks 3 can be handled simultaneously with the end effector, which can then be fixed together on a base 4. It is also conceivable that the fiber blank 3 itself is multi-layered.
  • the support 4 is usually a further fiber blank 3.
  • the support 4 is the lower die of a forming tool. This usually only concerns the fixation of the lowermost layer of the preform 2 on the corresponding lower die of the forming tool.
  • the fixing takes place by means of a binder material 5, which is preferably an epoxy binder material which is applied in the liquid state of aggregation.
  • binder material 5 is also applicable here.
  • Essential for the proposed end effector is the fact that the end effector, in particular for the production of fiber preforms 2 combines several functions in itself. These functions are the gripping of the fiber blanks 3, the application of binder material 5 and the activation of binder material 5.
  • the end effector is first equipped with a gripping arrangement 6, by means of which a holding engagement with the respective fiber blank 3 can be produced. It is preferably provided that the gripping assembly 6 is also suitable for gripping a multi-layer fiber preform 2, so that can be done with the end effector numerous handling tasks.
  • an applicator arrangement 7 for the application of binder material 6 on the respective base 4 is provided.
  • the application of the binder material 5 by spray application is preferred here. Other variants are conceivable.
  • a Aktiverungsan angel 8 is also provided for activating the applied binder material 5.
  • Various variants are conceivable for the activation. In the present case, the thermal activation of the applied binder material 5 is in the foreground.
  • the gripping assembly 6 at least one gripping element 6a-d, here a total of four gripping elements 6a-d on.
  • the at least one gripping element 6a-d may, for example, be a forceps gripper, a needle gripper, a freeze gripper or the like.
  • the gripping arrangement 6 is designed as a pneumatic gripping arrangement, wherein the gripping elements 6a-d are designed accordingly as pneumatic gripping elements, in particular as suction gripping elements.
  • the Applizieran Aunt 7 is preferably equipped with at least one applicator 7a, which serves the preferably substantially selective application of binder material 5 at predetermined adhesive areas 9.
  • the applicator 7a is connected to a central station, not shown, in which an initially powdered binder material 5 is melted. Via a heated hose 10, the melted binder material 5 reaches the applicator 7a having an application nozzle.
  • the substantially punctual application of binder material 5 on the base 4, here on the fiber blank 3, can be seen in the illustration according to FIG. 4a.
  • the activation arrangement 8 is equipped with a heating arrangement 11, which serves to activate the binder material 5. Accordingly, when activated, the binder material 5, which is at least partially solidified after application, is melted again in order to form a connection with the fiber blank 2 to be fixed or the fiber blanks 3 to be joined.
  • An interesting feature of the illustrated end effector is also the fact that separate from the gripper assembly 6 in addition to the heating assembly 11 in addition a Andschreiban angel 12 is provided by means of a held by the gripper assembly 6 fiber blank 3 to the pad 4, here and preferably to another fiber blank. 3 , is pressable.
  • the process of pressing is shown in Fig. 4c. The pressing is associated with a compacting of the building fiber preform 2, which leads to a particularly high positional accuracy of the individual fiber blanks 3 within the fiber preform 2.
  • the pressing arrangement 12 makes the pressing here only on predetermined areas of the base 4.
  • the pressing areas are precisely the adhesive areas 9 mentioned above, to which binder material 5 has previously been applied.
  • the illustration according to FIG. 2 shows particularly clearly that the pressing arrangement 12 has a number of pressing dies 13, in this case a total of nine pressing dies 13.
  • Such Andschreibstempel 13 can be structurally simple implement.
  • a particularly compact overall arrangement results from the fact that by means of the heating arrangement 11, the pressing arrangement 12, in this case the pressing dies 13 of the pressing arrangement 12, can or can be heated to activate the binder material 5.
  • the heating assembly 11 is in the Andschreiban angel 12, here in the Andschreibstempel 13, integrated.
  • FIG. 2 a shows that the pressing arrangement 12 is fundamentally disturbing for the gripping of a fiber blank 3.
  • the pressing arrangement 12 can be adjusted by means of a pressing actuator 14 along the pressing direction 15 between an operating position (FIG. 2 a) and a parking position (FIG. 2 b).
  • a suitable design it can be achieved that gripping of a fiber blank 3 by means of the gripping arrangement 6 is possible when the pressing arrangement 12 is in the parking position, without the pressing arrangement 12 coming into engagement with the fiber blank 3, wherein the pressing arrangement 12 is in the operating position comes into engagement with the gripped fiber blank 3 and the fiber blank 3 is thereby pressed against a pad 4.
  • the pressing arrangement 12 in this case the pressing dies 13, is or are designed resiliently against the pressing direction 15.
  • each pressure piston 13 is associated with a spring element 16 in the manner of a helical spring.
  • the structural design of the illustrated in the drawing, proposed end effector turns constructively simple and overall very compact This is essentially because the gripping arrangement 6 on a first carrier plate and the activation arrangement 8, here together with the pressing arrangement 12, are arranged on a second carrier plate 18.
  • the first support plate 17 is arranged parallel to the second support plate 18, wherein in a particularly preferred embodiment, the second support plate 18 by means of the pressing actuator 14 relative to the first support plate 17 between a parking position (Fig. 4b) and an operating position (Fig. 4c). is adjustable.
  • the first carrier plate 17 is equipped with a mechanical interface 20 for the manipulator 1 via a frame 19, via which the end effector can be flanged to the manipulator 1. Relative to the manipulator 1, the first, the gripping assembly 6 receiving support plate 17 is thus arranged rigidly.
  • the second, the activation assembly 8 associated carrier plate 18 is configured correspondingly adjustable relative to the manipulator 1.
  • the pressing-actuator 14, two linear actuators 14a, 14b which are here and preferably operated pneumatically. Due to the fact that the heating arrangement 11 can only be adjusted back and forth between two end positions, two simple pneumatic cylinders with corresponding linear guidance are sufficient here.
  • a method for handling a fiber blank 3 and its fixation by means of a binder material 5 is claimed by a proposed end effector. It is proposed that in each case with suitable positioning of the end effector in a first step by means of Applizieran Aunt 7 binder 5 on a pad 4, here on a fiber blank 3, applied (Fig. 4a) that in a second step by means of the gripping assembly. 6 a here and preferably further fiber blank 3 is placed on the base 4 (transition from FIG. 4b to FIG. 4c) and that in a third step the applied binder material 5 is activated by means of the activation arrangement 8 (FIG. 4c).
  • the proposed method can be used in the context of the production of the above-mentioned multilayer fiber preforms 2.
  • the above sequence of steps from steps 1 to 3 is repeated at least twice, preferably several times, wherein the base 4 is the last one in each case laid fiber blank 3 is.
  • the production of a two-ply, bonded fiber preform 2 results accordingly from the sequence of steps shown in FIG. 4.
  • binder material 5 is applied by means of applicator arrangement 7 only to the above-mentioned predetermined adhesive regions 9. This can be done easily with the proposed end effector, as explained above.
  • the required amount of binder material 5 can be kept particularly low if the binder material 5 as explained above is only applied substantially punctiform. With a suitable design of the binder material 5, an immediate curing of the binder material 5 after pressing is possible.
  • the pressing arrangement 12 by means of the pressing arrangement 12, the pressing only on predetermined areas of the pad 4, here and preferably only on the adhesive areas 9, made. This ensures that a mechanical stress on the fiber blanks 3 is limited to a minimum.
  • the Applizieran Aunt 7 and the activation assembly 8 are each configured separately from the gripping assembly 6, it can be ensured that the function of gripping the fiber blanks 3 can be made largely unaffected by the functions of Applizierens and activating.
  • the gripper elements 6a-d are arranged offset in a projection in the pressing direction 15 to the Andschreibstempeln 13. As a result, for example, a bonding of the gripping assembly 6 by binder material 5 can be safely excluded.
  • the fiber preform 2 produced as explained above is reactivated after prolonged storage. This is only for a corresponding positioning of the fiber preform 2 with appropriate control of the manipulator 1 is required.
  • a manipulator 1, which is equipped with a proposed end effector should also be claimable as such. In that regard, reference may be made to all the above explanations.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Textile Engineering (AREA)
  • Nonwoven Fabrics (AREA)
  • Moulding By Coating Moulds (AREA)

Abstract

L'invention concerne un procédé et un effecteur terminal pour la manipulation d'une portion prédécoupée de fibres (3), et sa fixation sur un substrat (4), en particulier sur une autre portion prédécoupée de fibres (3), au moyen d'un matériau liant (5). A cet effet, il est prévu un dispositif de préhension (6), au moyen duquel une prise maintenue avec ladite portion prédécoupée de fibres (3) peut être obtenue, étant également prévus, séparément du dispositif de préhension (6), un dispositif d'application (7) pour l'application du matériau liant (5) sur le substrat (4), et un dispositif d'activation (8) pour l'activation du matériau liant appliqué (5).
PCT/EP2012/001348 2011-06-21 2012-03-28 Effecteur terminal et procédé pour la manipulation d'une portion prédécoupée de fibres Ceased WO2012175151A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011114015A DE102011114015A1 (de) 2011-06-21 2011-06-21 Endeffektor
DE102011114015.1 2011-06-21

Publications (1)

Publication Number Publication Date
WO2012175151A1 true WO2012175151A1 (fr) 2012-12-27

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PCT/EP2012/001348 Ceased WO2012175151A1 (fr) 2011-06-21 2012-03-28 Effecteur terminal et procédé pour la manipulation d'une portion prédécoupée de fibres

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DE (1) DE102011114015A1 (fr)
WO (1) WO2012175151A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11584117B2 (en) 2018-01-31 2023-02-21 Airborne Intemational B.V. Manufacturing layered products

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DE102013019146A1 (de) * 2013-11-15 2015-05-21 Audi Ag Verfahren zur Herstellung eines aus mehreren Lagen bestehenden Fasergeleges, sowie Greifvorrichtung zur Durchführung des Verfahrens
DE202014101000U1 (de) 2014-03-06 2015-06-12 Kuka Systems Gmbh Fügewerkzeug und Fügeeinrichtung
DE102014213475A1 (de) * 2014-07-10 2016-01-14 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Zusammenfügen von zwei oder mehr Einzellagen aus Faserstrukturen zu einem Stapel
DE102014110464B4 (de) 2014-07-24 2021-11-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Greifvorrichtung
DE102014216305B4 (de) * 2014-08-18 2025-10-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Herstellung von Faserhalbzeugen, Faserhalbzeug und Verwendung desselben
DE102016202362A1 (de) * 2016-02-16 2017-08-17 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oder Stückgütern
DE102016213161A1 (de) * 2016-07-19 2018-01-25 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Aufbringen eines Faser-Matrix-Bandes auf ein metallisches Strukturbauteil eines Fahrzeugs
NL2020363B1 (en) * 2018-01-31 2019-08-07 Airborne Int B V An end effector, system and methods for handling stacked sheets
AT521222B1 (de) * 2018-05-07 2020-04-15 Engel Austria Gmbh Vorrichtung zum Handhaben und lokalen Fixieren
FR3122598B1 (fr) * 2021-05-10 2023-10-13 Safran Nacelles Automate pour application d’un patch sur une surface chauffée

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US5487853A (en) * 1990-07-12 1996-01-30 The C. A. Lawton Company Energetic stitching for complex preforms
DE10035237C1 (de) * 2000-07-20 2001-09-06 Daimler Chrysler Ag Verfahren und Produktionsanlage zum Herstellen von schalenförmigen, fasermatten-verstärkten Kunststoffteilen
DE10237694A1 (de) 2002-08-15 2004-03-04 Sai Automotive Sal Gmbh Verfahren sowie Vorrichtung zum Herstellen von Formteilen
DE10353070B4 (de) 2003-11-13 2005-09-15 Airbus Deutschland Gmbh Verfahren und Vorrichtung zur Binderaktivierung auf einem Faserhalbzeug/Preform durch direktes Erwärmen von Kohlenstofffasern über eine angelegte elektrische Spannung
DE202007000899U1 (de) * 2007-01-16 2008-05-29 Kuka Systems Gmbh Einrichtung zum Handhaben von flexiblen mattenartigen Materialstücken
DE102007003275A1 (de) 2007-01-23 2008-07-24 Airbus Deutschland Gmbh Schalenelement als Teil eines Flugzeugrumpfes

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5487853A (en) * 1990-07-12 1996-01-30 The C. A. Lawton Company Energetic stitching for complex preforms
DE10035237C1 (de) * 2000-07-20 2001-09-06 Daimler Chrysler Ag Verfahren und Produktionsanlage zum Herstellen von schalenförmigen, fasermatten-verstärkten Kunststoffteilen
DE10237694A1 (de) 2002-08-15 2004-03-04 Sai Automotive Sal Gmbh Verfahren sowie Vorrichtung zum Herstellen von Formteilen
DE10353070B4 (de) 2003-11-13 2005-09-15 Airbus Deutschland Gmbh Verfahren und Vorrichtung zur Binderaktivierung auf einem Faserhalbzeug/Preform durch direktes Erwärmen von Kohlenstofffasern über eine angelegte elektrische Spannung
DE202007000899U1 (de) * 2007-01-16 2008-05-29 Kuka Systems Gmbh Einrichtung zum Handhaben von flexiblen mattenartigen Materialstücken
DE102007003275A1 (de) 2007-01-23 2008-07-24 Airbus Deutschland Gmbh Schalenelement als Teil eines Flugzeugrumpfes

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11584117B2 (en) 2018-01-31 2023-02-21 Airborne Intemational B.V. Manufacturing layered products

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