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公开(公告)号：US4707585A
公开(公告)日：1987-11-17
申请号：US840167
申请日：1986-03-17
CPC分类号： B23K26/0884 , B23K26/12 , B23K26/128 , B25J19/0037 , G02B7/24
摘要： A laser beam pathway is established through hollow robotic wrist elements, including plural elements rotatable around first and second wrist axes transverse to one another and intersecting at a junction point. The junction point lies within a mirror chamber formed within a base housing of the robot elements, and a mirror is mounted within the mirror chamber to assist in directing the laser beam. The beam passes collinearly with the first and second wrist axes and first and second ducts are provided with a rotary joint included in the second duct, to isolate the beam pathway from internal wrist drive elements.
摘要翻译： 通过中空机械手腕元件建立激光束路径，其包括可围绕第一和第二腕轴旋转的多个元件，并且在连接点处相交。 连接点位于形成在机器人元件的基座壳体内的反射镜室中，并且反射镜安装在镜室内以协助引导激光束。 光束与第一和第二腕轴共线地通过，并且第一和第二导管设置有包括在第二管道中的旋转接头，以将光束通路与内部腕部驱动元件隔离。
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2.发明授权Swiveling and tilting roller axis for web guiding in a fiber placement machine 有权旋转和倾斜辊轴用于纤维铺放机中的卷筒纸导向公开(公告)号：US07516944B2
公开(公告)日：2009-04-14
申请号：US11405784
申请日：2006-04-18
IPC分类号： B66D1/00
CPC分类号： B29C53/8016 , B29C53/8041
摘要： A fiber placement machine includes a movable wrist with a fiber placement head at one end of the wrist. A roller system for delivering fibers to the fiber placement head includes a J-axis roller located spaced from the ends of the wrist, a K-axis roller at the end of the wrist that supports the head, and an A-axis roller at the opposite end of the wrist. The axis of the K-axis rollers swivel depending on the rotation of the head, and the A-axis rollers swivel as a function of the swiveling of the K-axis rollers. As the A-axis rollers swivel, at least one end of the A-axis roller is displaced toward the J-axis roller to maintain a constant path length for the fiber tows between the A-axis roller and the J-axis roller.
摘要翻译： 纤维铺放机包括在手腕的一端具有纤维放置头的活动腕。 用于将纤维递送到纤维放置头的辊系统包括与手腕的端部间隔开的J轴辊，在支撑头部的手腕的端部处的K轴辊以及在该位置处的A轴辊 手腕的另一端。 K轴滚子的轴线根据头部的旋转而旋转，A轴滚轮根据K轴滚轮的旋转而旋转。 当A轴滚子旋转时，A轴滚轮的至少一端朝向J轴滚轮移动，以保持A轴滚轮和J轴滚筒之间的纤维束的恒定路径长度。
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公开(公告)号：US4695701A
公开(公告)日：1987-09-22
申请号：US840361
申请日：1986-03-17
CPC分类号： B23K26/0884 , B23K26/02 , B23K26/035 , B25J17/0291 , B25J19/0029 , B25J19/0037 , G02B7/24
摘要： Plural rotatable elements are contained in a wrist assembly wherein at least two of the axes intersect at a junction point, and a continuous laser beam pathway is established through the wrist elements, the beam pathway extending colinearly with the first and second wrist axes, and a mirror is provided with a reflecting surface intercepting the junction point of the wrist axes to assist in directing the internally ducted laser beam.
摘要翻译： 多个可旋转元件包含在手腕组件中，其中至少两个轴在连接点处相交，并且通过腕部元件建立连续的激光束路径，该束通路与第一和第二腕轴共线延伸，并且 反射镜设置有反射表面，该反射表面拦截腕轴的连接点以辅助引导内部管道激光束。
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4.发明授权Robotic based fiber placement cell with stationary dispensing head and creel 有权机器人纤维放置单元，具有固定分配头和架轴架公开(公告)号：US08758538B2
公开(公告)日：2014-06-24
申请号：US12778462
申请日：2010-05-12
IPC分类号： B29C70/38
CPC分类号： B29C70/38
摘要： A system for applying composite fiber to a lay-up tool has a fixed creel for supplying fiber to the fiber placement dispensing head and a fixed arm having a first end attached to the creel and having a second end attached to the dispensing head. The dispensing head is fixed on the end of the arm. A robot having a first and second pivot axis and at least a first wrist supports the lay-up tool. The robot manipulates the tool for application of fiber from the head to the tool. Manipulating the tool instead of the dispensing head allows the path length for the fiber between the creel and head to be fixed in length and orientation during application of fiber to the tool.
摘要翻译： 将复合纤维施加到铺设工具的系统具有用于将纤维供应到纤维布置分配头的固定的纱架架，以及具有附接到筒子架的第一端并且具有附接到分配头的第二端的固定臂。 分配头固定在臂的端部。 具有第一和第二枢转轴线以及至少第一腕部的机器人支撑着铺设工具。 机器人操作工具以将光纤从头部应用到工具。 操作工具而不是分配头使得在将纤维应用于工具期间，将纱架和头部之间的纤维的路径长度固定在长度和方位上。
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公开(公告)号：US07353853B2
公开(公告)日：2008-04-08
申请号：US11120722
申请日：2005-05-03
申请人： Robert E. Borgmann , Don O. Evans
发明人： Robert E. Borgmann , Don O. Evans
IPC分类号： B32B37/00
CPC分类号： B29C70/32 , B29C70/384 , Y10T156/1348 , Y10T156/1788
摘要： A fiber placement machine has a creel that supplies a fiber band to a presser member that applies the fiber band to a tool or form. The presser member is part of a head that is attached to the creel of the machine by a wrist that provides movement about yaw, pitch and roll axes with respect to the creel. The fiber band is supplied by a fiber band delivery system that is associated with the wrist and that is characterized by a capability to twist the fiber band in two stages about the yaw axis or the roll axis.
摘要翻译： 纤维铺放机具有将纤维带供应到将纤维带施加到工具或形式的压紧构件的纱架。 压脚构件是通过腕部附接到机器的纱架上的头部的一部分，其提供相对于筒子架的偏转，俯仰和滚动轴线的运动。 纤维带由与手腕相关联的纤维带传送系统提供，其特征在于能够以偏转轴或辊轴为中心的两个阶段扭转纤维带。
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6.发明申请公开(公告)号：US20120241093A1
公开(公告)日：2012-09-27
申请号：US13426116
申请日：2012-03-21
申请人： Robert E. Borgmann
发明人： Robert E. Borgmann
CPC分类号： B29C70/384 , Y10T156/1348 , Y10T156/1788
摘要： A fiber placement machine has a fiber placement head and a K-axis housing that is supplied with fiber tow from a creel. The fiber placement head is mounted on the front of the K-axis housing. The fiber placement head has a compaction roller and a cut, clamp, and restart mechanism positioned adjacent to the compaction roller that receives fiber tow from the K-axis housing. A separable coupling connects the fiber placement head to the K-axis housing, whereby the fiber placement head may be disconnected from the K-axis housing for docking purposes.
摘要翻译： 光纤贴片机具有光纤放置头和K轴外壳，从架轴架提供纤维束。 光纤放置头安装在K轴外壳的前面。 光纤放置头具有压实辊和切割，夹紧和重新启动机构，其邻近压实辊定位，该压实辊从K轴壳体接纳纤维束。 可分离的联接器将光纤放置头连接到K轴壳体，由此光纤放置头可以与K轴壳体断开以进行对接目的。
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7.发明申请ROBOTIC BASED FIBER PLACEMENT CELL WITH STATIONARY DISPENSING HEAD AND CREEL 有权具有静态分配头和起重机的机器人纤维放置单元公开(公告)号：US20110277935A1
公开(公告)日：2011-11-17
申请号：US12778462
申请日：2010-05-12
CPC分类号： B29C70/38
摘要： A system for applying composite fiber to a lay-up tool has a fixed creel for supplying fiber to the fiber placement dispensing head and a fixed arm having a first end attached to the creel and having a second end attached to the dispensing head. The dispensing head is fixed on the end of the arm. A robot having a first and second pivot axis and at least a first wrist supports the lay-up tool. The robot manipulates the tool for application of fiber from the head to the tool. Manipulating the tool instead of the dispensing head allows the path length for the fiber between the creel and head to be fixed in length and orientation during application of fiber to the tool.
摘要翻译： 将复合纤维施加到铺设工具的系统具有用于将纤维供应到纤维布置分配头的固定的纱架架，以及具有附接到筒子架的第一端并且具有附接到分配头的第二端的固定臂。 分配头固定在臂的端部。 具有第一和第二枢转轴线以及至少第一腕部的机器人支撑着铺设工具。 机器人操作工具以将光纤从头部应用到工具。 操作工具而不是分配头使得在将纤维应用于工具期间，将纱架和头部之间的纤维的路径长度固定在长度和方位上。
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8.发明授权Method and apparatus for applying uniform layers of adhesive to contoured surfaces of a substrate 失效将均匀的粘合剂层施加到基材的轮廓表面的方法和装置
公开(公告)号：US6001178A
公开(公告)日：1999-12-14
申请号：US854930
申请日：1997-05-13
申请人： Robert E. Borgmann
发明人： Robert E. Borgmann
CPC分类号： B05C5/0241 , Y10S118/10
摘要： Apparatus for applying uniform layers of adhesive to contoured surfaces of a substrate comprises, in one embodiment, a die head mounted to an adhesive dispenser and having contoured first and second die faces offset relative to each other. One of the die faces is operable to contact the contoured surface of the substrate, and a contoured slot outlet in fluid communication with the adhesive dispenser is disposed between the die faces for applying adhesive material to the contoured surface of the substrate. In another embodiment of the invention for simultaneously applying adhesive to multiple non-coplanar surfaces of a substrate, the die head comprises multiple non-coplanar die faces, each having first and second die face portions offset relative to each other. One of the die face portions of each multiple die face is operable to contact a respective non-coplanar surface of the substrate. A slot outlet communicates with each of the multiple die faces for applying adhesive material to each of the multiple surfaces of the substrate. In yet another embodiment of the invention for applying adhesive material to flexible members of a substrate, a die head comprises first and second die face portions offset relative to each other and contoured to provide a uniform layer of adhesive to the flexible member of the substrate. Methods of applying uniform layers of adhesive to contoured surfaces of a substrate are also disclosed.
摘要翻译： 在一个实施例中，用于将均匀的粘合剂层施加到轮廓表面的装置包括安装到粘合剂分配器的模头，并且具有相对于彼此偏移的成型的第一和第二模具面。 模具面之一可操作以接触基材的轮廓表面，并且与粘合剂分配器流体连通的成型槽出口设置在模具表面之间，用于将粘合剂材料施加到基材的轮廓表面。 在本发明的另一个实施例中，为了同时将粘合剂施加到基底的多个非共面表面上，模头包括多个非共面的模面，每个模面具有相对于彼此偏移的第一和第二模面部分。 每个多模面的模面部分之一可操作以接触基板的相应的非共面表面。 插槽出口与多个模具表面中的每一个连通，用于将粘合剂材料施加到基板的多个表面中的每一个。 在用于将粘合剂材料施加到基底的柔性构件的本发明的另一个实施例中，模头包括相对于彼此偏移的第一和第二模具面部分，并且成形为向基底的柔性构件提供均匀的粘合剂层。 还公开了将均匀的粘合层施加到基底的轮廓表面的方法。
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公开(公告)号：US08919409B2
公开(公告)日：2014-12-30
申请号：US13426116
申请日：2012-03-21
申请人： Robert E. Borgmann
发明人： Robert E. Borgmann
IPC分类号： B29C70/38
CPC分类号： B29C70/384 , Y10T156/1348 , Y10T156/1788
摘要： A fiber placement machine has a fiber placement head and a K-axis housing that is supplied with fiber tow from a creel. The fiber placement head is mounted on the front of the K-axis housing. The fiber placement head has a compaction roller and a cut, clamp, and restart mechanism positioned adjacent to the compaction roller that receives fiber tow from the K-axis housing. A separable coupling connects the fiber placement head to the K-axis housing, whereby the fiber placement head may be disconnected from the K-axis housing for docking purposes.
摘要翻译： 光纤贴片机具有光纤放置头和K轴外壳，从架轴架提供纤维束。 光纤放置头安装在K轴外壳的前面。 光纤放置头具有压实辊和切割，夹紧和重新启动机构，其邻近压实辊定位，该压实辊从K轴壳体接纳纤维束。 可分离的联接器将光纤放置头连接到K轴壳体，由此光纤放置头可以与K轴壳体断开以进行对接目的。
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公开(公告)号：US4698482A
公开(公告)日：1987-10-06
申请号：US840637
申请日：1986-03-17
CPC分类号： B23K26/0884 , B25J17/0283 , B25J19/0037 , B25J9/046 , G02B7/24
摘要： An articulatable robot has a forearm and robotic wrist, the wrist having plural members mounted on plural axes of rotation. A laser generator is connected through a light pipe system to the robot forearm, distal to the robotic wrist, and a continuous laser beam pathway is established through the forearm and robotic wrist, the beam pathway extending colinearly with the plural rotation axes of the wrist members.
摘要翻译： 可铰接机器人具有前臂和机器手腕，手腕具有安装在多个旋转轴线上的多个构件。 激光发生器通过光管系统连接到机器人前臂，远离机器手腕，并且通过前臂和机器手腕建立连续的激光束路径，束通道与腕部构件的多个旋转轴线共线延伸 。
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