• 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:
    Handling device for inserts with a musculoskeletal system (2) and a transfer head (3) movable by means of the musculoskeletal system (2), which is designed to receive and deposit at least one insert, wherein a lighting device (4) illuminates the at least one inserted insert (5) is provided, which is adapted to illuminate the at least one received insert (5) from a the transfer head (3) facing side of the at least one recorded insert (5) ago.
    公开号:AT518548A4
    申请号:T50866/2016
    申请日:2016-09-28
    公开日:2017-11-15
    发明作者:Martin Knott Msc；Mayer Bernhard；Paul Zwicklhuber Msc
    申请人:Engel Austria Gmbh；
    IPC主号:
    专利说明:

    The present invention relates to a handling device for inserts according to the features of the preamble of claim 1 and a method for handling inserts.
    Looking at the trends in the design of composite components, it can be seen that fiber reinforcements are used locally where they are needed. The local use of reinforcements makes efficient and cost-effective lightweight construction possible.
    To name a method which produces such specifically tailored to the component semi-finished products, for example, the tape-laying should be mentioned. With this method, semi-finished products are produced which consist of reinforcing elements which are deposited on each other. The reinforcing elements may have different lengths, widths, thicknesses and orientations and may be made of reinforced plastic, for example.
    The reinforcement is preferably carried out by endless fibers, more preferably by unidirectional fibers, fiber fabric or fiber fabric. For the purposes of this document, these are commonly referred to as fiber reinforcement elements.
    In the various tape-laying methods, there are various approaches to how such reinforcing elements are applied to each other.
    On the one hand, there are methods in which reinforcing elements are unrolled from a roll or spool and deposited directly (described inter alia in EP2736699 A4 and EP 2969492 A1). Due to the exact positioning of the rolling device, a location-accurate storage of the reinforcing element takes place. By rotation of the storage surface and / or the storage device, the orientation of the reinforcing element can be influenced. The assembly of the reinforcing element to the required length takes place immediately before, during or after depositing. Depending on the method, one or more strips of a reinforcing element can be stored in parallel and cut to length individually.
    Such processes have the advantage of large possible application rates. The disadvantage is that it is not possible to react to variations in the width of the reinforcing element in the process and thus gaps or overlaps between the deposited reinforcing elements can result. In addition, by processing material directly from the roll, constraints are imposed on the geometries of the depositable reinforcement elements. The individual reinforcing elements are separated at right angles to the unwinding direction of the roller, thus only rectangular reinforcing elements can be placed. On outer edges that do not run in 0 ° or 90 ° direction may result in jagged edges. If these are not tolerable, a downstream edge trimming is necessary.
    On the other hand, methods are known and described, for example, in AT514721 B1, in which dimensionally accurate endkontorhe reinforcement elements are prepared in an upstream process step. This process variant results in a very large freedom of design for the reinforcing elements. Furthermore, no subsequent edge trimming of the semifinished product is necessary. A particular challenge of this method is to place the prefabricated reinforcing elements with exact position. The prefabricated reinforcing elements are removed by a handling device from one or more bearings, transported, deposited on a storage table or a previously deposited reinforcing element and fixed there by a device for fixing the reinforcing element. In order to achieve high accuracy when depositing, a measuring device, preferably an optical measuring device, can be used to detect the relative position of the reinforcing element to the pickup head.
    The object of the invention is to provide a handling device and a method for handling inserts, which allows positioning of the inserts with higher accuracy than in the prior art.
    This object is achieved by a handling device having the features of claim 1 and a method of handling inserts with the features of claim 17.
    This is done procedurally by the inserts are illuminated by a the transfer head facing side of the insert ago. In terms of apparatus, a corresponding lighting device is provided for this purpose.
    In order to perform the optical measurement in a short time with sufficiently good results, sufficient illumination of the areas to be measured must be ensured.
    The illumination of the inserts according to the invention from the perspective of the measuring device "from behind" is intrinsically counterintuitive, since an illumination from the front would basically be easier to implement (the light sources could then be positioned in proximity to the measuring device and separate from the transfer head) and the standard in imaging techniques such as photography.
    However, the lighting according to the invention has decisive advantages. Many fiber-reinforced thermoplastic materials, as used in inserts, in particular reinforcing elements, usually have shiny or reflective surfaces. Reflections on the inserts, especially in a shiny but also in matte surfaces of the inserts, get in the invention not at all or with greatly reduced intensity to the meter. This increases the contrast between the inserts and the background, thereby increasing the accuracy of measuring the position of the inserts.
    The contrast increased according to the invention can manifest itself in the case of a preferably used measuring device in the form of a camera in an increased gray value difference on the edges or parts of the edges of the inserts and on contours or parts of the contours of optional reference features in the area of the pixels to be measured.
    Furthermore, by the lighting according to the invention, problems caused by shadows at the edges of the inserts, which causes measurement inaccuracies, can be avoided.
    For economic reasons, it may be desirable for the handling device to execute a movement over the measuring device and for there to be no stopping of the movement for the measurement. For this purpose, a measured value acquisition in a very short time is necessary in order not to falsify the measurement result by motion blur. The invention also improves this aspect, since the illumination intensity can be increased (so that the exposure time can be reduced), at the same time the accuracy does not suffer or only insignificantly.
    Another advantage of the illumination according to the invention from the rear is that a test of the inserts is possible. In addition to an examination of, for example, the fiber orientation and spacing of fibers is the detection of defects such as holes, cracks, gaps, thin spots, thick points and
    Thickness variations possible.
    The invention can be used with inserts of any kind and in particular with reinforcing elements, wherein the reinforcing elements can be fiber reinforcement elements.
    It is not necessary for the purposes of the invention that the inserts are illuminated directly from the lighting device. As is known to those skilled in the art, optics including, for example, lenses, mirrors, prisms, etc., may be employed in any form to produce a desired beam path.
    The lighting device can emit electromagnetic waves in the visible and / or in the non-visible range. The term "light" is used interchangeably with "electromagnetic waves" and is not limited to wavelengths in the human-visible range. For the invention, both light in the visible range and in the non-visible range can be used.
    The lighting device may be active (i.e., a light source) or passive (i.e., a mirror, for example).
    Further advantageous embodiments of the invention are defined in the dependent claims.
    The invention comprises a transfer head for the positionally accurate depositing of inserts, which may preferably have a planar design. As a result, in particular, mostly planar but otherwise present in different geometries inserts can be illuminated.
    The lighting device may be part of the transfer head in a simple embodiment and / or be attached to the transfer head. Alternatively, it is possible to move the lighting device with a movement apparatus separate from the musculoskeletal system at least over parts of the travel path of the transfer head or to provide the illumination device immovably with respect to the measuring device, wherein the transfer head is moved through the illuminated area or the measuring area.
    One possibility of the design of the lighting device is a linear light source which is mounted on the transfer head so that it runs behind the insert and its edge follows.
    A particularly homogeneous illumination of the inserts (and in particular their edges) can be achieved by providing an electromagnetic wave scattering plate emitted by the illumination device, the illumination device being arranged to directly or indirectly illuminate the scattering plate. This can allow optimum measurement by the optical measuring system, which can already be made possible by one or more sensibly arranged point, line or area light sources.
    Because if there are very bright and very dark areas along the edge, this can lead to errors in the measured value acquisition. In very bright areas overexposure occurs, so that the measuring system perceives the geometry of the insert too small. In very dark areas, the image is underexposed, here the measuring system either took the geometry of the insert too large, or no measurement result can be detected because there is no sufficient contrast (eg gray value difference) at the edge of the insert.
    Another advantage of an embodiment with a diffusing plate is that situations are avoided in which, depending on the position of the insert on the pick-up head, the light source is just just covered on one side of the insert and just on the other side of the insert just uncovered. This would result in significant exposure differences.
    The diffusing plate may preferably be a sheet of transparent plastic provided with a diffusing surface, for example by the application of a diffused film. Particularly preferred may be a plate made of a transparent, enforce with scattering plastic or glass. Alternatively, a light-conducting prism plate for the light scattering is conceivable. Alternatively, a plate made of an opaque material, preferably an opaque plastic as a scattering plate conceivable. Of course, combinations of the above options are conceivable.
    A particularly good combination of good dispersion (and therefore good homogeneity) and simple construction can be achieved by the scattering plate for the electromagnetic waves emitted by the lighting device is at least partially transparent and the lighting device is arranged so that the emitted electromagnetic waves in the Insert the plate and sprinkle it inside the plate.
    In this case, the lighting device may be arranged so that it (ie from behind) and / or laterally shines the scattering plate from a side facing away from the recorded insert side of the scattering plate. Very particular preference may be an embodiment, wherein the electromagnetic waves are coupled from behind into the scattering plate. Shadow, especially by
    Reference features in the region of the edge of the insert can be avoided.
    The illumination of the reference features from the rear also has the advantage that they can be illuminated with a light source from all sides. For an accurate recognition of the reference features by the optical measuring system, an all-round illumination of the reference features may be advantageous.
    Alternatively, for the lighting, a construction of a plurality of mirrors arranged parallel to one another may be used. For example, a construction is possible in which the light is introduced from the side between two mirrors. The mirror on the back of the construction only has a reflective function. The second mirror is then made partially permeable.
    Another example variant comprises a lighting of the construction from the rear. Flier the rear mirror is designed so that it is at least partially transparent from one side and reflective from the other side. The demanding mirror is semitransparent. Laterally, the construction is completed by additional mirrors.
    A variation of this variant may include three mirrors. The variant comprises a further mirror, which is arranged behind the light sources. This mirror has a purely reflective function. The middle mirror is designed in this case as a partially transparent mirror.
    The lighting device may include one or more of the following: fluorescent lamp, incandescent lamp, halogen lamp, laser, gas discharge lamp, electroluminescent film, luminous organic semiconductive materials (especially foil), light-emitting diodes. The latter can in particular be arranged in a field in order to produce a flat light source.
    As a lighting device, such emitters offer to emit electromagnetic waves in a wavelength range between 0.2 pm and 1000 pm, which does not necessarily cover the entire spectrum.
    In particular, a directional light source, for example a laser, is conceivable which is widened by a suitable device and, for example, coupled laterally into a scattering plate. For the widening of the laser, it is preferable to use an optic composed of a plurality of optical lenses. By reflecting elements, preferably mirrors or prisms, the light beam can be directed through the diffuse plate. In order to illuminate several different geometries of inserts there is the possibility to position several independent systems of light source and reflection elements in different planes in a light-scattering plate. Alternatively, a planar illuminant, such as an electroluminescent film or a luminous film of organic semiconductive material is conceivable.
    It is possible to operate the lighting device cycle-dependent (i.e., depending on the molding cycle). For example, the lighting device can only be activated if the measuring device takes measurements or recordings. Of course, other cycle-dependent lighting periods are possible, for example in lighting devices having a variable intensity at power up.
    The musculoskeletal system may be formed with one or more linear axes and / or one or more axes of rotation.
    Already mentioned was the possibility to provide at least a reference feature on the transfer head, by means of which a relative position between the transfer head and the recorded insert can be determined. By detecting the relative position between transfer head and insert part, the regulation or control of the musculoskeletal system can be carried out particularly easily, since extensive calculations with the absolute position of the insert can be avoided.
    The reference features may advantageously be located outside the edges of the insert so as to be captured by the meter together with the insert.
    The reference features may preferably be designed so that a defined point on the reference feature, preferably the midpoint of the reference feature, can be determined by an image processing software. Preferably, the reference features may be circular. Preferably, the reference features may be implemented so that the image processing system detects a large gray value difference in the catenas of the reference feature. This can preferably be achieved by a, preferably homogeneous, illumination. The illumination of the reference features may preferably be from two directions, ideally from all sides.
    One possible embodiment of the reference feature is a circular ring which is illuminated from the inside. Preferably, the reference features are in the same geometric plane as the insert. It is possible that the edge or corners of the transfer head are used as reference features. Other geometrical features or functional elements can be used as reference features in addition to the edge and the corners.
    The pickup head may have an illumination sensor to detect variations in ambient light intensity. By controlling the intensity of the pickup head illumination and / or the parameters of the measuring device, the measured value acquisition can be operated with constant precision regardless of daytime, nighttime and weather conditions.
    At the transfer head, at least one holding device for holding the inserts can be provided on the transfer head, which can be performed in particular pneumatically and / or electrostatically and / or mechanically. In pneumatic holding devices, a suction effect is usually exerted on the inserts by means of a negative pressure (also referred to as vacuum in linguistic usage).
    It can also be provided in particular that at least two
    Holding devices are provided which are independently controllable.
    As a result, two or more inserts can be transported simultaneously and stored in predetermined relation to each other.
    At the transfer head, a clamping device - in particular in the form of a pneumatic and / or hydraulic piston-cylinder unit - be provided for clamping an insert to be deposited on a surface. In particular, it may be important that the depositing is done with particular exact position, which can be achieved by a clamping device.
    Incidentally, inserts do not have to be deposited on strictly horizontal surfaces. Slight inclinations are possible. With a corresponding clamping device any inclinations are possible. This can be supported by a fixation of the inserts on the base - a designated storage area or another insert.
    Inserts - in particular reinforcing elements - can be very thin and only a few tenths of a millimeter thick. In addition, inserts for a component can be different in size and have different edge geometries. For a positionally accurate storage of the inserts, it may be important that the insert can not move when depositing. For this purpose, a sufficient clamping of the insert on the shelf before the insert is fixed is advantageous. The storage surface may also be a previously deposited insert. Preferably, the insert to be deposited is clamped when placing between transfer head and storage surface. It is therefore important that the transfer head is designed on its underside so that a corresponding clamping is possible. Preferably, the clamping force is adjustable.
    Furthermore, one or more fixing devices may be provided for fixing the insert on a previously stored insert or another pad. The fixing can be punctiform, linear or planar, preferably by gluing or welding. For example, ultrasonic sonotrodes, heating stamps, infrared radiators or lasers or a combination of these can be used for welding.
    Elements such as the at least one holding device, the clamping device and the device for fixing the inserts are referred to as functional elements.
    In an embodiment with a scattering plate openings for functional elements, in particular the at least one holding device and / or the clamping device may be provided. This makes it particularly easy to achieve a planar design of the transfer head, while all the desired functionality can be integrated in the transfer head.
    The introduction of the light from behind has the advantage that the apertures in the plate can not cause any irregularities in the homogeneity of the lighting of the plate to the shadow.
    For example, in tape-laying method but also in other methods in which differently designed inserts are arranged in relation to each other, two (or more) separate lighting devices may be provided which illuminate different lighting areas. The lighting areas can be matched to the various inserts. It can be advantageous in this case that, with smaller inserts, the meter does not present areas illuminated over a large area, which could have a poor effect on the contrast ratio.
    Protection is also sought for an arrangement of a handling device according to the invention, a measuring device - in particular a camera - for detecting electromagnetic waves, which are emitted by the illumination device, and preferably a shaping machine.
    Under shaping machines are injection molding machines for the Um- or injection molding of the inserts (or structures that were formed from several inserts), transfer molding, consolidation presses to consolidate the
    Inserts (or structures, which were formed from several inserts), presses and the like are understood.
    It can also be a shelf (eg. In the form of a table) may be provided, on which the inserts are arranged. The already mentioned methods for fixing the inserts can of course be used.
    Protection is further desired for a molding process employing a method of flanging the inserts in accordance with the present invention.
    Further advantages and details emerge from the figures and the associated description of the figures. Showing:
    1 shows an arrangement according to the invention,
    2a and 2b, a first embodiment of a transfer head,
    3a and 3b, a second embodiment of a transfer head and
    4a and 4b, a third embodiment of a transfer head.
    1 shows an inventive Flandhabungsgerät 1 together with a measuring device 12. The Flandhabungsgerät 1 takes an insert 5 - preferably a reinforcing element - from one of the bearing 13. The transfer head 3 used for this purpose has an illumination device 4 according to the invention and is moved by means of a musculoskeletal system. For possibilities for the design of the transfer head 3, reference is made to FIGS. 2a, 2b, 3a, 3b, 4a and 4b. By way of example, the handling device 1 is shown as articulated-arm robot.
    The - preferably optical - measuring device 12 may preferably consist of a camera and a connected or integrated system for image evaluation. The camera captures an image of the insert 5 received by the transfer head 3, wherein the captured image contains the insert part 5 wholly or partially and preferably at least one reference feature 7 located on the transfer head 3. By the image processing system, the position of the insert 5 in
    Relation to at least one reference feature 7 determined. Taking into account these data, the storage position of the insert 5 can be corrected and a correspondingly positionally accurate storage of the insert 5 can be achieved. The measuring device 12 detects a gray value difference between the picture elements to be measured and the background.
    The storage takes place on a dedicated table 14. This has a so-called vacuum plate 15. By suction, the vacuum plate 15 sucks stored inserts 5 to prevent their slipping. By placing a plurality of inserts 5 on each other or in relation to each other creates a structure which can serve, for example, to gain in a molding process. It is possible to fix the inserts 5, which form the structure, to one another (for example by gluing or welding). For example, by means of a further handling device, the structure can be transported to a shaping machine such as an injection molding machine, a consolidation press or the like.
    As an alternative or in addition to the vacuum plate 15, one or more of the following may be provided: rubber layer, stops or indentations (positive locking), mechanical clamping (force-locking), electrostatic plate, freeze-fixing.
    FIGS. 2 a and 2 b illustrate a first embodiment of a transfer head 3. FIG. 2 a shows a representation from below, with the insertion part 5 received. FIG. 2 b shows a schematic sectional representation.
    In this embodiment, the transfer head 3 has a scattering plate 6. In this electromagnetic waves are laterally coupled by the lighting device 4, which scatter in the interior of the scattering plate 6 and thereby produce a diffuse illumination of the insert 5 from the transfer head 3 ago.
    For holding the insert 5 holding devices 8 are provided, which are carried out pneumatically in this case. That is, by generating a negative pressure creates a suction effect, by which the insert 5 is held on the transfer head 3.
    Furthermore, reference features 7 are provided. These appear in this embodiment, as viewed from the meter 12 as a circular black dots.
    For depositing the insert 5, the insert 5 is first positioned by the transfer head 3 moving musculoskeletal system 2 on a pad (ie, for example, the vacuum plate 15 or a previously deposited insert 5). By means of a clamping device 9, the insert 5 is then clamped to the pad and the holding devices 8 are released. The clamping device 9 is designed in the present embodiment as a hydraulic or pneumatic piston-cylinder unit. Then, the clamping device 9 can be solved. Under certain circumstances, a fixing of the insert 5 on the ground before loosening the clamping device 9.
    The various functional elements of the transfer head 3, such as the holding devices 8 and the clamping device 9 are respectively arranged at openings 11 in the scattering plate 6.
    FIGS. 3 a and 3 b show a further embodiment of a transfer head 3 (FIGS. 2 a and 2 b analogously to FIGS. 2 a and 2 b). This embodiment differs from that of Figures 2a and 2b by the arrangement of the lighting device 4. This is namely arranged in this case behind the scattering plate 6, whereby the electromagnetic waves are coupled from the insertion part 5 facing away from the side of the scattering plate 6. This has the advantage that no shadow throws within the scattering plate 6 are generated by the openings 11. In addition, the scattering in the plate 6 does not have to be done inside. For example, a film on one or more of the surfaces of the plate 6 can produce a diffuse, scattered illumination here.
    FIGS. 4a and 4b show a further embodiment of a transfer head 3. In this case, lasers whose light is coupled into a scattering plate 6 serve as illumination devices 4. The coupled light scatters in the plate 6 and there is a linear diffuse illumination. The lasers and mirrors 16 are arranged so that the beam path follows the contours of the inserts 5. Due to the scattering in the plate 6 (and the resulting diffuse illumination), the disadvantage of linear illumination (potentially high fluctuations in the meter 12 due to masking / non-masking of the edge) can be avoided.
    By arranging the lasers and mirrors 16 on two different planes, outlines for two differently shaped inserts 5 can be illuminated. In the present example, these are once a rectangular outline, which fills the plate 6 to a large extent (laser top right in Figure 4b), and secondly a rectangular outline with half the size (laser centered bottom in Figure 4b). Of course it is also possible to use geometries other than rectangles and to use more than two outlines or planes.
    权利要求:
    Claims (20)
    [1]
    claims
    1. Handling device for inserts with a musculoskeletal system (2) and a means of the musculoskeletal system (2) movable transfer head (3), which is designed for receiving and depositing at least one insert, characterized in that a lighting device (4) for illuminating the at least one Received part (5) is provided, which is adapted to herzu illuminate the at least one recorded insert (5) from one of the transfer head (3) facing side of the at least one inserted insert (5).
    [2]
    2. Handling device according to claim 1, characterized in that the lighting device (4) is part of the transfer head (3) and / or is attached to the transfer head (3).
    [3]
    3. Handling device according to claim 1 or 2, characterized in that a separately from the locomotor system (2) further movement apparatus is provided, which is adapted to move along the lighting device (4) with the transfer head (3).
    [4]
    4. Handling device according to one of claims 1 to 3, characterized in that one of the illumination device (4) emitted electromagnetic waves scattering plate (6) is provided, wherein the lighting device (4) is arranged so that it is the scattering plate (6 ) directly or indirectly.
    [5]
    5. Handling device according to claim 4, characterized in that the scattering plate (6) for the of the illumination device (4) emitted electromagnetic waves is at least partially transparent and the lighting device (4) is arranged so that the emitted electromagnetic waves in the plate (6) and spread inside the plate (6).
    [6]
    6. Handling device according to claim 4 or 5, characterized in that the lighting device (4) is arranged so that it is the scattering plate (6) of a receiving part (5) facing away from the side of the scattering plate (6) forth and / or laterally shone.
    [7]
    7. Handling device according to one of claims 1 to 6, characterized in that the lighting device (4) includes one or more of the following: fluorescent lamp, incandescent lamp, halogen lamp, laser, gas discharge lamp, electroluminescent film, luminous organic semiconducting materials, light-emitting diodes.
    [8]
    8. Handling device according to one of claims 1 to 7, characterized in that the movement apparatus (2) is formed with one or more linear axes and / or one or more axes of rotation.
    [9]
    9. Handling device according to one of claims 1 to 8, characterized in that the transfer head (3) at least one reference feature is provided, by means of which a relative position between the transfer head (3) and the at least one recorded insert (5) can be determined.
    [10]
    10. Handling device according to one of claims 1 to 9, characterized in that at the transfer head (3) at least one holding device (8) for holding the inserts (5) on the transfer head (3) is provided, which in particular pneumatically and / or electrostatically and / or mechanically executed.
    [11]
    11. Handling device according to claim 10, characterized in that at least two holding devices (8) are provided, which are independently controllable.
    [12]
    12. Handling device according to one of claims 1 to 11, characterized in that the transfer head (3) a clamping device (9) - in particular in the form of a pneumatic and / or hydraulic piston-cylinder unit - for clamping a depositing insert (5) a surface is provided.
    [13]
    13. Handling device according to one of claims 1 to 12, characterized in that the transfer head at least one fixing device is provided, which is adapted to at least one recorded insert (5) on a base on which the at least one recorded insert (5). is filed, to fix.
    [14]
    14. Handling device according to claim 4 and one of claims 10 to 13, characterized in that the scattering plate (6) has openings for the at least one holding device (8) and / or the clamping device (9) and / or the fixing device.
    [15]
    15. Handling device according to one of claims 1 to 14, characterized in that at least two separate lighting devices (4) are provided, which illuminate different illumination areas.
    [16]
    16. Arrangement of a handling device according to one of claims 1 to 15, a measuring device (12) - in particular a camera - for detecting electromagnetic waves which are emitted by the illumination device (4).
    [17]
    17. A method for handling inserts, in particular for operating a handling device (1) according to claims 1 to 16, wherein - at least one insert (5) by means of a takeover head (3), which is moved by a musculoskeletal system (2), received and is stored, - the at least one insert part (5) from one of the transfer head (3) facing side of the insert (5) is illuminated.
    [18]
    18. The method according to claim 17, characterized in that by a measurement - in particular by a camera recording - a relative position between the transfer head (3) and the at least one recorded insert (5) is determined, which relative position in the control or regulation of the depositing of absorbed insert (5) is taken into account.
    [19]
    19. The method according to claim 17 or 18, characterized in that as inserts reinforcing elements - in particular fiber reinforcing elements - are used.
    [20]
    20. Packaging process, wherein a method according to any one of claims 17 to 19 is performed.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20140028831A1|2011-05-31|2014-01-30|Michel Robert José Cayment|Method for checking the play between strips deposited by a drape-forming head, and sub-assembly of a drape-forming head with an onboard checking device|
    EP2749869A1|2012-12-26|2014-07-02|Israel Aerospace Industries Ltd.|System and method for inspecting structures formed of composite materials during the fabrication thereof|
    US9162434B2|2011-07-28|2015-10-20|Dieffenbacher GmbH Maschinen-und Anlagenbau|System and method for making advanced composite laminates|
    DE112014000004A5|2013-03-12|2014-12-31|Dieffenbacher GmbH Maschinen- und Anlagenbau|Processes and systems for the production of advanced composite components|
    AT514721B1|2013-08-30|2015-06-15|Engel Austria Gmbh|Shaping plant for producing a fiber-plastic composite|DE102018008739A1|2018-11-07|2020-05-07|Senvion Gmbh|Method and system for producing a fiber composite component of a wind turbine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50866/2016A|AT518548B1|2016-09-28|2016-09-28|handling device|ATA50866/2016A| AT518548B1|2016-09-28|2016-09-28|handling device|
    DE102017122586.2A| DE102017122586A1|2016-09-28|2017-09-28|handling device|
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