Automatic dismoulding system

Abstract

An automatic dismoulding system for moulding modules (7) located in a curing tool (12), comprising:

Description

BRIEF DESCRIPTION OF THE FIGURES

Described below are the figures and images attached:

FIG. 1 shows the structure of horizontal and vertical stiffeners of a covering for a horizontal stabiliser of an aircraft,

FIG. 2 shows a dismoulding module,

FIG. 3 shows a diagram of the automatic dismoulding system,

FIG. 4 shows the geometry of a suction pad,

FIG. 5 shows a rubber separator,

FIG. 6 shows a view in vertical cross-section of the modules bin,

FIG. 7 shows a view in vertical cross-section of the rubber separators bin,

FIG. 8A shows an upper plan view of the robot, and

FIG. 8B shows a lateral elevation view of the robot.

Claims

1. An automatic dismoulding system for moulding modules located in a curing tool in which an aeronautical piece has been cured, comprising: a programmable robot comprising at least one articulated arm with one end free, first actuation means for conferring a horizontal rotary movement to the articulated arm, second actuation means for conferring a vertical tilting movement to the articulated arm, and a head located in the free end of the articulated arm with at least one vacuum suction pad able, when it is given a vacuum, to adhere itself to a surface of at least one object to be displaced selected from between said modules and some rubber separators;a voiding system for generating a vacuum at least when said suction pad is positioned on the surface of the object to be displaced;

2. Automatic dismoulding system according to claim 1, wherein it additionally comprises: at least one storage bin for modules,at least one storage bin for rubber separators.

3. Automatic dismoulding system according to claim 1, wherein the initial position of the moulds is the curing tool and the final position of the moulds is a storage bin for modules.

4. Automatic dismoulding system according to claim 1, wherein the initial position of the rubber separators is the storage bin for rubber separators and the final position of the rubber separators is a storage bin for modules.

5. Automatic dismoulding system according to claim 1, wherein the controlling means cause the head to position a level of rubber separators between each level of stacking of the modules in the modules bin.

6. Automatic dismoulding system according to claim 1, wherein the referencing means are selected from among referencing stops, guides, marks painted on the floor and other similar.

7. Automatic dismoulding system according to claim 6, wherein the curing tool, the modules bins, the rubber separators bin and the robot are arranged in fixed positions defined by the referencing means.

8. Automatic dismoulding system according to claim 1, wherein the controlling means comprise first sensor means which emit a full signal when they detect that the modules bin is full, and first processor means for halting which transmit a halt signal to the actuation means when said first sensor means emit a full signal.

9. Automatic dismoulding system according to claim 8, wherein the first processor means for halting interrupt the halt signal to the actuation means when said first sensor means cease to emit a full signal.

10. Automatic dismoulding system according to claim 1, wherein the controlling means comprise second sensor means which emit an empty signal when they detect that the rubber separators bin is empty, and second processor means for halting which transmit a halt signal to the actuation means when said second sensor means emit an empty signal.

11. Automatic dismoulding system according to claim 10, wherein the second processor means for halting interrupt the halt signal to the actuation means when said second sensor means cease to emit an empty signal.

12. Automatic dismoulding system according to claim 1, wherein the robot is a robot of the spherical type with articulated arm having six axes.