Material placement method and apparatus
View Patent ↗A material placement head for dispensing and compacting a plurality of strips of a material onto a surface with a plurality of independently movable roller assemblies. Each roller assembly of the placement head comprises a compacting roller and may be rotatably and linearly moved in six-degrees of freedom independent of the other roller assemblies of the placement head. The roller assemblies may be arranged in a staggered configuration and substantially simultaneously apply the plurality of strips of the material to the surface, such that the strips of the material are applied to adjacent paths on the surface. Each compacting roller may be malleable and substantially crowned around its outer circumferential surface to provide even compaction to the strips of the material.
1. A placement head for applying a plurality of lengths of a material to a surface, said placement head comprising:
a base;
a first roller assembly supported by the base and including a first roller for applying a first length of the material along a first path of the surface;
a second roller assembly supported by the base and including a second roller for applying a second length of the material along a second path of the surface;
a third roller assembly supported by the base and including a third roller for applying a third length of the material along a third path of the surface;
a first actuator for moving the first roller assembly relative to the base and independently of the second roller assembly and the third roller assembly;
a second actuator for moving the second roller assembly relative to the base and independently of the first roller assembly and the third roller assembly; and
a third actuator for moving the third roller assembly relative to the base and independently of the first roller assembly and the second roller assembly,
wherein the first actuator moves the first roller assembly in six-degrees of freedom independently of the second and third roller assemblies,
wherein the second actuator moves the second roller assembly in six-degrees of freedom independently of the first and third roller assemblies,
wherein the third actuator moves the third roller assembly in six-degrees of freedom independently of the first and second roller assemblies,
wherein each roller assembly comprises:
a first roller with an outer circumferential surface;
a first guide element having a first end and a second end, the first guide element being movable between a first position and a second position;
a second guide element presenting a first guide surface that generally follows a first portion of the outer circumferential surface of the first roller; and
a third guide element presenting a second guide surface that generally follows a second portion of the outer circumferential surface of the first roller;
wherein the first end of the first guide element is proximate the second guide element when the first guide element is in the first position, and is proximate the third guide element when the first guide element is in the second position.
2. The placement head as set forth in claim 1 , wherein the first roller assembly, the second roller assembly, and the third roller assembly apply the plurality of lengths of the material substantially simultaneously.
3. The placement head as set forth in claim 1 , wherein the first roller is made of a substantially malleable material and the outer circumferential surface of the first roller is substantially crowned between a first edge and a second edge, such that a portion of the outer circumferential surface farthest from a rotational axis of the first roller is approximately half-way between the first edge and the second edge.
4. A material placement system for applying a material to a surface, the system comprising:
a frame;
a material placement head supported by the frame, the head including—
a base,
a plurality of roller assemblies supported by the base, each roller assembly operable to apply a portion of the material to a portion of the surface, and
a roller assembly actuator for moving at least one of the roller assemblies relative to the base and independently of the other roller assemblies;
a head actuator for moving the head relative to the frame; and
a control system for controlling the roller assembly actuator,
wherein at least one of the roller assemblies comprise:
a first roller with an outer circumferential surface;
a first guide element having a first end and a second end, the first guide element being movable between a first position and a second position;
a second guide element presenting a first guide surface that generally follows a first portion of the outer circumferential surface of the first roller; and
a third guide element presenting a second guide surface that generally follows a second portion of the outer circumferential surface of the first roller;
wherein the first end of the first guide element is proximate the second guide element when the first guide element is in the first position, and is proximate the third guide element when the first guide element is in the second position.
5. A material placement system set forth in claim 4 , wherein the outer circumferential surface of the first roller is substantially crowned between a first edge and a second edge, such that a portion of the outer circumferential surface farthest from a rotational axis of the first roller is approximately half-way between the first edge and the second edge, and the first roller is made of a substantially malleable material.
6. A material placement system set forth in claim 4 , wherein each roller assembly further comprises:
a second roller;
a third roller biased against the second roller; and
a first actuator for rotating at least one of the second roller and third roller.
7. A material placement system set forth in claim 4 , wherein the first guide element is pivotable about a pivot to the first position and to the second position.