Pick and place end effector configured to form a kink
A pick and place end effector configured to form a kink in a composite laminate. The pick and place end effector comprises a vacuum lift face configured to hold the composite laminate and move from a flat configuration to a forming configuration with an angle in the vacuum lift face to form the kink in the composite laminate; a number of motors configured to move the vacuum lift face between the flat configuration and the forming configuration; and a number of restraints configured to clamp portions of a composite laminate on opposite sides of the kink on the vacuum lift face during movement between the flat configuration and the forming configuration.
1 . A pick and place end effector configured to form a kink in a composite laminate, wherein the pick and place end effector comprises:
a vacuum lift face that comprises a first vacuum plate, a center vacuum portion and a second vacuum plate, all configured to hold the composite laminate and move from a flat configuration to a forming configuration that comprises an angle between the first vacuum plate and the center vacuum portion and a second angle between the second vacuum plate and the center vacuum portion and forms the kink in the composite laminate;
motors configured to move the vacuum lift face between the flat configuration and the forming configuration; and
a number of restraints configured to clamp portions of a composite laminate on opposite sides of the kink on the vacuum lift face during movement between the flat configuration and the forming configuration.
2 . The pick and place end effector of claim 1 , wherein the vacuum lift face comprises:
the forming configuration configured to hold the composite laminate only in tension;
the first vacuum plate movably connected to the center vacuum portion; and
the second vacuum plate movably connected to the center vacuum portion such that the center vacuum portion is between the first vacuum plate and the second vacuum plate.
3 . The pick and place end effector of claim 2 , wherein the motors comprises a first motor connected to the first vacuum plate at an end opposite the center vacuum portion and a second motor connected to the second vacuum plate at an end opposite the center vacuum portion.
4 . The pick and place end effector of claim 3 , further comprising:
a back plate connecting the first motor and the second motor; and
a strongback connecting the center vacuum portion to the back plate.
5 . The pick and place end effector of claim 2 , further comprising:
a Z motor configured to move the first vacuum plate and the second vacuum plate in a Z direction independent of a gantry or robotic arm connected to the pick and place end effector.
6 . The pick and place end effector of claim 2 , wherein the number of restraints comprises a first clamping plate movably connected to the first vacuum plate and mechanical restraints configured to hold the first clamping plate relative to the vacuum lift face.
7 . The pick and place end effector of claim 6 , wherein the first clamping plate and a second clamping plate each comprise gripping teeth configured to grip the composite laminate.
8 . The pick and place end effector of claim 6 , wherein the first clamping plate is configured to move between an open configuration and a clamping configuration, wherein the first clamping plate is connected to a first motor when in the open configuration, and wherein the first clamping plate is secured using the mechanical restraints in the clamping configuration.
9 . A method of forming a kink into a composite laminate, the method comprising:
lifting a composite laminate on a vacuum lift face of a pick and place end effector, the vacuum lift face comprising a first vacuum plate, a center vacuum portion and a second vacuum plate and holding the composite laminate in a flat configuration to a forming configuration with an angle in the vacuum lift face to form the kink in the composite laminate;
clamping portions of the composite laminate on the vacuum lift face;
forming a bent composite laminate by moving the vacuum lift face between the flat configuration and a forming configuration comprising an angle between the first vacuum plate and the center vacuum portion and a second angle between the second vacuum plate and the center vacuum portion while the portions of the composite laminate are clamped on the vacuum lift face; and
placing the bent composite laminate on a mandrel comprising a kink.
10 . The method of claim 9 , wherein lifting the composite laminate on the vacuum lift face comprises drawing a vacuum through the first vacuum plate and the second vacuum plate of the vacuum lift face.
11 . The method of claim 10 , wherein clamping portions of the composite laminate on the vacuum lift face comprises clamping a first portion of the composite laminate to the first vacuum plate and a second portion of the composite laminate to the second vacuum plate.
12 . The method of claim 11 , wherein clamping the first portion of the composite laminate to the first vacuum plate comprises rotating a first clamping plate relative to the first vacuum plate and securing the first clamping plate relative to the first vacuum plate.
13 . The method of claim 10 , further comprising:
rotating the first vacuum plate and the second vacuum plate away from the composite laminate about a center vacuum portion connected to the first vacuum plate and the second vacuum plate.
14 . The method of claim 13 , wherein rotating the first vacuum plate away from the composite laminate comprises retracting a first motor connected to the first vacuum plate.
15 . The method of claim 9 , wherein lifting the composite laminate comprises moving the pick and place end effector using one of a robotic arm or a gantry.
16 . The method of claim 9 , wherein placing the bent composite laminate on the mandrel comprises adjusting a Z position of the composite laminate using a Z motor of the pick and place end effector.
17 . A pick and place end effector configured to form a kink, wherein the pick and place end effector comprises:
a vacuum lift face that comprises: a stationary center vacuum portion, a first vacuum plate movably connected to the stationary center vacuum portion, and a second vacuum plate movably connected to the stationary center vacuum portion;
a number of restraints configured to restrain movement of portions of a composite laminate on opposite sides of the center vacuum portion on the vacuum lift face; and
motors configured to move the first vacuum plate and the second vacuum plate relative to the stationary center vacuum portion to place the vacuum lift face in a forming configuration comprising an angle between the first vacuum plate and the center vacuum portion and a second angle between the second vacuum plate and the center vacuum portion.
18 . The pick and place end effector of claim 17 , wherein the number of restraints comprise:
a first clamping plate configured to clamp a full width of the composite laminate against the first vacuum plate in a clamping configuration; and
a second clamping plate configured to clamp a full width of the composite laminate against the second vacuum plate in a clamping configuration.
19 . The pick and place end effector of claim 18 , wherein the first clamping plate is movably connected to the first vacuum plate by a hinge having an open channel, the open channel configured to set a distance between the first clamping plate and the first vacuum plate.
20 . The pick and place end effector of claim 18 , wherein the motors comprises a first electronic motor connected to the first clamping plate and a second electronic motor connected to the second clamping plate.
21 . The pick and place end effector of claim 18 , wherein the first clamping plate and the second clamping plate are formed of a metal.
22 . The pick and place end effector of claim 17 , wherein vacuum distribution of the vacuum lift face comprises at least one of material of the vacuum lift face, vacuum channels, or vacuum cups.