Caul plates for preforms that undergo pick and placement

Patent metadata

Field	Value
Publication number	US-12090715-B2
Application number	US-202318388768-A
Country	US
Kind code	B2
Filing date	Nov 10, 2023
Priority date	Feb 13, 2020
Publication date	Sep 17, 2024
Grant date	Sep 17, 2024

Abstract

Systems and methods are provided for facilitating pick and placement of preforms. One embodiment is a method for picking and placing a preform. The method includes placing an inner surface of a first caul plate into contact with a first side of a stringer preform, such that an outer surface of the first caul plate forms a first plane that is uniform along a length of the stringer preform, placing an inner surface of a second caul plate into contact with a second side of the stringer preform, such that an outer surface of the second caul plate forms a second plane that is parallel to the first plane along a length of the stringer preform, grasping the caul plates at the first plane and the second plane along the length of the stringer preform, and lifting the stringer preform together with the caul plates while maintaining the grasp.

First claim

What is claimed is:

1. A system comprising:
a first caul plate and a second caul plate configured for a stringer preform that includes a web and flanges;
the first caul plate comprising a body defining:
an outer surface that forms a first plane that is uniform along a length of the stringer preform; and
an inner surface complementary to a first side of the stringer preform such that an angle of the inner surface of the first caul plate in relation to the outer surface of the first caul plate changes with an angle of the web along the length of the stringer preform; and

the second caul plate comprising a body defining:
an outer surface that forms a second plane that is uniform along the length of the stringer preform and parallel to the first plane; and
an inner surface complementary to a second side of the stringer preform such that an angle of the inner surface of the second caul plate in relation to the outer surface of the second caul plate changes with the angle of the web along the length of the stringer preform.

2. The system of claim 1 , further comprising:
end effectors configured to grasp the caul plates at the first plane and the second plane, and lift the stringer preform together with the caul plates while maintaining the grasp.

3. The system of claim 2 , wherein:
the end effectors are configured to grasp the caul plates with the inner surface of the first caul plate placed into contact with the web and a first flange on the first side of the stringer preform and the inner surface of the second caul plate placed into contact with the web and a second flange on the second side of the stringer preform.

4. The system of claim 2 , wherein:
the end effectors are configured to grasp the caul plates at a uniform pinch angle and thickness.

5. The system of claim 2 , further comprising:
a pick and place machine configured to operate the end effectors to transport the stringer preform and the caul plates to another location.

6. The system of claim 5 , wherein:
the caul plates enforce a shape onto the stringer preform during transport.

7. The system of claim 5 , wherein:
the other location comprises a placement location on a wing panel preform.

8. The system of claim 1 , wherein:
the second plane is separated from the first plane by a uniform distance along the length of the stringer preform.

9. The system of claim 1 , wherein:
the inner surfaces of the first caul plate and the second caul plate change orientation along the length of the stringer preform, while the outer surfaces of the first caul plate and the second caul plate maintain the same orientation.

10. The system of claim 1 , wherein:
the first caul plate and the second caul plate exhibit a non-uniform thickness.

11. The system of claim 1 , wherein:
a distance between the outer surface of the first caul plate and the outer surface of the second caul plate corresponds with a maximum distance between portions of the web along the length of the stringer preform.

12. The system of claim 1 , wherein:
the stringer preform is for a portion of a wing of an aircraft.

13. A system comprising:
a pair of caul plates configured for a stringer preform that includes a web and flanges, wherein the pair comprises:
a first caul plate comprising:
a first outer surface that forms a first exterior plane; and
a first inner surface complementary to a first side of the stringer preform such that an angle of the first inner surface in relation to the first outer surface changes with an angle of the web along a length of the stringer preform; and

a second caul plate comprising:
a second outer surface that forms a second exterior plane parallel to the first exterior plane; and
a second inner surface complementary to a second side of the stringer preform such that an angle of the second inner surface in relation to the second outer surface changes with the angle of the web along the length of the stringer preform.

14. The system of claim 13 , further comprising:
end effectors configured to grasp the caul plates at the first exterior plane and the second exterior plane, and lift the stringer preform together with the caul plates while maintaining the grasp.

15. The system of claim 14 , wherein:
the end effectors are configured to grasp the caul plates at a uniform pinch angle and thickness.

16. The system of claim 14 , further comprising:
a pick and place machine configured to operate the end effectors to transport the stringer preform and the caul plates to another location.

17. The system of claim 16 , wherein:
the caul plates enforce a shape onto the stringer preform during transport.

18. The system of claim 13 , wherein:
the first exterior plane and the second exterior plane are separated by a constant distance along the length of the stringer preform, while thicknesses of the first caul plate and the second caul plate vary along the length of the stringer preform.

19. The system of claim 13 , wherein:
the first inner surface and the second inner surface change orientation along the length of the stringer preform, while the first outer surface and the second outer surface maintain the same orientation.

20. A system comprising:
caul plates configured for a stringer preform that includes a web and flanges;
wherein a first caul plate of the caul plates comprises a first inner surface and a first outer surface, wherein the first inner surface is complementary to a first side of the stringer preform such that an angle of the first inner surface changes in relation to the first outer surface to accommodate changes in an angle of the web along a length of the stringer preform;
wherein a second caul plate of the caul plates comprises a second inner surface and a second outer surface, wherein the second inner surface is complementary to a second side of the stringer preform such that an angle of the second inner surface changes in relation to the second outer surface to accommodate the changes in the angle of the web;
wherein the first outer surface and the second outer surface form parallel planes along a length of the caul plates.

Assignees

• Boeing Co

Inventors

• Ahn Jonathan Y
• Tran Davis

Classifications

• B64C1/064

  Stringers; Longerons · CPC title

• B29C2043/3655

  Pressure transmitters, e.g. caul plates; pressure pads · CPC title

• B29C70/545

  Perforating, cutting or machining during or after moulding · CPC title

• B29C70/38

  Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns {(application heads for tyres B29D30/28)} · CPC title

• B29C70/06

  Fibrous reinforcements only · CPC title