Forming system and method for forming narrow-length loading members of composite materials

Abstract

To provide a forming system and method for forming an elongate charge of a composite material.SOLUTION: A forming system 10 includes an elongate forming tool 20 having an elongate forming surface 22 with a forming surface shape that corresponds to a predetermined material shape for an elongate charge 90 of a composite material. A forming system also includes an elongate end effector 100, which is configured to apply a tension to the elongate charge of the composite material on between both edges of the forming surface. The elongate end effector includes an elongate vacuum distribution manifold 118, a porous elongate vacuum region 142, and an elongate friction surface 172. A method includes a method of applying a tension to the elongate charge of the composite material on between both edges of an elongate forming surface of an elongate forming tool by utilizing the elongate end effector.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure generally relates to forming systems and methods for forming elongate charges of composite materials.

Background Art

[0002] In many products, composite parts have become common. Such composite parts typically include multiple composite material charges. These composite material charges may be positioned adjacent to each other and / or in layers and may later be cured to define a composite part.

[0003] Some applications (such as aircraft) may include composite parts that are elongate and have lengths on the order of meters. In such elongate composite parts, it can be difficult to efficiently and / or accurately position, stack, and / or shape multiple composite material elongate charges and / or to do so without introducing defects (such as wrinkles) into the composite part. The forming process can be particularly difficult when the relatively long and thin composite part includes bends and complex shapes and / or when the fibers within a given composite material elongate charge extend longitudinally along the length of the bend. Accordingly, improved forming systems and methods for forming composite material elongate charges are needed.

Summary of the Invention

[0004] This book discloses a forming system and method for forming narrow-length loads of composite materials. The forming system includes a narrow-length forming tool having a narrow-length forming surface with a forming surface shape corresponding to a predetermined material shape of the narrow-length load of the composite material. The forming system also includes a narrow-length end effector configured to apply tension to the narrow-length load of the composite material between both ends of the forming surface. The narrow-length end effector includes a narrow-length vacuum distribution manifold, a porous narrow-length vacuum region, and a narrow-length friction surface. The narrow-length vacuum distribution manifold includes a vacuum inlet and a vacuum outlet configured to receive an applied vacuum. The porous narrow-length vacuum region is configured to receive the applied vacuum from the vacuum outlet and generate a pressure difference. This pressure difference is set to keep the narrow-length load of the composite material in contact with the porous narrow-length vacuum region. The narrow-length friction surface extends along the length of the porous narrow-length vacuum region and is configured to generate a frictional force that resists sliding motion between the narrow-length end effector and the narrow-length load of the composite material.

[0005] The method includes positioning a narrow load of composite material on a narrow forming surface and attaching the mounting area of ​​the narrow load of composite material to the narrow forming surface. The method also includes applying an applied vacuum to create a pressure difference on both sides of the porous narrow vacuum area of ​​the narrow end effector, and using this pressure difference to hold the holding area of ​​the narrow load of composite material in the porous narrow vacuum. While holding, the method includes moving the narrow end effector away from the mounting area of ​​the narrow load of composite material in order to apply tension to the narrow load of composite material between both ends of the narrow forming surface. While moving, the method includes using the narrow end effector to resist sliding motion between the narrow load of composite material and the end effector if the shear force between the narrow load of composite material and the narrow end effector is below a threshold shear force strength. The method further includes allowing sliding motion if the shear force exceeds a threshold shear force strength while moving. [Brief explanation of the drawing]

[0006] [Figure 1]This is a schematic diagram of an example of an aircraft which may include a plurality of composite material parts formed using the forming system and / or method described herein. [Figure 2] This is a schematic end view illustrating an example of a forming system including a narrow end effector according to the present disclosure. [Figure 3] This is a schematic end view illustrating an example of a forming process carried out using a forming system including a narrow end effector as disclosed herein. [Figure 4] This is a schematic end view illustrating an example of a forming process carried out using a forming system including a narrow end effector as disclosed herein. [Figure 5] This is a schematic end view illustrating an example of a forming process carried out using a forming system including a narrow end effector as disclosed herein. [Figure 6] This is a schematic end view illustrating an example of a forming process carried out using a forming system including a narrow end effector as disclosed herein. [Figure 7] This is a schematic top view illustrating an example of a forming system including a narrow end effector according to the present disclosure. [Figure 8] This is a schematic cross-sectional view showing an example of a narrow end effector according to the present disclosure. [Figure 9] This is a schematic side view showing an example of a narrow end effector according to the present disclosure. [Figure 10] This is a schematic side view showing an example of a narrow end effector according to the present disclosure. [Figure 11] This flowchart illustrates an example of a method for applying tension to a narrow load made of composite material between both ends of the narrow forming surface of a narrow forming tool, as disclosed in this disclosure. [Modes for carrying out the invention]

[0007] Figures 1 to 11 provide exemplary and non-exclusive examples of the forming system 10, the narrow end effector 100, and / or method 200 as disclosed herein. In each of Figures 1 to 11, elements that are similar or at least substantially similar in purpose are numbered similarly, although such elements may not be described in detail by reference to each of Figures 1 to 11. Similarly, not all elements are numbered in each of Figures 1 to 11, but reference numbers associated with these elements may be used consistently herein. Elements, components, and / or features described herein by reference to one or more of Figures 1 to 11 may be included in and / or utilized in any of Figures 1 to 11 without departing from the scope of this disclosure.

[0008] Typically, elements that are likely to be included in a given (i.e., specific) embodiment are shown with solid lines, while elements that are optional in a given embodiment are shown with dashed lines. However, elements shown with solid lines are not essential in all embodiments and may be omitted from a particular embodiment without departing the scope of this disclosure. In other words, elements that are typically included in a particular embodiment of the invention described herein but are not essential are shown with solid lines, while additional features that may be included in that particular embodiment are shown with dashed lines. With this in mind, as will be detailed in this publication, figures containing dashed lines typically show multiple different embodiments, including embodiments that have not only structures typically included in an embodiment but also structures that may be optionally included to form other and / or alternative embodiments.

[0009] Figure 1 is a schematic diagram of an example of an aircraft 80. The aircraft 80 may include a plurality of composite material components 82. The composite material components 82 may include and / or be formed from one or more composite material narrow load members 90. According to this disclosure, the composite material narrow load members 90 may be formed on the composite material components 82 using, via and / or utilizing, a forming system 10 and / or a narrow end effector 100. Examples of composite material components 82 include aircraft wings, components of aircraft wings, aircraft tails, components of aircraft tails, aircraft stabilizers, components of aircraft stabilizers, aircraft fuselages, and / or components of aircraft fuselages.

[0010] Figure 2 is a schematic end view showing an example of a forming system 10 including a narrow end effector 100 according to the present disclosure. Figures 3 to 6 are schematic end views showing examples of forming processes carried out using the forming system 10 including a narrow end effector 100 according to the present disclosure. Figure 7 is a schematic top view showing an example of a forming system 10 including a narrow end effector 100 according to the present disclosure. The forming system 10 may be configured to form a narrow load member 90 (which may also be referred to herein as "narrow load member 90") of composite material into a predetermined material shape.

[0011] As collectively illustrated in Figures 2 to 7, the forming system 10 includes a narrow forming tool 20 and at least one narrow end effector 100. The narrow forming tool 20 has a narrow forming surface 22, which has a forming surface shape corresponding to a predetermined material shape and / or a forming surface shape configured to form a narrow loading material of a composite material into or to become such a predetermined material shape.

[0012] The narrow end effector 100 may be configured to apply tension to the narrow load material 90 of the composite material along and / or between both ends of the narrow forming surface 22. As detailed in this document, the narrow end effector 100 includes a narrow vacuum distribution manifold 118 and a porous narrow vacuum region 142. The narrow vacuum distribution manifold 118 includes a vacuum inlet 122 and a vacuum outlet 124 configured to receive the applied vacuum 62. The porous narrow vacuum region 142 is configured to receive the applied vacuum 62 from the vacuum outlet 124 and to generate a pressure difference. The pressure difference, if present, is configured to selectively bias the narrow load material 90 of the composite material toward and / or into contact with the porous narrow vacuum region 142. Additionally or alternatively, the pressure difference may be set to keep the narrow load 90 of the composite material in contact with the porous narrow vacuum region 142.

[0013] The forming system 10 may include a single-face narrow forming tool 20 (for example, shown with solid lines in Figures 2 and 7) that can be associated with a single narrow end effector 100. Additionally or alternatively, the forming system 10 may include a multifaceted forming tool 20 (for example, shown with a combination of solid and dashed lines in Figures 2 and 7) that can be associated with multiple narrow end effectors 100. Accordingly, Figures 3 to 6 show forming processes performed on a single face of the narrow forming tool 20 and / or utilizing a single narrow end effector 100. However, similar or corresponding forming processes may be performed on a different face of the narrow forming tool 20 and / or utilizing a different narrow end effector 100, or may be performed simultaneously, and this is also within the scope of the disclosure.

[0014] As shown by dashed lines in Figures 2 to 6, the forming system 10 may also include an end effector positioning structure 30. The end effector positioning structure 30 may be operably attached to and associated with the narrow end effector 100, and / or configured to operably move the narrow end effector 100. This may include operably moving the narrow end effector 100 relative to the narrow forming surface 22, and / or applying tension to the narrow load material 90 between both ends of the narrow forming surface 22, as detailed in this document.

[0015] Similarly, as shown by dashed lines in Figures 2 to 6, the forming system 10 may include a compression structure 40. If present, the compression structure 40 may be configured to compress a narrow load member 90 of composite material by bringing it into contact with the narrow forming surface 22, as will be described in detail later.

[0016] Similarly, as shown by dashed lines in Figures 2 to 6, the forming system 10 may include a load positioning structure 50. If present, the load positioning structure 50 may be configured to selectively bias a narrow load made of composite material to contact the narrow end effector 100, as detailed in this document.

[0017] While the forming system 10 is in operation, the narrow load 90 of the composite material can be positioned on the narrow forming surface 22 of the narrow forming tool 20, for example, as shown in Figure 2, as detailed in this document with reference to method 200 in Figure 11. Subsequently, the mounting area 92 of the narrow load 90 of the composite material can be operably mounted to the narrow forming surface 22, bonded to the narrow forming surface 22, and / or engaged with the narrow forming surface 22 in a different manner, as shown in Figure 3. The holding area 94 of the narrow load 90 of the composite material can be held in the narrow end effector 100, for example, by applying an applied vacuum 62 to the vacuum inlet 122 of the narrow end effector 100, also shown in Figure 3. In some examples, a load positioning structure 50 may be used to bias the narrow load member 90 of composite material toward and / or in contact with the narrow end effector 100, thereby enabling and / or facilitating the narrow load member 90 of composite material to be held by the narrow end effector 100, for example. This is indicated by the dashed arrow extending from the load positioning structure 50 in Figure 3.

[0018] Subsequently, the narrow-length end effector 100 may be moved away from the mounting area 92, for example via the end effector positioning structure 30, to apply tension to the narrow-length composite load 90 between both ends of the narrow-length forming surface 22, as illustrated by the transition from the configuration shown in Figure 3 to the configuration shown in Figure 4. The narrow-length end effector 100 and / or the end effector positioning structure 30 may be configured in at least one subset of this movement to maintain a target distance 32 (indicated as "32" in Figures 2 to 5) from the narrow-length forming surface 22. This may enable and / or facilitate accurate and / or repeatable tension on the narrow-length composite load 90 between both ends of the narrow-length forming surface 22.

[0019] The elongated end effector 100 can alternatively be configured such that, during movement of the elongated end effector 100, it resists the sliding movement of the elongated load member 90 of the composite material between the two ends of the elongated end effector 100 when the shear force between the elongated load member 90 of the composite material and the elongated end effector 100 is below a threshold shear force strength, but allows the sliding movement when the shear force exceeds the threshold shear force strength. The threshold shear force strength can be such that, during movement of the elongated end effector 100, the elongated load member 90 of the composite material is pulled between the two ends of the elongated forming surface 22 without being damaged and / or torn.

[0020] The movement of the elongated end effector 100 relative to the elongated forming surface 22 and / or the sliding movement between the elongated end effector 100 and the elongated load member 90 of the composite material can continue until all or at least a majority of the elongated load member 90 of the composite material is pulled between the two ends of the elongated forming surface 22. This is illustrated by showing its progression from FIG. 3 to FIG. 6. In some examples, as shown in FIG. 6, a compression structure 40 can also be utilized to compress the elongated load member 90 of the composite material on and / or against the elongated forming surface 22.

[0021] The elongated forming tool 20 can include any suitable structure that can form, define, and / or include the elongated forming surface 22. Examples of the elongated forming tool 20 include a rigid elongated forming tool 20, at least substantially rigid elongated forming tool 20, a metal elongated forming tool 20, a polymer elongated forming tool 20, a wooden elongated forming tool 20, a ceramic elongated forming tool 20, a carbon foam elongated forming tool 20, a polymer foam elongated forming tool 20, and / or a composite material elongated forming tool 20. The elongated forming tool 20 can have and / or define a forming tool length. Examples of the forming tool length include lengths of at least 2 meters (m), at least 5 m, at least 10 m, at least 20 m, at least 30 m, at least 40 m, at least 50 m, up to 80 m, up to 70 m, up to 60 m, up to 50 m, up to 40 m, and / or up to 30 m.

[0022] The elongated forming surface 22 may have and / or define any suitable shape. In some examples, the elongated forming surface 22 may include an upper forming surface region 24, a lower forming surface region 28, and / or a transition region 26 that extends between and / or transitions between the upper forming surface region 24 and the lower forming surface region 28. In such some examples, the upper forming surface region 24 may include a horizontal or at least substantially horizontal upper forming surface region and / or may be such an upper forming surface region, but this particular orientation is not required. In such some examples, the lower forming surface region 28 may include a vertical or at least substantially vertical lower forming surface region and / or may be such a lower forming surface region, but this particular orientation is not required. In such some examples, the upper forming surface region 24 may extend at a right angle or at least substantially at a right angle to the lower forming surface region 28. By way of example, the upper forming surface region 24 may extend at an angle of at least 70 degrees, at least 75 degrees, at least 80 degrees, at least 85 degrees, up to 95 degrees, up to 100 degrees, up to 105 degrees, and / or up to 110 degrees with respect to the lower forming surface region 28.

[0023] The transition region 26 may have and / or define any suitable shape that transitions between the upper forming surface region 24 and the lower forming surface region 28. By way of example, the transition region 26 may include an edge (or on the elongated forming surface 22), an outer edge (or on the elongated forming surface 22), and / or a convex region (or on the elongated forming surface 22) of the elongated forming surface 22 and / or may be these.

[0024] The end effector positioning structure 30, if present, may movably translate the narrow end effector 100 relative to the narrow forming surface 22 in any preferred manner and / or apply tension to the narrow load material 90 between both ends of the narrow forming surface 22. In an example of a forming system 10 including multiple narrow end effectors 100, the end effector positioning structure 30 may be associated with each of the multiple narrow end effectors 100 or with all of the narrow end effectors 100 and / or the forming system 10 may include a corresponding end effector positioning structure 30 for each narrow end effector 100.

[0025] In some examples of the forming system 10, the end effector positioning structure 30 and the narrow end effector 100 together may form and / or define the narrow load positioning system 38 shown in Figure 2. The narrow load positioning system 38 (which may also be referred to in this document as the "pick and place system 38") may be configured to position the narrow load 90 of the composite material on and / or relative to the narrow forming surface 22. For example, the end effector positioning structure 30 may be used to position the narrow end effector 100 near and / or in contact with a selected narrow load 90 of the composite material from among the narrow load 90 of the supplied composite material 96. The narrow end effector 100 may then contact the selected narrow load 90 of the composite material, and the end effector positioning structure 30 may then position the narrow end effector 100 such that the narrow load 90 of the composite material is near the narrow forming surface 22. The narrow end effector 100 may then release the narrow load 90 of the composite material on the narrow forming surface 22 and / or be used to apply tension to the narrow load 90 of the composite material between both ends of the narrow forming surface 22.

[0026] The end effector positioning structure 30 may be configured to position the narrow end effector 100 in any preferred manner. For example, the end effector positioning structure 30 may be configured to movably translate the narrow end effector perpendicular to the narrow forming surface, movably translate the narrow end effector horizontally to the narrow forming surface, and / or movably rotate or pivot the narrow end effector in a plane perpendicular to the narrow axis of the narrow forming surface.

[0027] As described above, the end effector positioning structure 30 may be configured to maintain a target spacing 32 between the narrow end effector 100 and the narrow forming surface 22 when the narrow loading material 90 of the composite material is pulled between both ends of the narrow forming surface 22. Examples of target spacings 32 include spacings of at least 1 millimeter (mm), at least 2 mm, at least 4 mm, at least 6 mm, at least 8 mm, at least 10 mm, at least 12 mm, at least 14 mm, at least 16 mm, at least 18 mm, at least 20 mm, at least 25 mm, at least 30 mm, up to 50 mm, up to 40 mm, up to 30 mm, up to 20 mm, up to 15 mm, and / or up to 10 mm.

[0028] The end effector positioning structure 30 may include any suitable structure, a plurality of structures, and / or components. For example, the end effector positioning structure 30 may include a linear actuator, a linear positioning device, a rotary actuator, a rotary positioning device, a motor, a stepper motor, a pneumatic actuator, a hydraulic actuator, and / or an electric actuator.

[0029] The compression structure 40 may include any suitable structure that, if present, is adapted, configured, designed, and / or constructed to compress a narrow load member 90 of composite material against a narrow forming surface 22. Examples of the compression structure 40 include forming bladders configured to expand to compress a narrow load member of composite material against a narrow forming surface; sweeping structures configured to sweep a narrow load member of composite material from end to end to compress it against a narrow forming surface; and line contact structures configured to move a line contact from end to end of a narrow load member of composite material to compress it against a narrow forming surface.

[0030] In some examples, the compression structure 40 may be configured to compress the narrow-length composite material load 90 by bringing it into contact with the narrow-length forming surface 22 while the narrow-length end effector 100 maintains tension inside the narrow-length composite material load 90. In some examples, the compression structure 40 may be configured to press (or bias) the narrow-length end effector 100 so that it no longer comes into contact with the narrow-length composite material load 90 during compression of the load 90. This is illustrated by the transition from the configuration shown in Figure 5 to the configuration shown in Figure 6.

[0031] The narrow load-bearing member 90 of the composite material may include any suitable structure. For example, the narrow load-bearing member 90 of the composite material may include at least one ply (or layer) of the composite material and / or multiple plies of the composite material. Another example is that the narrow load-bearing member 90 of the composite material may include just one ply of the composite material. Further examples include pre-impregnated composite fibers, resin-injected fiber structures, and / or thermoplastic fiber-reinforced materials. Another example is that the narrow load-bearing member 90 of the composite material may include multiple fibers and one resin material. Examples of resin materials include thermosetting resins, epoxy, thermosetting epoxy, adhesives, thermosetting adhesives, polymers, and thermosetting polymers. Examples of multiple fibers include multiple carbon fibers, multiple polymer fibers, multiple glass fibers, multiple organic fibers, multiple inorganic fibers, and multiple metallic fibers.

[0032] In some examples, the narrow-length loader 90 of the composite material may include at least one ply of the composite material in which the fibers are oriented parallel, only parallel, or at least substantially parallel to the narrow-length axis 29 of the narrow-length forming tool 20. In some examples of the forming system 10, the narrow-length loader 90 of the composite material may include, or be, just one ply of the composite material in which the fibers are oriented parallel, or at least substantially parallel to the narrow-length axis 29 of the narrow-length forming tool 20. A composite material ply containing fibers oriented parallel to the narrow-length axis 29 may be referred to herein as a “zero-degree ply” and may exhibit inherent forming difficulties. However, the forming system 10 according to this disclosure may be particularly well suited to forming zero-degree plies (compared, in particular, to conventional and / or prior art forming systems).

[0033] For example, zero-degree plies may lack rigidity in the direction perpendicular to the narrow longitudinal axis 29. Therefore, it may be difficult to form such zero-degree plies using conventional and / or prior art forming systems without causing these bunchings and / or wrinkles during formation. However, the forming system 10's ability to maintain tension within the narrow longitudinal plies 90 of the composite material during formation makes it possible to reduce and / or eliminate such bunchings and / or wrinkles.

[0034] As another example, zero-degree plies can be torn and / or damaged relatively easily compared to plies containing fibers oriented at least obliquely with respect to the narrow longitudinal axis 29. With this in mind, as shown by dashed lines in Figures 2 to 6, the forming system 10 may include an elastomer film 70, the forming system 10 may be used together with the elastomer film 70, and / or the narrow longitudinal loader 90 of the composite material may be operably attached to the elastomer film 70. If present, the elastomer film 70 may be configured to support the narrow longitudinal loader 90 of the composite material while the forming system 10 is forming the narrow longitudinal loader 90 of the composite material and / or while the forming system 10 is applying tension to the narrow longitudinal loader 90 of the composite material between both ends of the narrow longitudinal forming surface 22.

[0035] The elastomer film 70 is positioned between the narrow load 90 and the narrow end effector 100 of the composite material, and / or can be positioned within the forming system 10 to physically separate or separate the narrow load 90 and the narrow end effector 100 while the narrow end effector 100 is applying tension to the narrow load 90 of the composite material between the ends of the narrow forming surface 22. This configuration reduces the possibility of direct physical contact between the narrow end effector 100 and the narrow load 90 of the composite material, or makes such contact avoidable, and / or reduces the possibility of the narrow load 90 of the composite material being damaged or contaminated while being stretched between the ends of the narrow forming surface 22. This configuration may additionally or alternatively allow the elastomer film 70 to be separated from the narrow load 90 of the composite material after the narrow load 90 has been stretched between the ends of the narrow forming surface 22. This allows the subsequent narrow load material 90 of the composite material to come into direct physical contact with any previously pulled narrow load material 90 of the composite material, and to be pulled between both ends of the narrow forming surface 22.

[0036] The presence of the elastomer film 70 additionally or alternatively reduces and / or eliminates the possibility that the zero-degree ply may tear and / or be damaged while being stretched between the ends of the narrow-length forming surface 22. In other words, the elastomer film 70 can provide additional support to the fibers within the narrow-length loading material 90 of the composite material and / or can limit the extent to which the narrow-length loading material 90 of the composite material may stretch and / or deform while being stretched between the ends of the narrow-length forming surface 22.

[0037] The elastomer film 70 may comprise and / or be formed from any suitable film material. Examples of film materials include elastomer film materials, elastic film materials, composite film materials, one or more plies of composite materials, stretchable film materials, and / or polymer film materials. Another example of a film material is a contact-approved film material that is authorized to come into contact with the narrow-length loader 90 of the composite material and / or does not contaminate the narrow-length loader 90 of the composite material. Yet another example of a film material is a film material that provides a desirable (or target) sliding friction coefficient so that the narrow-length end effector 100 can allow sliding motion between the narrow-length end effector 100 and the narrow-length loader 90 of the composite material when the shear force exceeds a threshold shear force strength, for example, as described herein. In some examples, the elastomer film 70 may comprise or be a continuous (or integral) elastomer film 70. In some examples, the elastomer film 70 may include or be a perforated elastomer film 70. The elastomer film 70 may also be referred to as, and / or be, an elastic film 70, a composite film 70, one or more plies 90 of a composite material, an extensible film 70, and / or a polymer film 70.

[0038] The load positioning structure 50 may include any suitable structure that, if present, can selectively bias or can be used to selectively bias the narrow load 90 of the composite material to contact the narrow end effector 100 and / or the porous narrow vacuum region 142 of the narrow end effector 100. This may include selectively biasing the narrow load 90 of the composite material to contact the narrow end effector 100 while the narrow load 90 of the composite material is positioned on the narrow forming surface 22 and / or while the narrow end effector 100 is positioned proximal to the narrow forming surface 22, as shown in Figure 3. For example, the load positioning structure 50 includes and / or comprises a plurality of air nozzles configured to selectively discharge an airflow that biases a narrow load made of composite material toward or into contact with a narrow end effector, an air knife configured to selectively discharge an airflow that biases a narrow load made of composite material toward or into contact with a narrow end effector, and / or a mechanical assembly configured to selectively bias a narrow load made of composite material toward or into contact with a narrow end effector.

[0039] The load positioning structure 50 can be operably attached to the narrow-length forming tool 20 and / or the narrow-length end effector 100, form a portion of them, and / or be at least partially defined by them. In some examples, as collectively shown in Figures 2 to 6, the load positioning structure 50 may be configured to move with the narrow-length end effector 100 while the narrow-length load 90 of the composite material is being pulled between the ends of the narrow-length forming surface 22.

[0040] As shown by dashed lines in Figures 2 to 5 and Figure 7, the forming system 10 may include a vacuum source 60. The vacuum source 60 may be adapted, configured, designed, and / or constructed to generate an applied vacuum 62, if present, and / or to provide an applied vacuum 62 to the vacuum inlet 122 of the narrow-length end effector 100. Examples of the vacuum source 60 include a vacuum pump, a venturi vacuum generator, and / or a vacuum blower. The applied vacuum 62 may have any preferred vacuum strength, examples of which include vacuum strengths of at least 10 kilopascals (kPa), at least 15 kPa, at least 20 kPa, at least 25 kPa, at least 30 kPa, at least 35 kPa, at least 40 kPa, up to 60 kPa, up to 50 kPa, up to 40 kPa, up to 30 kPa, and / or up to 20 kPa.

[0041] Figure 8 is a schematic cross-sectional view showing an example of a narrow end effector 100 that can form part of a forming system 10 according to the present disclosure. In an example of a part of the forming system 10, Figure 8 may include and / or be a cross-sectional view of the narrow end effector 100 of Figure 7 cut along line AA of Figure 7. Figures 9 to 10 are schematic side views showing an example of a narrow end effector 100 that can form part of a forming system 10 according to the present disclosure.

[0042] The narrow end effectors 100 in Figures 8 to 10 may include, and / or may be, more detailed drawings of the narrow end effectors 100 in Figures 2 to 7. Accordingly, any structures, functions, and / or features disclosed herein with reference to the narrow end effectors 100 in Figures 8 to 10 may be included in and / or used with the narrow end effectors 100 and / or forming systems 10 in Figures 2 to 7 without departing from the scope of this disclosure. Similarly, any structures, functions, and / or features disclosed herein with reference to the end effectors 100 and / or forming systems 10 in Figures 2 to 7 may be included in and / or used with the narrow end effectors 100 in Figures 8 to 10 without departing from the scope of this disclosure.

[0043] As collectively shown and described in Figures 8 to 10, the narrow-length end effector 100 includes a narrow-length vacuum distribution manifold 118. The narrow-length vacuum distribution manifold 118 includes a vacuum inlet 122 and a vacuum outlet 124. The narrow-length end effector 100 also includes a porous narrow-length vacuum region 142 and may include a narrow-length friction surface 172. If present, the narrow-length friction surface 172 may extend along the length of the porous narrow-length vacuum region 142, and the porous narrow-length vacuum region 142 and / or the narrow-length friction surface 172 may be configured to generate a frictional force that resists sliding motion between the narrow-length end effector 100 and the composite narrow-length load 90, as detailed in this document. To put it simply, Figure 9 shows an example of a narrow end effector 100 that does not have a porous narrow vacuum region 142 and / or a narrow friction surface 172 associated with and / or covering the vacuum outlet 124, whereas Figure 10 shows a narrow end effector 100 that has a porous narrow vacuum region 142 and / or a narrow friction surface 172 associated with and / or covering the vacuum outlet 124.

[0044] The narrow-elongated vacuum distribution manifold 118 may include and / or be defined by any suitable structure. For example, the narrow-elongated vacuum distribution manifold 118 may be defined by a manifold body 110. Examples of manifold bodies 110 include narrow-elongated manifold bodies, tubular narrow-elongated manifold bodies, rigid (or at least substantially rigid) narrow-elongated manifold bodies, flexible manifold bodies, metal manifold bodies, and / or polymer manifold bodies. In some examples, the manifold body 110 may include and / or be a single, continuous, and / or monolithic manifold body 110. For example, the narrow-elongated vacuum distribution manifold 118 may be defined by a plurality of separate or spaced-apart manifold bodies 110.

[0045] The vacuum outlet 124 can be defined in any preferred manner. For example, as perhaps best shown in Figure 9, the vacuum outlet 124 can be defined by a plurality of spaced-apart vacuum outlet openings 126 that may extend within or through a region of the manifold body 110. In another example, the vacuum outlet 124 can include a plurality of spaced-apart cross supports 128 that may be configured to support (or structurally support) a porous, narrow vacuum region 142. In such a configuration, the spaced-apart cross supports 128 may and may be spaced at any preferred interval. For example, the spaced-apart cross supports 128 may be spaced at a distance of at least 1 mm, at least 2 mm, at least 5 mm, at least 10 mm, at least 15 mm, at least 20 mm, up to 50 mm, up to 40 mm, up to 30 mm, and / or up to 20 mm from each other. As yet another example, the vacuum outlet 124 may include, and / or be, a narrow, single, and / or continuous vacuum outlet 124 extending along the length 120 of the narrow vacuum distribution manifold 118, most of the length 120, and / or the entire length 120.

[0046] In some cases, as shown in Figure 8, the manifold body 110 may define a closed manifold region 112. In such cases, the vacuum inlet 122 may extend into the closed manifold region 112 or be in fluid communication with the closed manifold region 112, and / or the vacuum outlet 124 or a plurality of spaced-apart vacuum outlet openings 126 may extend from the closed manifold region 112 or be in fluid communication with the closed manifold region 112.

[0047] The porous narrow vacuum region 142 may include and / or be defined by any suitable structure configured to receive the applied vacuum from the vacuum outlet 124 and / or to generate a pressure difference that keeps the narrow load of the composite material in contact with the porous narrow vacuum region 142. In some examples, the porous narrow vacuum region 142 may be defined, or at least partially defined, by the manifold body 110. For example, the manifold body 110 may include a plurality of spaced holes that can define the porous narrow vacuum region 142.

[0048] In some examples, the porous narrow vacuum region 142 may be operably mounted to the manifold body 110, perhaps best illustrated in Figures 8 and 10. For example, the porous narrow vacuum region 142 may be defined by a strip 140 of porous material, which may be operably mounted to the manifold body 110, the narrow vacuum distribution manifold 118, and / or the vacuum outlet 124. The strip 140 may also be referred to herein as a strip of porous material 140 and / or a narrow sheet 140 of porous material. Examples of the strip 140 include a strip of open-cell foam, a strip of open-cell polyethylene foam, a strip of sintered material, and / or a strip of perforated material.

[0049] The strip 140 may have any preferred porous material thickness 154 (see Figure 8), if present. Examples of porous material thicknesses 154 include thicknesses of at least 0.5 mm, at least 1 mm, at least 1.5 mm, at least 2 mm, at least 2.5 mm, at least 3 mm, at least 4 mm, or at least 5 mm, up to 10 mm, up to 9 mm, up to 8 mm, up to 7 mm, up to 6 mm, up to 5 mm, up to 4 mm, and / or up to 3 mm.

[0050] In some examples, as shown in Figures 8 to 9, the manifold body 110 may include and / or may define a recessed region 116 of the manifold body that can at least partially define the vacuum outlet 124. In such a configuration, the strip 140 may be positioned at least partially within the recessed region 116 of the manifold body. As shown, the recessed region 116 of the manifold body may support the strip 140 and / or the peripheral region of the strip 140.

[0051] In some examples, the manifold body 110 may include and / or define the outer surface 114 of the body, and the recessed region 116 of the manifold body may extend into the manifold body 110, into the outer surface 114 of the body, and / or extend away from the outer surface 114 of the body. In some such examples, the strip 140 may protrude from the outer surface 114 of the body by a body projection distance 156 (see Figure 8). Such a configuration may increase the likelihood that the porous narrow vacuum region 142 will engage with and / or hold the narrow load of the composite material when the applied vacuum is applied to the vacuum inlet 122. Examples of body protrusion distance 156 include distances of at least 0.1 mm, at least 0.15 mm, at least 0.2 mm, at least 0.25 mm, at least 0.3 mm, at least 0.4 mm, at least 0.5 mm, up to 1 mm, up to 0.9 mm, up to 0.8 mm, up to 0.7 mm, up to 0.6 mm, up to 0.5 mm, up to 0.4 mm, and / or up to 0.3 mm.

[0052] In some examples, as shown in Figures 8 and 10, the porous narrow vacuum region 142 may include a first porous narrow vacuum region 150 and a second porous narrow vacuum region 152. In such a configuration, the narrow friction surface 172 may extend between the first porous narrow vacuum region 150 and the second porous narrow vacuum region 152, or separate the first porous narrow vacuum region 150 and the second porous narrow vacuum region 152. In some examples, the porous narrow vacuum region 142 may include and / or be a flat, or at least substantially flat, porous narrow vacuum region 142.

[0053] The porous narrow vacuum region 142 may and may have any preferred dimensions. For example, the porous narrow vacuum region 142 may and may have vacuum surface widths 144 of at least 2 mm, at least 4 mm, at least 6 mm, at least 8 mm, at least 10 mm, up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm, and / or up to 8 mm. As a further example, the porous narrow vacuum region 142 may have and / or be defined as a vacuum surface aspect ratio (for example, defined as the ratio of length 120 to vacuum surface width 144) of at least 100, at least 200, at least 300, at least 400, at least 500, at least 600, at least 700, at least 800, at least 900, at least 1,000, up to 5,000, up to 4,000, up to 3,000, up to 2,000, up to 1,500, and up to 1,000.

[0054] The narrow, elongated friction surface 172 may extend along the length of the porous, narrow, elongated vacuum region 142 and / or may include and / or be defined by any suitable structure that can be configured to generate a frictional force. In some examples, the narrow, elongated friction surface 172 may be defined by the manifold body 110, or at least partially by the manifold body 110. For example, the narrow, elongated friction surface 172 may include and / or be a roughened region of the manifold body 110, a corner of the manifold body 110, and / or an edge of the manifold body 110. In some examples, the narrow, elongated friction surface 172 may be defined by the porous, narrow, elongated vacuum region 142 and / or a strip 140 of porous material. For example, the narrow, elongated friction surface 172 may include and / or be a roughened region of the strip 140, a corner of the strip 140, and / or an edge of the strip 140.

[0055] In some examples, perhaps best illustrated in Figures 8 and 10, the narrow, elongated friction surface 172 may be operably mounted to the manifold body 110, the narrow, elongated vacuum distribution manifold 118, and / or to a strip 140 of porous material. For example, the narrow, elongated friction surface 172 may be defined by a strip 170 of friction material, which may be mounted to the manifold body 110 and / or the strip 140 of porous material. In some such examples, the strip 140 may include and / or be defined a porous material recessed region 158 (see Figure 8). The porous material recessed region 158, if present, may be configured to receive the strip 170 of friction material. The strip 170 of friction material may also be referred to herein as a strip portion 170 of friction material, and / or a narrow sheet 170 of friction material.

[0056] In some examples, the porous narrow vacuum region 142 has a narrow friction surface 172 which may be flat or at least substantially flat. In some examples, the porous narrow vacuum region 142 may include a smooth, curved, arc-shaped, and / or rounded vacuum surface edge or region 160, as shown by the dashed line in Figure 2. Additionally or alternatively, the narrow friction surface 172 may include a smooth, curved, arc-shaped, and / or rounded friction surface edge or region 176, also shown in Figure 2.

[0057] The friction material strip 170 may include and / or be defined by any suitable structure. For example, the strip 170 may include and / or be a strip of elastic material, a strip of textured material, a strip of material exhibiting a static friction coefficient higher than that of the porous narrow vacuum region 142, a strip of material exhibiting a dynamic friction coefficient higher than that of the porous narrow vacuum region 142, and / or a rubber strip 170. In a specific example, the narrow friction surface 172 and / or the friction material strip 170 may include and / or be defined by a roughened surface (such as a grit-blasted surface).

[0058] As shown in Figure 8, the friction material strip 170 may define the friction material thickness 180. Examples of friction material thickness 180 include thicknesses of at least 0.5 mm, at least 1 mm, at least 1.5 mm, at least 2 mm, at least 2.5 mm, at least 3 mm, at least 4 mm, at least 5 mm, up to 10 mm, up to 9 mm, up to 8 mm, up to 7 mm, up to 6 mm, up to 5 mm, up to 4 mm, and / or up to 3 mm. Another example of friction material thickness 180 includes thicknesses less than the porous material thickness 154.

[0059] As also shown in Figure 8, the narrow, elongated friction surface 172 can define a friction surface width 174. Examples of friction surface widths 174 include widths of at least 2 mm, at least 4 mm, at least 6 mm, at least 8 mm, at least 10 mm, up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm, and / or up to 8 mm.

[0060] The narrow, elongated friction surface 172 can define any preferred friction surface aspect ratio (for example, it may be defined as length 120 to friction surface width 174). Examples of friction surface aspect ratios include at least 100, at least 200, at least 300, at least 400, at least 500, at least 600, at least 700, at least 800, at least 900, at least 1,000, up to 5,000, up to 4,000, up to 3,000, up to 2,000, up to 1,500, and / or up to 1,000.

[0061] In some examples, the narrow, elongated friction surface 172 may define the friction surface area, and the porous, narrow, elongated vacuum region 142 may define the vacuum surface area. In such examples, the friction surface area may be a threshold multiple of the vacuum surface area. Examples of threshold multiples include at least 0.1, at least 0.2, at least 0.3, at least 0.4, at least 0.5, at least 0.6, at least 0.7, at least 0.8, at least 0.9, at least 1, at least 1.1, at least 1.2, at least 1.3, at least 1.4, at least 1.5, up to 2, up to 1.8, up to 1.6, up to 1.5, up to 1.4, up to 1.3, up to 1.2, up to 1.1, up to 1, up to 0.9, up to 0.8, up to 0.7, up to 0.6, and / or up to 0.5.

[0062] Figure 11 is a flowchart illustrating an example of a method 200 for applying tension to a narrow load made of composite material between both ends of the narrow forming surface of a narrow forming tool, according to this disclosure. An example of a narrow load made of composite material is disclosed in this document with reference to a narrow load made of composite material 90. An example of a narrow forming surface is disclosed in this document with reference to a narrow forming surface 22. An example of a narrow forming tool is disclosed in this document with reference to a narrow forming tool 20.

[0063] Method 200 includes positioning a narrow load of composite material in 205 and attaching a mounting area for the narrow load of composite material in 210. Method 200 further includes applying an applied vacuum in 215 and holding a holding area for the narrow load of composite material in 220. Method 200 may include biasing the narrow load of composite material toward a porous narrow vacuum area in 225, moving a narrow end effector in 230 and adjusting the sliding motion in 235. Method 200 may further include compressing the narrow load of composite material in 240 and / or separating the narrow end effector from the narrow load of composite material in 245.

[0064] In 205, positioning a narrow load of composite material may include positioning the narrow load of composite material on a narrow forming surface. The narrow forming surface may be defined by a narrow forming tool (narrow forming tool 20, etc.) disclosed herein. Positioning in 205 may include positioning in any preferred manner. For example, positioning in 205 may include manually positioning the narrow load of composite material on the narrow forming surface. For example, positioning in 205 may include automatically positioning the narrow load of composite material on the narrow forming surface.

[0065] In some cases, Method 200 may be carried out by a forming system disclosed herein (e.g., forming system 10). In such cases, the forming system may include a narrow load positioning system (e.g., narrow load positioning system 38) which may be configured to perform positioning in 205. In such cases, a narrow end effector may form part of the narrow load positioning system, as detailed herein.

[0066] Positioning at 205 can be performed in method 200 at any preferred timing and / or sequence. For example, positioning at 205 may be performed prior to mounting at 210, applying at 215, holding at 220, biasing at 225, moving at 230, adjusting at 235, compressing at 240, and / or separating at 245. In a specific example (for example, when a narrow-length end effector forms part of a narrow-length load positioning system), positioning at 205 may be performed after and / or simultaneously with applying at 215.

[0067] In 210, attaching the mounting area of ​​the narrow-length load of the composite material may include attaching the mounting area of ​​the narrow-length load of the composite material to the narrow-length forming surface. An example of a mounting area is disclosed herein and is indicated as 92. The attachment in 210 may be carried out in any preferred manner. For example, the attachment in 210 may include taping and / or bonding the mounting area of ​​the narrow-length load of the composite material to the narrow-length forming surface.

[0068] The mounting in 210 may be performed in method 200 at any preferred timing and / or sequence. For example, the mounting in 210 may be performed after the positioning in 205. As a further example, the mounting in 210 may be performed prior to, and / or at least partially simultaneously with, the applying in 215, holding in 220, biasing in 225, moving in 230, adjusting in 235, compressing in 240, and / or separating in 245.

[0069] Applying the applied vacuum at 215 may include applying the applied vacuum to create a pressure difference on both sides of the porous narrow vacuum region of the narrow end effector. In some examples, applying at 215 may include applying the applied vacuum to the vacuum inlet of the narrow vacuum distribution manifold of the narrow end effector. An example of a narrow end effector is disclosed in this document with reference to narrow end effector 100. An example of a porous narrow vacuum region is disclosed in this document with reference to porous narrow vacuum region 142. An example of a vacuum inlet is disclosed in this document with reference to vacuum inlet 122. An example of a narrow vacuum distribution manifold is disclosed in this document with reference to narrow vacuum distribution manifold 118.

[0070] The application in 215 can be carried out using any suitable structure. For example, the application in 215 can be carried out using a vacuum source disclosed herein (such as vacuum source 60), via and / or utilizing such vacuum source.

[0071] The application at 215 can be performed in method 200 at any preferred timing and / or sequence. For example, the application at 215 can be performed prior to, or at least partially simultaneously with, and / or after, positioning at 205, mounting at 210, holding at 220, biasing at 225, moving at 230, adjusting at 235, compressing at 240, and / or separating at 245. In some examples, as described above, the application at 215 may be performed prior to and / or facilitating positioning at 205.

[0072] Retaining the retaining region of the narrow load of the composite material at 220 may include retaining the retaining region of the narrow load of the composite material in the porous narrow vacuum region of the narrow end effector. Additionally or alternatively, retaining at 220 may include retaining by pressure difference and / or retaining as a result of pressure difference. In other words, retaining at 220 may include, for example, retaining the retaining region of the narrow load of the composite material in contact with the porous narrow vacuum region of the narrow end effector by pressure difference.

[0073] Holding at 220 can be performed in method 200 at any preferred timing and / or sequence. For example, holding at 220 can be performed prior to, or at least partially simultaneously with, and / or after, positioning at 205 and / or mounting at 210. As a further example, holding at 220 can be performed after, and / or in accordance with, applying at 215 and / or biasing at 225. As a further example, holding at 220 can be performed prior to, and / or at least partially simultaneously with, moving at 230, adjusting at 235, compressing at 240 and / or separating at 245.

[0074] In 225, biasing a narrow load of composite material toward a porous narrow vacuum region may include biasing the narrow load of composite material toward and / or toward a narrow end effector and / or a porous narrow vacuum region. This can be implemented in any preferred manner.

[0075] In some cases, biasing in 225 may include biasing by and / or utilizing a pressure difference. In other words, in some cases, the pressure difference may be sufficient to bias or attract a narrow load of composite material to contact a narrow end effector and / or a porous narrow vacuum region of the narrow end effector.

[0076] In some examples, biasing in 225 may include biasing by and / or utilizing a load positioning structure (an example of which is disclosed in this document with reference to load positioning structure 50). In some such examples, the load positioning structure may use a jet stream to blow and / or orient the narrow composite load to contact the narrow end effector and / or porous narrow vacuum region. In some examples, the load positioning structure may also use a mechanical actuator to mechanically move the narrow composite load to contact the narrow end effector and / or porous narrow vacuum region.

[0077] The biasing at 225 may be performed in method 200 at any preferred timing and / or sequence. For example, the biasing at 225 may be performed after, and / or at least partially simultaneously with, positioning at 205, mounting at 210, and / or applying at 215. Another example is that the biasing at 225 may be performed to cause holding at 220. Further examples include that the biasing at 225 may be performed prior to moving at 230, adjusting at 235, compressing at 240, and / or separating at 245.

[0078] Moving the narrow end effector in 230 may include moving the narrow end effector away from the mounting area of ​​the narrow load of the composite material. Additionally or alternatively, moving in 230 may include moving the narrow end effector along the contour of the narrow forming surface and / or moving the narrow end effector to and / or between the ends of the narrow forming surface to apply tension to the narrow load of the composite material.

[0079] The movement in 230 can be carried out in any preferred manner. For example, the movement in 230 can be carried out using an end-effector positioning structure (an example of which is disclosed in this document with reference to end-effector positioning structure 30), via and / or utilizing the end-effector positioning structure.

[0080] In some examples, the narrow load of the composite material may be supported by an elastomer film (an example of which is disclosed in this document with reference to elastomer film 70). In such examples, the elastomer film can be positioned between the narrow load of the composite material and the end effector, physically separating the narrow load of the composite material from the end effector, and / or separating the narrow load of the composite material from the end effector while holding at 220, moving at 230, and / or adjusting at 235.

[0081] In some such examples, method 200 may further include stretching the elastomer film to apply tension to the narrow load of the composite material between the ends of the narrow forming surface while moving in 230 and / or in response to movement in 230. As detailed in this document, such a configuration may reduce the possibility of separating, damaging, and / or contaminating the narrow load of the composite material while moving in 230 and / or by the narrow end effector. In some such examples, method 200 may further include separating the elastomer film from the narrow load of the composite material by holding the narrow load of the composite material on the narrow forming surface after the narrow load of the composite material has been fully stretched between the ends of the narrow forming surface.

[0082] Adjusting the sliding motion at 235 may include adjusting the sliding motion between the narrow-length load and the end effector of the composite material in any preferred manner. For example, adjusting at 235 may include resisting the sliding motion between the narrow-length load and the end effector of the composite material when the shear force between them is below a threshold shear strength. For example, adjusting at 235 may include allowing the sliding motion when the shear force is above a threshold shear strength.

[0083] The adjustment in 235 may be carried out in any preferred manner. For example, the adjustment in 235 may include passively adjusting the sliding motion by selecting, for example, the coefficient of friction, static friction coefficient, and / or dynamic friction coefficient between the narrow load material (or elastomer film) of the composite material and the end effector. Another example is that the adjustment in 235 may include actively adjusting the sliding motion by selecting, for example, variations in the intensity of the pressure difference.

[0084] The adjustment at 235 may be performed in method 200 at any preferred timing and / or sequence. For example, the adjustment at 235 may be performed after positioning at 205, mounting at 210, and / or biasing at 225. As a further example, the adjustment at 235 may be performed after applying at 215, holding at 220, and / or moving at 230, at least partially simultaneously with and / or while these are being performed.

[0085] Compressing a narrow load in a composite material in 240 may include compressing the narrow load on and / or in contact with the narrow forming surface. This may include compressing through and / or utilizing a compression structure (an example of which is disclosed in this document with reference to compression structure 40).

[0086] Compression at 240 may be performed in method 200 at any preferred timing and / or sequence. For example, compression at 240 may be performed after positioning at 205, mounting at 210, applying at 215, holding at 220, and / or biasing at 225. As a further example, compression at 240 may be performed after moving at 230, adjusting at 235, and / or separating at 245, and / or at least partially simultaneously with these.

[0087] Separating the narrow end effector from the narrow load of the composite material in 245 may include creating and / or defining a separation relationship between the narrow end effector and the narrow load of the composite material. Separation in 245 may be performed in method 200 at any preferred timing and / or sequence. For example, separation in 245 may be performed after positioning in 205, mounting in 210, applying in 215, holding in 220, biasing in 225, and / or adjusting in 235. As a further example, separation in 245 may be performed while moving in 230 and / or compressing in 240 is being performed, and / or at least in part in accordance with these.

[0088] Exemplary and non-exclusive examples of the subject matter of the inventions described herein are set forth in the following clauses.

[0089] A1. A narrow end effector (100) is configured to apply tension to a narrow load material (90) made of composite material between both ends of the narrow forming surface (22) of a narrow forming tool (20), A narrow, elongated vacuum distribution manifold (118) includes a vacuum inlet (122) and a vacuum outlet (124) configured to receive an applied vacuum (62), A porous narrow vacuum region (142) configured to receive an applied vacuum (62) from a vacuum outlet (124) and generate a pressure difference, wherein the pressure difference is set to at least one of the following: holding a narrow load material (90) of composite material in contact with the porous narrow vacuum region (142), and biasing the narrow load material (90) of composite material toward the porous narrow vacuum region (142) or to contact the porous narrow vacuum region (142). Optionally, a narrow end effector (100) comprising a narrow friction surface (172) extending along the length of a porous narrow vacuum region (142), wherein at least one of the porous narrow vacuum region (142) and the narrow friction surface (172) is configured to generate a frictional force that resists sliding motion between the narrow end effector (100) and a narrow load (90) of composite material.

[0090] A2. A narrow-length vacuum distribution manifold (118) is defined by a manifold body (110) in the narrow-length end effector (100) as described in Clause A1.

[0091] A3. The manifold body (110) (i) Narrow manifold body, (ii) Tubular narrow manifold body, (iii) A rigid (or at least substantially rigid) narrow manifold body, (iv) Flexible manifold body, (v) Metal manifold body, and (vi) A polymer manifold body, at least one of which is a narrow-length end effector (100) as described in Clause A2.

[0092] A4. (i) A porous, narrow vacuum region (142) is operably mounted on the manifold body (110), (ii) The narrow, elongated friction surface (172) is operably mounted to the manifold body (110), . A narrow-length end effector (100) as described in at least one of clauses A2 or A3.

[0093] A5. A narrow-length end effector (100) as described in any one of clauses A2 to A4, wherein the vacuum outlet (124) is defined by a plurality of spaced-apart vacuum outlet openings (126) extending within the manifold body (110).

[0094] A6. A narrow-length end effector (100) as described in Clause A5, wherein the manifold body (110) defines a closed manifold region (112), the vacuum inlet (122) extends into the closed manifold region (112) or is in fluid communication with the closed manifold region (112), and furthermore, a plurality of spaced-apart vacuum outlet openings (126) extend from within the closed manifold region (112) or are in fluid communication with the closed manifold region (112).

[0095] A7. A narrow-length end effector (100) as described in any one of the clauses A1 to A6, wherein the vacuum outlet (124) is a narrow-length vacuum outlet that extends along the length (120) of the narrow-length vacuum distribution manifold (118).

[0096] A8. A narrow end effector (100) according to any one of clauses A1 to A7, wherein the vacuum outlet (124) includes a plurality of spaced-apart cross-supports (128) configured to structurally support a porous narrow vacuum region (142).

[0097] A9. A narrow end effector (100) as described in any one of clauses A1 to A8, wherein a porous narrow vacuum region (142) is defined by a manifold body (110) that defines a narrow vacuum distribution manifold (118).

[0098] A10. A narrow end effector (100) as described in any one of clauses A1 to A9, wherein a porous narrow vacuum region (142) is defined by a strip (140) of porous material.

[0099] A11. A narrow-length end effector (100) according to clause A10, wherein a strip (140) of porous material is operably attached to at least one of a narrow-length vacuum distribution manifold (118), a manifold body (110), and a vacuum outlet (124).

[0100] A12. A strip (140) of porous material, (i) Strips of open-cell foam, (ii) Strips of open-cell polyethylene foam, (iii) Strips of sintered material, and (iv) A strip of perforated material, comprising at least one of the following, a narrow-length end effector (100) as described in clause A10 or A11.

[0101] A13. The porous material thickness (154) of the porous material strip (140) is (i) at least 0.5 mm, at least 1 mm, at least 1.5 mm, at least 2 mm, at least 2.5 mm, at least 3 mm, at least 4 mm, or at least 5 mm, (ii) up to 10 mm, up to 9 mm, up to 8 mm, up to 7 mm, up to 6 mm, up to 5 mm, up to 4 mm, or up to 3 mm A narrow-length end effector (100) as described in any one of clauses A10 to A12, which is at least one of the above.

[0102] A14. A narrow-length end effector (100) according to any one of the clauses A10 to A13, wherein the manifold body (110) includes a manifold body recessed region (116) that at least partially defines a vacuum outlet (124), and further, a strip (140) of porous material is positioned at least partially within the manifold body recessed region (116).

[0103] A15. The manifold body (110) includes the outer surface (114), the recessed region (116) of the manifold body extends into the interior of the outer surface (114), and furthermore, a strip (140) of porous material protrudes from the outer surface (114) by a distance (156) of the body, and optionally, the body protrusion distance (156) is (i) at least 0.1 mm, at least 0.15 mm, at least 0.2 mm, at least 0.25 mm, at least 0.3 mm, at least 0.4 mm, or at least 0.5 mm, (ii) up to 1 mm, up to 0.9 mm, up to 0.8 mm, up to 0.7 mm, up to 0.6 mm, up to 0.5 mm, up to 0.4 mm, or up to 0.3 mm At least one of the narrow-length end effectors (100) described in Clause A14.

[0104] A16. A narrow-length end effector (100) according to clause A14 or A15, comprising a porous material recessed region (158) configured to receive a strip (170) of friction material defining a narrow-length friction surface (172) on a porous material strip (140).

[0105] A17. A narrow end effector (100) according to any one of the clauses A1 to A16, wherein the porous narrow vacuum region (142) is coplanar, at least partially coplanar, or at least substantially coplanar with the narrow friction surface (172).

[0106] A18. A narrow end effector (100) as described in any one of clauses A1 to A17, wherein a porous narrow vacuum region (142) defines a narrow friction surface (172).

[0107] A19. A narrow end effector (100) according to any one of clauses A1 to A18, wherein the porous narrow vacuum region (142) includes a first porous narrow vacuum region (150) and a second porous narrow vacuum region (152), the second porous narrow vacuum region (152) is spaced apart from the first porous narrow vacuum region (150), and further, a narrow friction surface (172) extends between the first porous narrow vacuum region (150) and the second porous narrow vacuum region (152).

[0108] A20. A narrow end effector (100) according to any one of the clauses A1 to A19, wherein the porous narrow vacuum region (142) is flat, or at least substantially flat, porous narrow vacuum region (142).

[0109] A21. The vacuum surface width (144) of the porous narrow vacuum region (142) is, (i) at least 2 mm, at least 4 mm, at least 6 mm, at least 8 mm, or at least 10 mm, (ii) up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm, or up to 8 mm A narrow-length end effector (100) as described in any one of clauses A1 to A20, which is at least one of the above.

[0110] A22. The vacuum surface aspect ratio of the porous, narrow, and elongated vacuum region (142) is, (i) at least 100, at least 200, at least 300, at least 400, at least 500, at least 600, at least 700, at least 800, at least 900, or at least 1,000, (ii) up to 5,000, up to 4,000, up to 3,000, up to 2,000, up to 1,500, or up to 1,000 A narrow-length end effector (100) as described in at least one of the clauses A1 to A21.

[0111] A23. A narrow-length end effector (100) as described in any one of clauses A1 to A22, wherein the narrow-length friction surface (172) is defined by a manifold body (110) that defines a narrow-length vacuum distribution manifold (118).

[0112] A24. A narrow-length end effector (100) as described in any one of clauses A1 to A23, wherein the narrow-length friction surface (172) is defined by a strip (170) of friction material.

[0113] A25. A strip of friction material (170) (i) A narrow, elongated vacuum distribution manifold (118), (ii) A strip (140) of porous material defining a porous narrow vacuum region (142), A narrow-length end effector (100) as described in Clause A24, which is operably mounted on at least one of the two sides.

[0114] A26. A strip of friction material (170) (i) Strips of elastic material, (ii) Strips of textured material, (iii) Strips of material exhibiting a static friction coefficient higher than that of the porous narrow vacuum region (142), (iv) Strips of material exhibiting a coefficient of dynamic friction higher than that of the porous narrow vacuum region (142), and (v) A narrow-length end effector (100) as described in clause A24 or A25, comprising at least one of the following: (v) a rubber strip.

[0115] A27. The friction material thickness (180) of the friction material strip (170) is (i) at least 0.5 mm, at least 1 mm, at least 1.5 mm, at least 2 mm, at least 2.5 mm, at least 3 mm, at least 4 mm, or at least 5 mm, (ii) up to 10 mm, up to 9 mm, up to 8 mm, up to 7 mm, up to 6 mm, up to 5 mm, up to 4 mm, or up to 3 mm, and (iii) Less than the porous material thickness (154) of the porous material strip (140), A narrow-length end effector (100) as described in any one of the clauses A24 to A26, which is at least one of the following.

[0116] A28. A narrow-length end effector (100) as described in any one of the clauses A1 to A27, wherein the narrow-length friction surface (172) is defined by a roughened surface, and optionally the roughened surface includes a grit blast surface.

[0117] A29. The narrow, elongated friction surface (172) (i) a flat, or at least substantially flat, narrow, elongated friction surface (172), (ii) Defining the arc-shaped region, A narrow-length end effector (100) as described in any one of the clauses A1 to A28, which is at least one of the above.

[0118] A30. The friction surface width (174) of the narrow, elongated friction surface (172) is, (i) at least 2 mm, at least 4 mm, at least 6 mm, at least 8 mm, or at least 10 mm, (ii) up to 25 mm, up to 20 mm, up to 15 mm, up to 10 mm, or up to 8 mm A narrow-length end effector (100) as described in any one of the clauses A1 to A29, which is at least one of the above.

[0119] A31. The aspect ratio of the friction surface of the narrow, elongated friction surface (172) is (i) at least 100, at least 200, at least 300, at least 400, at least 500, at least 600, at least 700, at least 800, at least 900, or at least 1,000, (ii) up to 5,000, up to 4,000, up to 3,000, up to 2,000, up to 1,500, or up to 1,000 A narrow-length end effector (100) as described in any one of the clauses A1 to A30, at least one of the above.

[0120] A32. The narrow, elongated friction surface (172) has a friction surface area, and the porous, narrow, elongated vacuum region (142) has a vacuum surface area, and the friction surface area is a threshold multiple of the vacuum surface area, and furthermore, the threshold multiple is (i) at least 0.1, at least 0.2, at least 0.3, at least 0.4, at least 0.5, at least 0.6, at least 0.7, at least 0.8, at least 0.9, at least 1, at least 1.1, at least 1.2, at least 1.3, at least 1.4, or at least 1.5, and (ii) up to 2, up to 1.8, up to 1.6, up to 1.5, up to 1.4, up to 1.3, up to 1.2, up to 1.1, up to 1, up to 0.9, up to 0.8, up to 0.7, up to 0.6, or up to 0.5 . A narrow-length end effector (100) as described in any one of the clauses A1 to A31, which is at least one of the above.

[0121] B1. A forming system (10) configured to form a narrow-length composite material load (90) into a predetermined material shape, A narrow and elongated forming tool (20) having a narrow and elongated forming surface (22) with a forming surface shape corresponding to a predetermined material shape, A forming system (10) comprising: a narrow end effector (100) as described in any one of clauses A1 to A32, which is configured to apply tension to a narrow load material (90) of composite material between both ends of a narrow forming surface (22).

[0122] B2. Forming system (10) according to clause B1, wherein the narrow forming surface (22) includes an upper forming surface region (24), a lower forming surface region (28), and a transition region (26) between the upper forming surface region (24) and the lower forming surface region (28).

[0123] B3. The forming system (10) according to clause B2, wherein the upper forming surface region (24) is horizontal or at least substantially horizontal.

[0124] B4. The forming system (10) according to clause B2 or B3, wherein the lower forming surface region (28) is a vertical or at least substantially vertical lower forming surface region (28).

[0125] B5. A forming system (10) according to any one of the clauses B2 to B4, wherein the upper forming surface region (24) extends perpendicular to or at least substantially perpendicular to the lower forming surface region (28).

[0126] B6. The transition area (26) is. (i) Edge of the narrow elongated forming surface (22), (ii) the outer edge of the narrow forming surface (22), and (iii) Convex region of the narrow elongated forming surface (22), A forming system (10) as described in any one of clauses B2 to B5, defining at least one of the above.

[0127] B7. A forming system (10) according to any one of clauses B1 to B6, further comprising an end effector positioning structure (30) configured to movably move a narrow end effector (100) in parallel with respect to the narrow forming surface (22) in order to apply tension to a narrow loading member (90) of composite material between both ends of the narrow forming surface (22).

[0128] B8. The narrow end effector positioning structure (30) (i) Move the narrow end effector (100) in a movable parallel direction perpendicular to the narrow forming surface (22), (ii) Moving the narrow end effector (100) in a movable parallel direction with respect to the narrow forming surface (22), and (iii) Rotating or pivoting the narrow end effector (100) in a plane perpendicular to the narrow axis (29) of the narrow forming surface (22), A forming system (10) as described in Clause B7, configured to perform at least one of the following:

[0129] B9. The forming system (10) according to Clause B7 or B8, wherein the end effector positioning structure (30) is configured to maintain a target distance between the narrow end effector (100) and the narrow forming surface (22) while the narrow end effector (100) is movably translated relative to the narrow forming surface (22) to apply tension to the narrow load (90) of the composite material between both ends of the narrow forming surface (22).

[0130] B10. Forming system (10) according to any one of clauses B7 to B9, wherein both the end effector positioning structure (30) and the narrow end effector (100) define a narrow load positioning system (38) configured to position a narrow load (90) of composite material on a narrow forming surface (22) network.

[0131] B11. A forming system (10) according to any one of the clauses B1 to B10, comprising a compression structure (40) configured to compress a narrow-length load member (90) of composite material by bringing it into contact with a narrow-length forming surface (22).

[0132] B12. The compression structure (40) (i) A forming bladder configured to expand and compress the narrow and elongated loading material (90) of the composite material by bringing it into contact with the narrow and elongated forming surface (22), (ii) A sweep structure configured to sweep a narrow load member (90) of composite material from end to end, and to bring the narrow load member (90) of composite material into contact with a narrow forming surface (22) and compress it, and (iii) A line contact structure configured to move the line contact from end to end of the narrow load member (90) of the composite material, thereby bringing the narrow load member (90) of the composite material into contact with the narrow forming surface (22) and compressing it, A forming system (10) as described in Clause B11, comprising at least one of the following.

[0133] B13. The compression structure (40) is a forming system (10) according to clause B11 or B12, configured to compress the narrow-length load (90) of the composite material while the narrow-length end effector (100) maintains tension inside the narrow-length load (90) of the composite material.

[0134] B14. The forming system (10) according to any one of clauses B11 to B13, wherein the compression structure (40) is configured to bias the narrow end effector (100) so that it does not come into contact with the narrow end effector (90) of the composite material during compression of the narrow end effector (90).

[0135] B15. The forming system (10) according to any one of clauses B1 to B14, further comprising an elastomer film (70) configured to support the narrow load (90) of the composite material while the forming system (10) is forming the narrow load (90) of the composite material.

[0136] B16. The forming system (10) according to clause B15, wherein the elastomer film (70) comprises polymer film formation.

[0137] B17. Forming system (10) according to clause B15 or B16, where the elastomer film (70) is positioned between the narrow end effector (100) and the narrow end effector (100), physically separating the narrow end effector (100) from the narrow end effector (100) and separating the narrow end effector (100) from the narrow end effector (100), and separating the narrow end effector (100) from the narrow end effector (100).

[0138] B18. A narrow, elongated load made of composite material (90) (i) at least one ply of the composite material, (ii) just one ply of the composite material, and (iii) Multiple plies of composite material, A forming system (10) according to any one of the clauses B1 to B17, comprising at least one of the following.

[0139] B19. A narrow, elongated load made of composite material (90) (i) comprising at least one ply of composite material in which the fibers are oriented parallel to, only parallel to, or at least substantially parallel to, the narrow-lengthening axis (29) of the narrow-lengthening tool (20), (ii) A single ply of the composite material in which the fibers are oriented parallel to, or at least substantially parallel to, the narrow-length axis (29) of the narrow-length forming tool (20), A forming system (10) described in any one of the clauses B1 to B18, which is at least one of the above.

[0140] B20. A narrow, elongated load made of composite material (90) (i) Pre-impregnated composite fibers, (ii) A resin-injected fiber structure, and (iii) Materials reinforced with thermoplastic fibers, A forming system (10) according to any one of the clauses B1 to B19, comprising at least one of the following.

[0141] B21. A forming system (10) according to any one of the clauses B1 to B20, wherein the narrow load (90) of the composite material comprises, or is defined by, a plurality of fibers and a resin material.

[0142] B22. The forming system (10) according to Clause B21, wherein the resin material comprises at least one of thermosetting resins, epoxy, thermosetting epoxy, adhesives, thermosetting adhesives, polymers, and thermosetting polymers.

[0143] B23. Forming system (10) according to clause B21 or B22, wherein the multiple fibers include at least one of multiple carbon fibers, multiple polymer fibers, multiple glass fibers, multiple organic fibers, multiple inorganic fibers, and multiple metallic fibers.

[0144] B24. A forming system (10) according to any one of clauses B1 to B23, including a narrow-length loading member (90) made of composite material.

[0145] B25. A forming system (10) according to any one of clauses B1 to B24, combined with a narrow-length loading member (90) of composite material.

[0146] B26. A forming system (10) according to any one of the clauses B1 to B25, wherein the mounting area (92) of a narrow-length load member (90) of composite material is operably mounted on a narrow-length forming surface (22).

[0147] B27. A forming system (10) according to any one of clauses B1 to B26, wherein the holding region (94) of a narrow and elongated load material (90) of a composite material is held in a porous, narrow and elongated vacuum region (142) by a pressure difference.

[0148] B28. The forming system (10) further includes a load positioning structure (50), the load positioning structure (50) further configured to selectively bias the narrow load (90) of the composite material to contact the porous narrow vacuum region (142) of the narrow end effector (100) when the narrow load (90) of the composite material is positioned on the narrow forming surface (22) and the narrow end effector (100) is positioned proximal to the narrow forming surface (22), as described in any one of the clauses B1 to B27.

[0149] B29. The load-bearing positioning structure (50) (i) Operablely mounted on the narrowing tool (20), (ii) at least partially defined by the narrowing tool (20), (iii) Operablely mounted on a narrow end effector (100), (iv) at least partially defined by the narrow end effector (100), and (v) The narrow load member (90) of the composite material is configured to move together with the narrow end effector (100) while it is being pulled between both ends of the narrow forming surface (22). A forming system (10) as described in Clause B28, which is at least one of the following.

[0150] B30. The load-bearing positioning structure (50) (i) A plurality of air nozzles configured to selectively discharge an airflow that biases a narrow load material (90) of composite material toward or into contact with a narrow end effector (100), (ii) an air knife configured to selectively release an airflow that biases a narrow load material (90) of composite material toward or into contact with the narrow end effector (100), and (iii) A mechanical assembly configured to selectively bias a narrow load member (90) of composite material toward or into contact with a narrow end effector (100), A forming system (10) according to clause B28 or B29, comprising at least one of the following.

[0151] B31. A forming system (10) according to any one of the clauses B1 to B30, further comprising a vacuum source (60) configured to generate an applied vacuum (62) and to provide the applied vacuum (62) to the vacuum inlet (122) of a narrow end effector (100).

[0152] B32. (i) at least 10 kilopascals (kPa), at least 15 kPa, at least 20 kPa, at least 25 kPa, at least 30 kPa, at least 35 kPa, at least 40 kPa, and (ii) up to 60kPa, up to 50kPa, up to 40kPa, up to 30kPa, or up to 20kPa A forming system (10) according to clause B31, configured to generate an applied vacuum (62) having at least one vacuum strength.

[0153] C1. A method (200) for applying tension to a narrow load material (90) of composite material between both ends of the narrow forming surface (22) of a narrow forming tool (20), Positioning the narrow and elongated composite material load (90) on the narrow and elongated forming surface (22) (205), The mounting area (92) of the narrow and elongated load material (90) of the composite material is attached (210) to the narrow and elongated forming surface (22), The method optionally includes applying an applied vacuum (62) (215) to the vacuum inlet (122) of the narrow vacuum distribution manifold (118) of the narrow end effector (100) to generate a pressure difference on both sides of the porous narrow vacuum region (142) of the narrow end effector (100), (i) By the pressure difference, the holding region (94) of the narrow load material (90) of the composite material is held in a porous narrow vacuum region (142) (220), (ii) By a pressure difference, the narrow load material (90) of the composite material is biased (225) toward the porous narrow vacuum region (142) or to come into contact with the porous narrow vacuum region (142). Including at least one of the above, While holding (220), move the narrow end effector (100) away from the mounting area (92) of the narrow end effector (90) of the composite material so that tension is applied to the narrow end load (90) of the composite material between both ends of the narrow end forming surface (22) (230), A method (200) comprising, while moving (230), using at least one of the narrow-length end effector (100) and the narrow-length friction surface (172) of the narrow-length end effector (100) to resist sliding motion between the narrow-length loader (90) and the narrow-length end effector (100) if the shear force between the narrow-length loader (90) and the narrow-length end effector (100) and the narrow-length friction surface (172) of the composite material is below a threshold shear force strength, and allowing sliding motion between the narrow-length loader (90) and the narrow-length end effector (100) of the composite material if the shear force exceeds a threshold shear force strength.

[0154] C2. The method (200) of clause C1, further comprising biasing the holding region (94) of the narrow-length composite load (90) toward a porous narrow-length vacuum region (142) using a load positioning structure (50) prior to holding (220).

[0155] C3. The method (200) of clause C1 or C2, further comprising using a compression structure (40) to compress (240) a narrow-length load member (90) of composite material against a narrow-length forming surface (22).

[0156] C4. Compressing (240) (i) after moving (230), and (ii) At the same time as moving at least partially (230), The method described in clause C3 (200) is performed on at least one of the following.

[0157] C5. (I) While compressing (240), (ii) In accordance with compressing (240), The method according to clause C3 or C4 (200), further comprising (245) separating the narrow end effector (100) from the narrow load (90) of the composite material.

[0158] C6. A narrow load (90) of composite material is supported by an elastomer film (70), and the elastomer film (70) is positioned between the narrow load (90) of composite material and the narrow end effector (100) while holding (220), moving (230), and resisting, physically separating the narrow load (90) of composite material from the narrow end effector (100), and separating the narrow load (90) of composite material from the narrow end effector (100), the method (200) of any one of these.

[0159] C7. The method according to clause C6 (200), further comprising moving (230) to stretch the elastomer film (70) in order to apply tension to the narrow load material (90) of the composite material between both ends of the narrow forming surface (22).

[0160] C8. The method (200) described in any one of the clauses C1 to C7, which is carried out using any suitable structure of the narrow-length end effector (100) described in any one of the clauses A1 to A32 and / or the forming system (10) described in any one of the clauses B1 to B32.

[0161] D1. The use of an end effector (100) that includes both a porous narrow vacuum region (142) and a narrow friction surface (172) to apply tension to a narrow load (90) of composite material between both ends of the narrow forming surface (22) of the narrow forming tool (20).

[0162] D2. Use of a narrow-length end effector (100) described in any one of clauses A1 to A32 or a forming system (10) described in any one of clauses B1 to B32, in the manner described in any one of clauses C1 to C8 (200).

[0163] D3. Use of the method described in any one of the clauses C1 to C8 (10) using a narrow-length end effector (200) described in any one of the clauses A1 to A32, or a forming system (100) described in any one of the clauses B1 to B32.

[0164] As used in this book, the terms “selective” and “selectively” mean that, when modifying the operation, motion, configuration, or other movement of one or more components of a device, or one or more characteristics of such device, the particular operation, motion, configuration, or other movement is a direct or indirect result of the user operating one aspect of the device or one or more components of such device.

[0165] As used herein, the terms “adapted” and “configured” mean that an element, component, or other object is designed and / or intended to perform a given function. Therefore, the use of the terms “adapted” and “configured” should not be interpreted as meaning that a given element, component, or other object is merely “capable of” performing a given function, but rather as meaning that such element, component, and / or other object is specifically selected, produced, implemented, utilized, programmed, and / or designed for the purpose of performing that function. The scope of this disclosure also includes the possibility that an element, component, and / or other object described as adapted to perform a particular function may be described as configured to perform that function additionally or alternatively, and vice versa. Similarly, an object described as configured to perform a particular function may also be described as operable to perform that function additionally or alternatively.

[0166] When used in this book, the relevant expression "at least one" in relation to an enumeration of one or more entities means at least one entity selected from any one or more of the enumerated entities, but it should be understood that this does not necessarily mean that it must include at least one of every entity specifically enumerated in the enumeration of entities, nor does it exclude any combination of entities in the enumeration of entities. Furthermore, this definition allows for the optional existence of entities other than those specifically identified in the expression "at least one" in the enumeration of entities (whether related to such specifically identified entities or not). Therefore, as a non-restrictive example, “at least one of A and B” (or similarly “at least one of A or B” or similarly “at least one of A and / or B”) may, in one embodiment, refer to at least one A (optionally including two or more A's) and the absence of B (and optionally including other real entities other than B); in another embodiment, refer to at least one B (optionally including two or more B's) and the absence of A (and optionally including other real entities other than A); and in yet another embodiment, refer to at least one A (optionally including two or more A's) and at least one B (optionally including two or more B's) (and optionally including other real entities). In other words, the expressions “at least one,” “one or more,” and “and / or” are open-ended expressions that are both connective and separate in their function. For example, the expressions "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" may mean A only, B only, C only, A and B, A and C, B and C, A, B and C, and optionally, any combination of any of the above with at least one other real entity.

[0167] The elements and steps of the various apparatuses and methods disclosed herein are not required for all apparatuses and methods provided herein, and this disclosure includes all novel and inventive combinations and partial combinations of the various elements and steps disclosed herein. Furthermore, one or more of the various elements and steps disclosed herein may define an independent subject matter separate from the entirety of the disclosed apparatus or method. Accordingly, such subject matter does not need to be related to any specific apparatus or method explicitly disclosed herein, and such subject matter may provide usefulness in apparatuses and / or methods not explicitly disclosed herein.

[0168] When used herein, the expressions “for example,” “as an example,” and / or simply “example,” when used in relation to one or more components, features, details, structures, embodiments, and / or methods of the Disclosure, are intended to convey that the aforementioned components, features, details, structures, embodiments, and / or methods are illustrative and non-limiting examples of the components, features, details, structures, embodiments, and / or methods of the Disclosure. Therefore, the aforementioned components, features, details, structures, embodiments, and / or methods are not intended to be limiting, required, or restrictive / exclusive, and other components, features, details, structures, embodiments, and / or methods, including those that are structurally and / or functionally similar and / or equivalent, are also included in the scope of the Disclosure.

[0169] When used in this book, the expression "at least substantially" when modifying a degree or relationship may include not only the "substantial" degree or relationship described, but also the full extent of the described degree or relationship. The substantial amount of a described degree or relationship may include at least 75% of the described degree or relationship. For example, an object formed at least substantially from a certain material includes an object formed at least 75% from that material, and also includes an object formed entirely from that material. Another example is a first length that is at least substantially the same as a second length, which includes a first length that is no more than 75% of the second length, and also includes a first length that is the same as the second length.

Claims

1. A forming system (10) configured to form a narrow and long composite material load (90) into a predetermined material shape, A narrow forming tool (20) having a narrow forming surface (22) with a forming surface shape corresponding to the predetermined material shape, The narrow end effector (100) is configured to apply tension to the narrow load material (90) of the composite material between both ends of the narrow forming surface (22), and further, the narrow end effector (100) (i) A narrow, elongated vacuum distribution manifold (118) including a vacuum inlet (122) and a vacuum outlet (124) configured to receive an applied vacuum (62), (ii) A porous narrow vacuum region (142) configured to receive the applied vacuum (62) from the vacuum outlet (124) and generate a pressure difference, wherein the pressure difference is set to keep the narrow load material (90) of the composite material in contact with the porous narrow vacuum region (142), and (iii) A narrow friction surface (172) extending along the length of the porous narrow vacuum region (142), the narrow friction surface (172) being configured to generate a frictional force that resists sliding motion between the narrow end effector (100) and the narrow load material (90) of the composite material, Forming system (10).

2. The forming system (10) according to claim 1, wherein the narrow forming surface (22) includes an upper forming surface region (24), a lower forming surface region (28), and a transition region (26) between the upper forming surface region (24) and the lower forming surface region (28).

3. The forming system (10) according to claim 2, wherein the transition region (26) defines the convex region of the narrow forming surface (22).

4. The forming system (10) according to any one of claims 1 to 3, further comprising an end effector positioning structure (30) configured to movably move the narrow end effector (100) in parallel with respect to the narrow forming surface (22) in order to apply tension to the narrow loading material (90) of the composite material between both ends of the narrow forming surface (22).

5. The forming system (10) according to any one of claims 1 to 4, further comprising a compression structure (40) configured to compress the narrow and elongated loading material (90) of the composite material by bringing it into contact with the narrow and elongated forming surface (22).

6. (i) The compression structure (40) is configured to compress the narrow load member (90) of the composite material while the narrow end effector (100) maintains tension inside the narrow load member (90) of the composite material, (ii) The compression structure (40) is configured to bias the narrow end effector (100) so that it does not come into contact with the narrow load member (90) of the composite material during compression of the narrow load member (90) of the composite material. The forming system (10) according to claim 5, wherein at least one of the above is true.

7. The forming system (10) further includes an elastomer film (70) configured to support the narrow load (90) of the composite material while the forming system (10) is forming the narrow load (90) of the composite material, wherein the elastomer film (70) is positioned between the narrow load (90) of the composite material and the narrow end effector (100) while the narrow end effector (100) is applying tension to the narrow load (90) of the composite material between both ends of the narrow forming surface (22), according to any one of claims 1 to 6.

8. Forming system (10) according to any one of claims 1 to 7, further comprising a load positioning structure (50) configured to selectively bias the narrow load (90) of the composite material to contact the porous narrow vacuum region (142) of the narrow end effector (100) when the narrow load (90) of the composite material is positioned on the narrow forming surface (22) and the narrow end effector (100) is positioned proximal to the forming surface.

9. The aforementioned load material positioning structure (50) (i) A plurality of air nozzles configured to selectively discharge an airflow that biases the narrow load material (90) of the composite material toward the narrow end effector (100) or to contact the narrow end effector (100), (ii) an air knife configured to selectively release an airflow that biases the narrow load material (90) of the composite material toward the narrow end effector (100) or to contact the narrow end effector (100), and (iii) A mechanical assembly configured to selectively bias the narrow load member (90) of the composite material toward the narrow end effector (100) or to contact the narrow end effector (100), The forming system (10) according to claim 8, comprising at least one of the following.

10. The forming system (10) according to any one of claims 1 to 9, further comprising a vacuum source (60) configured to generate the applied vacuum (62) and to provide the applied vacuum (62) to the vacuum inlet (122) of the narrow end effector (100).

11. Forming system (10) according to any one of claims 1 to 10, wherein the porous narrow vacuum region (142) is defined by a strip (140) of porous material.

12. The forming system (10) according to claim 11, wherein the forming system (10) includes a manifold body (110) defining the narrow-elongated vacuum distribution manifold (118), the manifold body (110) includes a manifold body recessed region (116) that at least partially defines the vacuum outlet (124), the porous material strip (140) is at least partially positioned within the manifold body recessed region (116), the forming system (10) further includes a friction material strip (170) defining the narrow-elongated friction surface (172), the porous material strip (140) includes a porous material recessed region (158) configured to receive the friction material strip (170), and the porous narrow-elongated vacuum region (142) surrounds the narrow-elongated friction surface (172).

13. A method (200) for applying tension to a narrow load material (90) of composite material between both ends of the narrow forming surface (22) of a narrow forming tool (20), Positioning the narrow and elongated loading material (90) of the composite material on the narrow and elongated forming surface (22) (205), The mounting area (92) of the narrow and elongated load material (90) of the composite material is attached (210) to the narrow and elongated forming surface (22), Applying a vacuum (62) (215) to generate a pressure difference on both sides of the porous narrow vacuum region (142) of the narrow end effector (100), The pressure difference causes the holding region (94) of the narrow load material (90) of the composite material to be held in the porous narrow vacuum region (142) (220), While holding (220), move the narrow end effector (100) away from the mounting area (92) of the narrow end effector (100) of the composite material so that tension is applied to the narrow end load (90) of the composite material between both ends of the narrow forming surface (22) (230), A method (200) comprising, while moving (230), using the narrow end effector (100), resisting the sliding motion between the narrow load member (90) of the composite material and the narrow end effector (100) when the shear force between the narrow load member (90) of the composite material and the narrow end effector (100) is below the threshold shear force strength, and allowing the sliding motion between the narrow load member (90) of the composite material and the narrow end effector (100) when the shear force exceeds the threshold shear force strength.

14. Prior to holding (220), the method further includes using a load positioning structure (50) to bias the holding region (94) of the narrow load material (90) of the composite material toward the porous narrow vacuum region (142) (225), and using a compression structure (40) to bring the narrow load material (90) of the composite material into contact with the narrow forming surface (22) and compress it (240), (i) After the above-mentioned movement (230), (ii) At least partially simultaneously with the movement (230), The method of claim 13 (200), further comprising compressing (240) performed on at least one of the two.

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