Automatic mould stripping system

An automatic mould stripping system for moulding modules located in a curing tool in which an aeronautical piece has been cured, comprising:

• a programmable robot comprising at least one articulated arm with one end free, first actuation means for conferring a horizontal rotary movement to the articulated arm, second actuation means for conferring a vertical tilting movement to the articulated arm, and a head located in the free end of the articulated arm with at least one vacuum suction pad able, when it is given a vacuum, to adhere itself to a surface of at least one object to be displaced selected from between said modules and some rubber separators;
• a voiding system for generating a vacuum at least when said suction pad is positioned on the surface of the object to be displaced;
• wherein the system further comprises
• referencing means for referencing the vertical and horizontal position of each object in an initial position in which the object is found and a final position to which the object must be displaced;
• 3D processing means of the modules for calculating the geometry parameters of the modules;
• module selection means to be stripped in order to optimize the space in a bin where the modules are loaded;
• programmable controlling means which govern said actuation means so that the articulated arm can position the at least one suction pad, in function of the geometry parameters of the object, on that surface of the object in said initial position and transport it to said final position, and which order said voiding system to create the vacuum in the at least one suction pad when it is positioned on said surface in said initial position, and to cease to create said vacuum when the object has been transported to said final position;
• at least one hammer placed in the head of the robot to break the rests of material in the contour of the modules after the mould stripping process of the module;