CN105128363A - System for solving springback phenomenon in composite material laying process - Google Patents
System for solving springback phenomenon in composite material laying process Download PDFInfo
- Publication number
- CN105128363A CN105128363A CN201510292533.6A CN201510292533A CN105128363A CN 105128363 A CN105128363 A CN 105128363A CN 201510292533 A CN201510292533 A CN 201510292533A CN 105128363 A CN105128363 A CN 105128363A
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- laying
- rebound phenomenon
- pressure roller
- composite material
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Moulding By Coating Moulds (AREA)
Abstract
The invention relates to a system for solving a springback phenomenon in a composite material laying process, and the system based on a torque/force sensor and a three-dimensional morphology measurement system is used for solving the springback phenomenon of a prepreg tape in the composite material laying process. Based on six-axis robot platform, motion control on a tape laying head is achieved easily; a joint of the tail end of a robot and the tape laying head is provided with the torque/force sensor, the pressure of a main press roller of the tape laying head is detected real-timely, and constant-pressure laying is ensured as far as possible to be used for preventing generation of the springback phenomenon; the three-dimensional morpography measurement system is equipped, a workpiece contour is reconstructed, and a video detection technology is used for quality control of the composite material laying process; the original tape laying head is equipped with an auxiliary compaction device and an auxiliary heating system, under heating of the auxiliary heating system, the auxiliary compaction device can recompact the prepreg tape of regions generating the springback phenomenon, and the probability of springback phenomenon generation is reduced to the minimum, so as to realize full-automatic laying with high quality and high efficiency.
Description
Technical field
The present invention relates to a kind of system of the rebound phenomenon solved in composite material laying process, for composite automatic placement field, solve the rebound phenomenon produced in prepreg tape laid course.Realize the full-automatic lay of composite truly.
Background technology
Composite is more and more extensive in aerospace field application, and demonstrates irreplaceable critical role.
Composite is representative with carbon fiber enhancement resin base composite material, has lightweight, high-strength, high-modulus, endurance, anticorrosive, structure-function integration and integrated manufacturing system (IMS), is easy to the outstanding advantages such as shaping large-scale component.Widely apply advanced composite material to be the important channel of improving aerospace flight vehicle, delivery vehicle and effectiveness of weapon equipment, its consumption had become the important symbol of aerospace flight vehicle advance already.
Advanced composite material is widely used in aerospace industry field with the combination property of its excellence, but the cost of advanced composite material is far above metal material, and high cost has become the major obstacle that composite expands application.
Through effort for many years, define the composite low-cost technologies system be made up of lower cost materials technology, low-cost design manufacturing technology and working service technology.At present, advanced composite material low-cost manufacturing technique mainly comprises two classes: 1) based on the technology such as RTM, VARTM of liquid molding; 2) based on Filament-wound Machine technology, pultrusion technique and automatic placement technology that prepreg tape (material) is shaped.Wherein, composite automatic placement technology is the key technology increasing composite consumption, raising manufacturing technology level and efficiency, ensure product quality and reduce costs.
Abroad, automatic placement technology is quite ripe, and is widely used in actual production.Domesticly also carry out the research of correlation technique, also achieve corresponding progress, but distance practical engineering application also exists very large distance, really also there is a lot of problem has to be solved, wherein, the rebound phenomenon in the laid course of composite is exactly in one.
Involved in the present invention to rebound phenomenon mainly refer in the process of automatic placement curve surface work pieces; due to the factor such as uneven of platen pressure cause treating lay prepreg tape cannot with core or lay good below the prepreg tape of one deck closely combine; finally due to the effect of tension force; make already to spread the prepreg tape covered again to upspring; i.e. so-called rebound phenomenon; as shown in Figure 3; wherein a is mandrel surface or prepreg tape that lay is good, and b is the prepreg tape producing rebound phenomenon.
This resilience belongs to the important defect in one, composite material laying field, the quality of final finished will be had a strong impact on if do not processed, percent defective is promoted greatly, significantly improve production cost, seriously cause the wasting of resources, the most important thing is, the workpiece major applications that this mode is produced is in aviation field, if this potential mass defect does not detect will cause immeasurable loss, therefore find a kind of method solving rebound phenomenon most important.
At present, the artificial Real-Time Monitoring of domestic main employing the method for manual compacting solve, seeming feasible, is in fact but a kind of semi-automatic lay, against the original intention of automatic placement, add the labour intensity of staff simultaneously, the most important thing is to have a strong impact on spreading and efficiency, therefore, seek a kind of prevent the generation of rebound phenomenon or rebound phenomenon produce after detect its method whether produced, and take appropriate measures and solve this phenomenon, still there is very large researching value.
Summary of the invention
The present invention mainly solves the technical problem existing for prior art; Provide the complete fully-automated synthesis of a kind of overall process, analysis, process, substantially do not need artificial participation, greatly reduce human and material resources cost, significantly improve the system of a kind of rebound phenomenon solved in composite material laying process of spreading and lay efficiency.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of system of the rebound phenomenon solved in composite material laying process, it is characterized in that, comprise 6 axle robots, the laying head be arranged in 6 axle robots, be arranged on workpiece below laying head, one for carrying out auxiliary compaction apparatus and an auxiliary heating system of secondary compaction; A three dimensional shape measurement system is provided with above described workpiece;
Described auxiliary compaction apparatus and auxiliary heating system are all connected on laying head along with the motion of first of laying, described auxiliary compaction apparatus comprises one to be only had the cylinder of the free degree moved up and down and is connected to the auxiliary pressure roller of air cylinder driven bar, the horizontal range of the axis of the auxiliary axis of pressure roller and the main pressure roller of laying head should be greater than the reaction time of system and the time sum of generation needed for rebound phenomenon and the product of depositing speeds, that is: suppose that this distance is for d, depositing speeds is v, it is t1 that prepreg tape is layed onto from paving the time that workpiece experiences to generation rebound phenomenon, the reaction time of system is t2, then d>v* (t1+t2),
Described auxiliary heating system is between main pressure roller and auxiliary pressure roller, for heating the prepreg tape under auxiliary pressure roller, thermal source adopts hot blast, the Fast Heating to needing heating region can be realized, the prepreg tape in this region is softened, viscosity strengthens, and is convenient to the again compacting of auxiliary compaction apparatus to the prepreg tape in generation rebound phenomenon region;
Described 6 axle robots, auxiliary compaction apparatus are all connected with a controller with auxiliary heating system;
This system also comprises a power/torque sensor, be arranged on the connecting portion of six-joint robot end and laying head, for detecting the pressure of main pressure roller and workpiece in laid course in real time, control the lay of constant pressure, the generation of prevention rebound phenomenon, meanwhile, three dimensional shape measurement system carries out measuring three-dimensional morphology, detect and whether there occurs rebound phenomenon, then solve resilience by the auxiliary compaction apparatus of controller startup and auxiliary heating system work.
In the system of above-mentioned a kind of rebound phenomenon solved in composite material laying process, described three dimensional shape measurement system is used for the Real-time Feedback to workpiece profile, then send by master controller the work that signal controls auxiliary heating system and auxiliary compaction apparatus, this measuring three-dimensional profile system comprises the sensor forming workpiece profile detecting unit, and described sensor is 3 dimension laser range finders or based on 3 dimension rangefinders of femtosecond laser or two-dimensional grating or binocular camera.
Therefore, tool of the present invention has the following advantages: 1, first by the feedback of moment/force snesor to ensure identical tension lay, the generation of rebound phenomenon is prevented from basic reason, to still be eliminated by issuable rebound phenomenon by a small margin by auxiliary compaction apparatus again, so substantially, thoroughly can solve rebound phenomenon, thus ensure that the quality of final finished; 2, due to the complete fully-automated synthesis of overall process, analysis, process, substantially do not need artificial participation, greatly reduce human and material resources cost, significantly improve spreading and lay efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of whole system.
Fig. 2 is the tomograph that middle berth of the present invention is taken the lead, for illustration of auxiliary compaction apparatus.
Fig. 3 is the schematic diagram that rebound phenomenon occurs in the present invention.
Fig. 4 be in the present invention spring-back area by the schematic diagram of compacting again.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
Fig. 1 is the general structure schematic diagram about whole system of the present invention.Moment/the force snesor being positioned at six-joint robot end and laying head junction detects the lay pressure of main pressure roller in real time; The Real-time Feedback of three dimensional shape measurement system 106 pairs of workpiece 105 profiles, then sends signal control auxiliary heating system 104 as shown in Figure 4 and the work of auxiliary compaction apparatus 103 by master controller.
First laying 102 under the drive of six-joint robot 101 according to projected path lay, meanwhile, be positioned at robot end and be connected the pressure that the moment/force snesor detects main lay on roller in placement head in real time with placement head, and by this signal transmission to control system, control system receive after this signal with pre-set pressure ratio comparatively, judge whether larger deviation, determine the need of adjustment pressure, and this feedback signal is passed to cylinder, the pressure of pressure roller is regulated by the pressure of adjusting cylinders, ensure the constant pressure lay in laid course as far as possible, namely the consolidation effect that guarantee one is good, the generation of rebound phenomenon is prevented from principle.
Meanwhile, three dimensional shape measurement system 106 is for detecting the surface profile of workpiece in real time, produce outline data and deliver to control system, itself and the profile originally to set are analyzed, accurately judge the region producing rebound phenomenon, and then give an order and control moving downward of auxiliary compaction apparatus 103, give an order to auxiliary heating system 104 simultaneously, spring-back area is heated, the composite in this region is softened, is convenient to auxiliary compaction apparatus to its compacting.After rebound phenomenon solves, control auxiliary compaction apparatus 103 afterwards again move upward, as shown in Figure 4, wherein 100 is main pressure roller; Then normal lay motion is carried out.
The auxiliary axis of pressure roller of compaction apparatus 103 and the distance d>v* (t1+t2) of the axis projection in the horizontal plane of main pressure roller 100, wherein v is depositing speeds, the reaction time of t1 position system, if t1 can ignore by the response speed of system enough soon, t2 is for spreading the time required for the prepreg tape generation rebound phenomenon that is layed onto on core; So the prepreg tape completely densified that the region of resilience occurs that auxiliary compaction apparatus 103 will detect can be ensured; Auxiliary heating system 104 adopts high-temperature gas as thermal source, can to the prepreg tape Fast Heating producing rebound phenomenon region, make it soften, viscosity strengthens, thus ensure to have a desirable consolidation effect under the effect of auxiliary compaction apparatus 103, produced rebound phenomenon can be eliminated completely in theory.
The present invention preferentially selects 3 dimension laser range finders, directly obtains 3 dimension outline datas of workpiece, and carry out next step action based on these data.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (2)
1. one kind solves the system of the rebound phenomenon in composite material laying process, it is characterized in that, comprise 6 axle robots (101), the laying head (102) be arranged in 6 axle robots (101), be arranged on laying head (102) below workpiece (105), one for carrying out auxiliary compaction apparatus (103) and an auxiliary heating system (104) of secondary compaction; Described workpiece (105) top is provided with a three dimensional shape measurement system (106);
Described auxiliary compaction apparatus (103) and auxiliary heating system (104) are all connected on laying head (102) along with the motion of first of laying, described auxiliary compaction apparatus (103) comprises one to be only had the cylinder of the free degree moved up and down and is connected to the auxiliary pressure roller of air cylinder driven bar, the horizontal range of the axis of the auxiliary axis of pressure roller and the main pressure roller of laying head (102) should be greater than the reaction time of system and the time sum of generation needed for rebound phenomenon and the product of depositing speeds, that is: this distance is defined for d, depositing speeds is v, it is t1 that prepreg tape is layed onto from paving the time that workpiece experiences to generation rebound phenomenon, the reaction time of system is t2, then d>v* (t1+t2),
Described auxiliary heating system (104) is between main pressure roller and auxiliary pressure roller, for heating the prepreg tape under auxiliary pressure roller, thermal source adopts hot blast, the Fast Heating to needing heating region can be realized, the prepreg tape in this region is softened, viscosity strengthens, and is convenient to the again compacting of auxiliary compaction apparatus to the prepreg tape in generation rebound phenomenon region;
Described 6 axle robots (101), auxiliary compaction apparatus (103) are all connected with a controller (107) with auxiliary heating system (104);
This system also comprises a power/torque sensor, be arranged on the connecting portion of six-joint robot end and laying head, for detecting the pressure of main pressure roller and workpiece in laid course in real time, control the lay of constant pressure, the generation of prevention rebound phenomenon, meanwhile, three dimensional shape measurement system (106) carries out measuring three-dimensional morphology, detect and whether there occurs rebound phenomenon, then solve resilience by the auxiliary compaction apparatus (103) of controller startup and auxiliary heating system (104) work.
2. the system of a kind of rebound phenomenon solved in composite material laying process according to claim 1, it is characterized in that, described three dimensional shape measurement system (106) is for the Real-time Feedback to workpiece profile, then send by master controller the work that signal controls auxiliary heating system (104) and auxiliary compaction apparatus (103), this measuring three-dimensional profile system (106) comprises the sensor forming workpiece profile detecting unit, and described sensor is 3 dimension laser range finders or based on 3 dimension rangefinders of femtosecond laser or two-dimensional grating or binocular camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510292533.6A CN105128363B (en) | 2015-05-29 | 2015-05-29 | A kind of system of the rebound phenomenon during solution composite material laying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510292533.6A CN105128363B (en) | 2015-05-29 | 2015-05-29 | A kind of system of the rebound phenomenon during solution composite material laying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105128363A true CN105128363A (en) | 2015-12-09 |
| CN105128363B CN105128363B (en) | 2017-06-09 |
Family
ID=54714094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510292533.6A Active CN105128363B (en) | 2015-05-29 | 2015-05-29 | A kind of system of the rebound phenomenon during solution composite material laying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105128363B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234817A (en) * | 2017-05-19 | 2017-10-10 | 北京航空航天大学 | It is a kind of can accurate piddler compaction apparatus controllable in real time |
| WO2018018802A1 (en) * | 2016-07-28 | 2018-02-01 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | System for manual laying process control, and laying method therefor |
| CN110744842A (en) * | 2019-10-15 | 2020-02-04 | 浙江天梯塑胶科技有限公司 | Production equipment of telescopic braided tube |
| CN111619138A (en) * | 2020-05-27 | 2020-09-04 | 大连理工大学 | Rebound deformation inhibiting method for laser-assisted in-situ forming thermoplastic composite material structural member |
| CN113059825A (en) * | 2021-04-01 | 2021-07-02 | 南京航空航天大学 | Method for asynchronously compacting composite material component |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110011538A1 (en) * | 2009-07-17 | 2011-01-20 | Alexander Hamlyn | Fiber application machine with compacting roller transparent to the radiation of the heating system |
| CN202114987U (en) * | 2011-07-06 | 2012-01-18 | 航天材料及工艺研究所 | Automatic belt spreading forming equipment for composite materials of cylindrical structure |
| CN102975375A (en) * | 2012-12-05 | 2013-03-20 | 成都飞机工业（集团）有限责任公司 | Method for detecting automated tape laying quality of composite material through laser positioning |
| CN103358564A (en) * | 2013-07-05 | 2013-10-23 | 西安交通大学 | Integral wind-power blade ultraviolet light/electron beam in situ curing fiber laying forming device and integral wind-power blade ultraviolet light/electron beam in situ curing fiber laying forming method |
| CN103448259A (en) * | 2013-09-18 | 2013-12-18 | 沈阳飞机工业（集团）有限公司 | Automatic belt paving machine blank folding tool convenient to transfer and folding method |
| CN103722787A (en) * | 2013-12-04 | 2014-04-16 | 航天材料及工艺研究所 | Cylindrical component tape laying and winding integral molding device |
| US20140124120A1 (en) * | 2012-11-07 | 2014-05-08 | The Boeing Company | System and method of detecting a missing tow in a composite layup |
| US20140150964A1 (en) * | 2012-11-30 | 2014-06-05 | The Boeing Company | Method and Apparatus for Applying Film Material to Elongate Members |
-
2015
- 2015-05-29 CN CN201510292533.6A patent/CN105128363B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110011538A1 (en) * | 2009-07-17 | 2011-01-20 | Alexander Hamlyn | Fiber application machine with compacting roller transparent to the radiation of the heating system |
| CN202114987U (en) * | 2011-07-06 | 2012-01-18 | 航天材料及工艺研究所 | Automatic belt spreading forming equipment for composite materials of cylindrical structure |
| US20140124120A1 (en) * | 2012-11-07 | 2014-05-08 | The Boeing Company | System and method of detecting a missing tow in a composite layup |
| US20140150964A1 (en) * | 2012-11-30 | 2014-06-05 | The Boeing Company | Method and Apparatus for Applying Film Material to Elongate Members |
| CN102975375A (en) * | 2012-12-05 | 2013-03-20 | 成都飞机工业（集团）有限责任公司 | Method for detecting automated tape laying quality of composite material through laser positioning |
| CN103358564A (en) * | 2013-07-05 | 2013-10-23 | 西安交通大学 | Integral wind-power blade ultraviolet light/electron beam in situ curing fiber laying forming device and integral wind-power blade ultraviolet light/electron beam in situ curing fiber laying forming method |
| CN103448259A (en) * | 2013-09-18 | 2013-12-18 | 沈阳飞机工业（集团）有限公司 | Automatic belt paving machine blank folding tool convenient to transfer and folding method |
| CN103722787A (en) * | 2013-12-04 | 2014-04-16 | 航天材料及工艺研究所 | Cylindrical component tape laying and winding integral molding device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018018802A1 (en) * | 2016-07-28 | 2018-02-01 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | System for manual laying process control, and laying method therefor |
| CN107234817A (en) * | 2017-05-19 | 2017-10-10 | 北京航空航天大学 | It is a kind of can accurate piddler compaction apparatus controllable in real time |
| CN107234817B (en) * | 2017-05-19 | 2019-07-26 | 北京航空航天大学 | It is a kind of can accurate piddler compaction apparatus controllable in real time |
| CN110744842A (en) * | 2019-10-15 | 2020-02-04 | 浙江天梯塑胶科技有限公司 | Production equipment of telescopic braided tube |
| CN110744842B (en) * | 2019-10-15 | 2021-08-31 | 浙江天梯塑胶科技有限公司 | Production equipment of telescopic braided tube |
| CN111619138A (en) * | 2020-05-27 | 2020-09-04 | 大连理工大学 | Rebound deformation inhibiting method for laser-assisted in-situ forming thermoplastic composite material structural member |
| CN113059825A (en) * | 2021-04-01 | 2021-07-02 | 南京航空航天大学 | Method for asynchronously compacting composite material component |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105128363B (en) | 2017-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105128363A (en) | System for solving springback phenomenon in composite material laying process | |
| CN101254652B (en) | In-situ consolidation fibre laying method and device for producing resin-based compound material component | |
| CN203945693U (en) | A kind of device that improves polymeric material 3D printing intensity | |
| CN108819292A (en) | Thermoplastic composite automatic placement device and method | |
| CN103074625A (en) | Movable laser cladding and repairing system | |
| CN103552256A (en) | Autoclave integrated-forming method for composite double-surface-ribbed wallboard | |
| CN108215178A (en) | A kind of braiding increasing material manufacturing method in situ of continuous fiber reinforced composite materials | |
| CN104057173A (en) | Processing technique for curved plate cutting tool | |
| CN104190761B (en) | A kind of boats and ships bidrectional cured plate integrally acts on automatic forming method | |
| CN110789155A (en) | Automatic forming equipment and laying process method for carbon fibers of offshore wind power blade | |
| CN114290668A (en) | Ultrasonic micro-rolling additive manufacturing and forming device and method for continuous fiber composite material | |
| CN105806233B (en) | The system and method for shape measure and control in a kind of heavy type shell ring operation of rolling | |
| CN108973160B (en) | Prepreg positioning method for performing composite material thermal diaphragm | |
| CN109049754A (en) | A kind of double light source temperature auxiliary carbon fiber prepreg laying device and methods of laser | |
| CN206215693U (en) | Busbar plane reshaping mechanism | |
| CN107825727A (en) | The forming method and shaped device and wallboard of preforming stringer L-shaped part and wallboard | |
| CN111619138B (en) | Rebound deformation inhibiting method for laser-assisted in-situ forming thermoplastic composite material structural member | |
| CN207026860U (en) | A kind of prosthetic device for stamping parts of automobile | |
| CN110548876B (en) | Powder-laying type remanufacturing device and method | |
| CN203992744U (en) | Arc plate cutting processing frock | |
| CN204867409U (en) | High accuracy metal matrix composite material's preparation equipment | |
| CN201744798U (en) | Automatic welding and cutting device for shaped section corrugated pipes | |
| CN205020553U (en) | Synchronous orthopedic device of flame dry ice | |
| Du et al. | Flow simulation and optimization of the car bumper beam by VARTM process | |
| CN113790675A (en) | Method for detecting furnace building result based on itinerant scanning of single laser line profiler |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |