CN105954328A - Unidirectional automatic manufacturing apparatus for sensitive element of carbon fiber sensor - Google Patents
Unidirectional automatic manufacturing apparatus for sensitive element of carbon fiber sensor Download PDFInfo
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- CN105954328A CN105954328A CN201610247229.4A CN201610247229A CN105954328A CN 105954328 A CN105954328 A CN 105954328A CN 201610247229 A CN201610247229 A CN 201610247229A CN 105954328 A CN105954328 A CN 105954328A
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- cellosilk
- piddler
- fiber sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/20—Investigating the presence of flaws
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Abstract
The invention discloses a unidirectional automatic manufacturing apparatus for a sensitive element of a carbon fiber sensor. The unidirectional automatic manufacturing apparatus comprises a workbench, an elevating and translation module, a horizontal mobile station which is movably installed on the workbench and top-mounted with a supporting plate used for filament spreading, a filament storage module, a filament spreading module which is mounted on the power output terminal of the horizontal mobile station and used for spreading filaments from the filament storage module on the supporting plate, a preimpregnation module which is arranged on a filament path located between the filament storage module and the filament spreading module and used for pretreatment of the filaments and a resin filling module which is fixedly connected with the filament spreading module and used for forming a resin layer for accommodating the carbon fiber sensitive element, wherein a line between the resin outlet of the resin filling module and the filament outlet of the filament spreading module is parallel to the translation direction of the elevating and translation module. The apparatus provided by the invention can easily realize batch manufacture of the sensitive element of the carbon fiber sensor, guarantees high repeatability compared with artificial filament spreading process and greatly improves the manufacturing efficiency of the sensitive element of the carbon fiber sensor.
Description
Technical field
The present invention relates to carbon fiber technical field of sensor manufacture, particularly relate to a kind of carbon fiber and pass
The unidirectional automated manufacturing device of sensor sensitivity unit.
Background technology
Carbon fiber (Carbon Fiber, be called for short CF), is high-strength more than 95% of a kind of phosphorus content
Degree, the tencel material of high modulus fibre.Carbon fiber has many excellent performances, as axially
Intensity and modulus are high, and density is low, higher than performance, without creep, and superhigh temperature resistant under non-oxidizing atmosphere,
Endurance, corrosivity are good, and thermal coefficient of expansion is little and has anisotropy and good electrical and thermal conductivity
Can etc..Carbon fiber wire its resistance under stretching strain increases with straining proportional example, electricity under compressive strain
Hinder the proportional example with the increase strained to reduce, present good electric conductivity and piezoresistive effect, tool
There is good self-sensing properties.
The patent documentation of such as Publication No. CN103422587A discloses a kind of carbon fiber resistance and passes
The sense non-maintaining buckling restrained brace of layer intellectual monitoring, including power consumption steel core, GFRP confinement section, waveform
Joint, contoured foam, sensing layer electrode and Intelligent carbon fiber sensing layer, the two of described GFRP confinement section
End is provided with waveform joint, and the inside center of GFRP confinement section and waveform joint is provided with power consumption steel core, GFRP
Confinement section is arranged symmetrically with along power consumption steel core, and described Intelligent carbon fiber sensing layer is positioned at GFRP confinement section
In, Intelligent carbon fiber sensing layer is set in parallel in the both sides, long limit of power consumption steel core, and Intelligent carbon fiber passes
Leaving gap between sense layer and power consumption steel core, Intelligent carbon fiber sensing layer is connected with sensing layer electrode,
Intelligent carbon fiber sensing layer is filled with molding be connected the integrally-built space of formation with GFRP confinement section in
Foam.Said apparatus has rational in infrastructure, from heavy and light, corrosion-resistant, non-maintaining, energy intelligent monitoring
Feature.
Study carbon fiber as sensitive unit, manufactured and designed Intelligent carbon fiber layer, for large-scale
The health monitoring of structural member, achieves good effect.
In order to produce the intelligent layer grid of function admirable, researcher is had to propose to manufacture this type of grid
Method, the patent documentation of application publication number CN 105082557A discloses the manufacturer of a kind of grid
Method, this manufacture method includes: lay carbon fiber prepreg in the mould for manufacturing grid;?
Metamaterial microstructure layer is formed above this carbon fiber prepreg;Carry out matched moulds, and make resin material enter
Enter in this mould;Resin material in this mould is solidified, carries out the demoulding afterwards.Above-mentioned side
Method is by adding carbon fiber and resin material in a mold, and carries out the resin material in mould solid
Change, grid can not only be made to possess the characteristic of preferable intensity and forming, and can allow grid
Better characteristics is shown when in the face of electromagnetic wave, additionally, the grid manufactured by above-mentioned method
Density can be controlled in relatively low scope, therefore. the weight of grid will not be dramatically increased, it is ensured that
The portability of grid, allows grid be easy to processing and transport.
But manufacture process is only refined by said method, most during currently manufactured intelligent layer grid
Using manual mode, process is numerous and diverse and introduces uncontrollable anthropic factor due to too much, causes manufactured
Sensor poor repeatability, need to demarcate each sensor manufactured, and is difficult to realize batch
Change.Therefore, set up a kind of efficiently controllable automatic device and have ten for manufacturing carbon fiber sensor
Divide important meaning.
Summary of the invention
The invention provides the unidirectional automated manufacturing device of a kind of carbon fiber sensor sensing unit, structure
Simply, easy to use, manufacture reproducible, efficiency is high, it is achieved automatic batch production carbon is fine
The sensitive unit of dimension.
The unidirectional automated manufacturing device of a kind of carbon fiber sensor sensing unit, including:
Workbench;
Lifting and translation module, install on the table;
Moving horizontally platform, install with moving horizontally on the table, end face is provided with for piddler
Supporting plate;
Steel wire storage module;
Piddler module, is arranged on the clutch end of lifting and translation module, on supporting plate upper berth
If the cellosilk from steel wire storage module;
Preimpregnation module, is arranged on the cellosilk path between steel wire storage module and piddler module for right
Cellosilk carries out pretreatment;
Resin packing module, fixes with described piddler module and is connected, and is used for forming receiving carbon fiber sensitive
The resin bed of unit, the line between the filament mouth going out fat mouth and piddler module of described resin packing module
Parallel with the translation direction of lifting and translation module.
The present invention, by arranging cellosilk driving box and resin packing module, drives cellosilk motion, generation
For artificial fat liquoring and piddler process, overcome because too much the artificial uncontrollable factor of introducing causes manufactured sensing
Device poor repeatability and inefficiency problem, it is easy to accomplish mass manufacture, and by described in the present invention
Resin packing module and described piddler module are fixing to be connected, described resin packing module go out fat mouth and paving
Line between the filament mouth of silk module is parallel with the translation direction of lifting and translation module, thus realizes
Piddler is identical with brush resin liquid direction, can be rapidly completed the manufacture of carbon fiber sensor sensing unit, on
State and overall structure is set simply, when producing the check configuration of carbon fiber sensor sensing unit, there is life
The advantages such as product efficiency is high, good stability.
Detachable supporting plate it is provided with on platform, it is simple to the Intelligent carbon fiber layer sensitivity unit manufactured moving horizontally
Subsequent treatment, as dosed electrode, further solidification etc..
In order to accurate, flexibly, stably output fiber silk, it is preferred that described piddler module bag
Include:
Mounting seat, fixes with the clutch end of lifting and translation module and is connected,
Cellosilk driving box, is fixed in described mounting seat;
Piddler head, is arranged on below described cellosilk driving box, and described cellosilk driving box is by steel wire storage mould
The cellosilk traction of block to piddler head and drives cellosilk from this piddler head wire vent.Cellosilk in the present invention
Driving box is directly installed on clutch end, close apart from the filament mouth of described piddler head, Ke Yiwen
Fixed effective conveying fiber silk.
For flexible the most stably conveying fiber silk, it is preferred that described cellosilk driving box includes:
Casing, side is provided with into silk mouth, and bottom surface is provided with filament mouth;
Adjust roller a pair, be arranged on casing outer and with described enter silk mouth positioned opposite, be used for guiding fibre
Dimension silk enters silk mouth described in entering;Adjust roller to avoid because sliding friction causes cellosilk portion fractures.
Guide wheels, be arranged in casing and will guide from the cellosilk entering silk mouth and go out described in delivering to
Silk mouth, including the driving wheel of at least one conveying fiber silk;Described guiding wheels include adjustment direction
The first directive wheel, accept from filametntary a pair second directive wheels of the first directive wheel, wherein
One the second directive wheel is that driving wheel is connected with rotational power source.
Rotational power source, drives driving wheel to rotate.Rotational power source can use driving motor.
Resin liquid can be extruded by various modes, and such as gas (external air pump), (motor drives screw
Dynamic) etc., in order to simplify structure, it is simple to use and even spread resin, it is preferred that described resin
Packing module includes:
Resin liquid case, the one side of one side and described casing is fixing to be connected, another side be provided with into
QI KOU, bottom surface is provided with resin outlet;
Resin paving brush, is connected with described resin outlet;
Vulcanite scraper, is fixed on a side of resin paving brush.Resin paving brush and piddler head align.Institute
State resin paving brush to be threaded connection with resin liquid case, it is simple to change different resins paving brush, such as difference
Width, different size goes out fat mouth etc., to adapt to the manufacture requirements of different size carbon fiber sensing element.
Preferably, described piddler head includes:
Rotation seat, is fixed on bottom cellosilk driving box;
Connecting rod, one end is hinged with described rotation seat, and hinged place is provided with locking nut;
Pressure roller, is arranged on the other end of described connecting rod.
Described connecting rod can rotate, thus has the vertical position of horizontal level and the work packed up.
For the ease of packing up piddler head, it is preferred that connect between described connecting rod and rotation seat and have driving
Described connecting rod packs up spring to horizontal level.After unclamping locking nut, packing up the effect of spring
Under described link rotatable to level.
In order to during piddler, connecting rod will not loosen under filametntary pulling force effect and be stowed away bullet
Spring is packed up, it is preferred that packs up spring described in during described link rotatable to upright position and is applied to described
The direction of pull that pulling force on connecting rod is applied on connecting rod with described cellosilk is contrary.
Manufacture for convenience and use, it is preferred that described lifting and translation module include:
Two root posts, compartment of terrain is fixing on the table, and at least one root post is provided with elevator
Structure;
Crossbeam, two ends are arranged on two root posts, realize moving up and down by elevating mechanism;
Translation mechanism, is arranged on crossbeam, has described clutch end.Elevating translational mechanism
Kind is a lot, such as ball screw.
When the present invention uses, carbon fiber wire initiating terminal can be fixed by various modes, such as glue
Viscous, clampings etc., as preferably, described carbon fiber wire is initially fixed by rubber grips, behaviour
Make simple and convenient.
Cellosilk is presoaked by preimpregnation module, to improve its tensile strength further, it is preferred that described
Preimpregnation module includes:
Preimpregnation cylinder, fixes on the table, is used for containing prepreg solution, and opposite sides is provided with silk rolling
Hole;
First strainer, is separately fixed on the side of the preimpregnation cylinder being provided with silk rolling hole;
Second strainer, limits cellosilk in being arranged on preimpregnation cylinder and passes through prepreg solution all the time.Tensioning
Mechanism can use regulating wheel.
Beneficial effects of the present invention:
Apparatus of the present invention drive cellosilk motion, replace artificial fat liquoring and piddler process, overcome because of mistake
The artificial uncontrollable factor of many introducings causes manufactured sensor poor repeatability and inefficiency problem, easily
In the mass manufacture realizing carbon fiber sensor sensing unit.
Accompanying drawing explanation
Fig. 1 is the stereochemical structure of the unidirectional automated manufacturing device of carbon fiber sensor sensing unit of the present invention
Schematic diagram.
Fig. 2 is driving box and the perspective view of resin liquid case in Fig. 1.
Fig. 3 is the perspective view of resin liquid case in Fig. 2.
Fig. 4 is the perspective view presoaking case in Fig. 1.
Fig. 5 is the structure for amplifying schematic diagram of part A in Fig. 4.
Fig. 6 is the perspective view of piddler head in Fig. 2.
Fig. 7 is the perspective view of resin paving brush in Fig. 2.
Fig. 8 is the sectional structure schematic diagram of the resin paving brush of Fig. 7.
Fig. 9 is the work process schematic diagram of apparatus of the present invention.
In figure, each reference is:
1, platform is moved horizontally, 2, drive motor, 3, guide rail slide block, 4, column, 5, drive
Case, 6, resin liquid case, 7, crossbeam, 8, resin liquid case lid, 9, column, 10, drive electricity
Machine, 11, ball-screw, 12, workbench, 13, cellosilk volume, 14, support, 15, preimpregnation
Cylinder, 16, drive motor, 17, spreader, 18, supporting plate, 19, spreader, 20, drive motor,
21, cellosilk, 22, preimpregnation cylinder cap plate, 23, bearing, 24, boss, 25, resin liquid,
26, silk rolling hole, 27, prepreg solution, 28, regulating wheel, 29, rubber folder, 30, solidification resin
Glue, 51, drive case lid, 52, piddler head, 53, guide wheels, 54, adjust roller, 61, tree
Fat paving brush, 151, roller, 511, observation panel, 521, pressing roller holder, 522, connecting rod,
523, rotation seat, 524, hook, 525, pressure roller, 526, pack up spring, 601, air inlet,
602, resin outlet, 611, vulcanite scraper, 612, nut, 613, go out fat mouth.
Detailed description of the invention
Below in conjunction with each accompanying drawing, the present invention is described in detail:
As it is shown in figure 1, the unidirectional automated manufacturing device of carbon fiber sensor sensing unit of the present embodiment,
Including:
Move horizontally platform 1, be arranged on two spreaders 17,19 by ball-screw and guide rail slide block
On, driving motor 16 to drive ball-screw to control mobile station 1 and seesaw, spreader is arranged on work
In station 12;
Cellosilk driving box 5, is provided with the driving motor 20 controlling cellosilk 21 extruded velocity;
Resin liquid case 6, is arranged on cellosilk driving box 5, is used for holding resin liquid;
Preimpregnation cylinder 15, fixes on table 12, is used for holding pre-soaked resin, to cellosilk 21
Preimpregnation;
Support 14, is arranged on table 12, is used for placing cellosilk volume 13, as steel wire storage mould
Block.
Lifting and translation module, including column 4, column 9 and crossbeam 7, two root posts 4, column 9
Arrange on table 12, it is respectively equipped with ball-screw 11 and guide rail slide block 3;7 liang of crossbeam
End is connected with slide block and ball-screw nut respectively, is driving motor 10 to control under ball-screw, edge
Two root posts move up and down;Crossbeam 7 is provided with ball-screw and drives motor 2, drives motor 2 to drive
Dynamic ball-screw and then drive cellosilk driving box 5 are along crossbeam 7 side-to-side movement.
As in figure 2 it is shown, cellosilk driving box 5 bottom is provided with boss 24 and piddler 52, cellosilk
Driving box 5 includes casing, drives case lid 51, driving motor 20, guiding wheels 53 and adjust wheel
54, drive case lid 51 to be provided with observation panel 511 and for installing the bore of bearing 23;By observing
Mouth 511 observable cellosilks 21 motion conditions under the effect guiding wheels 53;Resin liquid case 6 times
Portion is provided with resin paving brush 61;Guide wheels 53 and include first directive wheel on the top being arranged in casing
Be positioned at lower section a pair second directive wheels, cellosilk 21 passes through between the second directive wheel from this,
One of them second directive wheel is driving wheel, is driven by driving motor 20.
As it is shown on figure 3, resin liquid case 6 side is provided with air inlet 601, bottom is provided with resin outlet
602, air inlet 601 is connected with extraneous air pump, and resin outlet 602 is with resin paving brush 61 screw thread even
Connect, resin liquid 25 under gas pressure by go out fat mouth 613 and vulcanite scraper 611 act under pave,
In figure, arrow A represents that airintake direction, arrow B represent resin liquid outbound course.
As shown in Figures 4 and 5, preimpregnation cylinder 15 two ends be provided with the roller 151 as strainer and
Silk rolling hole 26, inside is provided with regulating wheel 28, limits cellosilk 21 and can pass through prepreg solution 27 all the time.
As shown in Figure 6, piddler 52 includes pressure roller 525, pressing roller holder 521, connecting rod 522 and turns
Dynamic seat 523;Pressing roller holder 521 and connecting rod 522 pass through bolted splice, it is possible to pass through bolt lock
Tightly;Connecting rod 522 can rotate the vertical position with the horizontal level packed up and work around rotation seat 523
Putting, connecting rod 522 and rotation seat 523 are provided with for installing the hook 524 packing up spring 526, use
In packing up connecting rod 522 and pressure roller 525, connecting rod 522 turns to pack up spring 526 during upright position and executes
The pulling force being added on connecting rod 522 is contrary with the direction of pull that cellosilk 21 is applied on connecting rod 522.
As shown in FIG. 7 and 8, resin paving brush 61 includes vulcanite scraper 611, nut 612 and goes out fat mouth
613, vulcanite scraper 611 is fixed by screw, the resin outlet 602 on nut 612 and resin liquid case 6
Connect.
The work process of the present embodiment:
As it is shown in figure 1, cellosilk volume 13 installation will be purchased on the support 14, cellosilk 21 is successively
Roller 151 on the right side of preimpregnation cylinder 15, the silk rolling hole 26 on right side, regulating wheel 28, the mistake in left side
Silk hole 26, the roller 151 in left side, the right side of cellosilk driving box 5 adjust for a pair in roller 54, casing
Guide wheels 53, boss 24, piddler 52, pressure roller 525;By prepreg solution 27 good for configured in advance
Pour in preimpregnation cylinder 15 to covering regulating wheel 28 and building cover plate 22;The resin liquid good by configured in advance
25 pour resin liquid case 6 into and build case lid 8;Supporting plate 18 is fixed on and moves horizontally on platform 1;Root
According to the Intelligent carbon fiber Rotating fields of needs preparation, each driving motor control program is set and completes whole standard
Standby process.
As it is shown in figure 9, cellosilk 21 one end rubber folder 29 is fixed, starting device, respectively drive
Motor is automatically performed piddler fat liquoring process according to setting program, piddler 52 and go out fat mouth 613 along with
Lineman makees always, controls process simple, can prepare the Intelligent carbon fiber layer sensing under being precisely controlled
Unit.
After piddler completes, manually cut off cellosilk;Motor 10 is driven to drive ball-screw 11 to drag horizontal stroke
Certain distance is moved in piddler module on beam 7;Motor 2 is driven to drive ball-screw to drag piddler module
Horizontal direction moves to piddler original position;Motor 10 is driven to drive ball-screw 11 to drive on crossbeam 7
Piddler module be displaced downwardly to piddler head and contact with supporting plate;Cellosilk 21 is clamped, under carrying out with rubber
One takes turns piddler process.In addition to cellosilk original position is fixing and piddler terminates rear cellosilk and cut off, whole
Individual process is worked by each driving motor coordination completely, is automatically performed each carbon fiber sensor sensing
The manufacture of unit.
The foregoing is only the preferred embodiments of the present invention, the most i.e. limit the patent of the present invention
Protection domain, the equivalent structure transformation that every utilization description of the invention and accompanying drawing content are made, directly
Connect or be indirectly used in other relevant technical fields, be the most in like manner included in protection scope of the present invention
In.
Claims (9)
1. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit, it is characterised in that bag
Include:
Workbench;
Lifting and translation module, install on the table;
Moving horizontally platform, install with moving horizontally on the table, end face is provided with for piddler
Supporting plate;
Steel wire storage module;
Piddler module, is arranged on the clutch end of lifting and translation module, on supporting plate upper berth
If the cellosilk from steel wire storage module;
Preimpregnation module, is arranged on the cellosilk path between steel wire storage module and piddler module for right
Cellosilk carries out pretreatment;
Resin packing module, fixes with described piddler module and is connected, and is used for forming receiving carbon fiber sensitive
The resin bed of unit, the line between the filament mouth going out fat mouth and piddler module of described resin packing module
Parallel with the translation direction of lifting and translation module.
2. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 1,
It is characterized in that, described piddler module includes:
Mounting seat, fixes with the clutch end of lifting and translation module and is connected,
Cellosilk driving box, is fixed in described mounting seat;
Piddler head, is arranged on below described cellosilk driving box, and described cellosilk driving box is by steel wire storage mould
The cellosilk traction of block to piddler head and drives cellosilk from this piddler head wire vent.
3. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 2,
It is characterized in that, described cellosilk driving box includes:
Casing, side is provided with into silk mouth, and bottom surface is provided with filament mouth;
Adjust roller a pair, be arranged on casing outer and with described enter silk mouth positioned opposite, be used for guiding fibre
Dimension silk enters silk mouth described in entering;
Guide wheels, be arranged in casing and will guide from the cellosilk entering silk mouth and go out described in delivering to
Silk mouth, including the driving wheel of at least one conveying fiber silk;
Rotational power source, drives driving wheel to rotate.
4. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 3,
It is characterized in that, described resin packing module includes:
Resin liquid case, the one side of one side and described casing is fixing to be connected, another side be provided with into
QI KOU, bottom surface is provided with resin outlet;
Resin paving brush, is connected with described resin outlet;
Vulcanite scraper, is fixed on a side of resin paving brush.
5. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 2,
It is characterized in that, described piddler head includes:
Rotation seat, is fixed on bottom cellosilk driving box;
Connecting rod, one end is hinged with described rotation seat, and hinged place is provided with locking nut;
Pressure roller, is arranged on the other end of described connecting rod.
6. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 5,
It is characterized in that, connect between described connecting rod and rotation seat and have the described connecting rod of driving to horizontal level
Pack up spring.
7. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 6,
It is characterized in that, pack up spring described in during described link rotatable to upright position and be applied to described connecting rod
On pulling force contrary with the direction of pull that described cellosilk is applied on connecting rod.
8. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 1,
It is characterized in that, described lifting and translation module include:
Two root posts, compartment of terrain is fixing on the table, and at least one root post is provided with elevator
Structure;
Crossbeam, two ends are arranged on two root posts and realize moving up and down by elevating mechanism;
Translation mechanism, is arranged on crossbeam, has described clutch end.
9. the unidirectional automated manufacturing device of carbon fiber sensor sensing unit as claimed in claim 1,
It is characterized in that, described preimpregnation module includes:
Preimpregnation cylinder, fixes on the table, is used for containing prepreg solution, and opposite sides is provided with silk rolling
Hole;
First strainer, is separately fixed on the side of the preimpregnation cylinder being provided with silk rolling hole;
Second strainer, limits cellosilk in being arranged on preimpregnation cylinder and passes through prepreg solution all the time.
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CN104149339A (en) * | 2014-07-09 | 2014-11-19 | 西安交通大学 | Continuous long-fiber reinforced-type composite material 3D printer and printing method thereof |
US20150013885A1 (en) * | 2011-11-29 | 2015-01-15 | Henkel IP & Holding GmH | Self supporting prepreg with tack for use in automatic process for laying up prepreg to form three dimensional parts |
CN105082557A (en) * | 2014-05-07 | 2015-11-25 | 深圳光启创新技术有限公司 | Manufacturing method of grating |
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2016
- 2016-04-19 CN CN201610247229.4A patent/CN105954328B/en active Active
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US20150013885A1 (en) * | 2011-11-29 | 2015-01-15 | Henkel IP & Holding GmH | Self supporting prepreg with tack for use in automatic process for laying up prepreg to form three dimensional parts |
CN105082557A (en) * | 2014-05-07 | 2015-11-25 | 深圳光启创新技术有限公司 | Manufacturing method of grating |
CN104149339A (en) * | 2014-07-09 | 2014-11-19 | 西安交通大学 | Continuous long-fiber reinforced-type composite material 3D printer and printing method thereof |
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Title |
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