CN106767567A - A kind of large-sized composite material component pastes mould degree non-contact detection method - Google Patents

A kind of large-sized composite material component pastes mould degree non-contact detection method Download PDF

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Publication number
CN106767567A
CN106767567A CN201611076720.1A CN201611076720A CN106767567A CN 106767567 A CN106767567 A CN 106767567A CN 201611076720 A CN201611076720 A CN 201611076720A CN 106767567 A CN106767567 A CN 106767567A
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coordinate
point
sin
measurement
composite
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Inventor
张俐
任远鑫
江春
王炜辰
吴中林
李承文
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Beihang University
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Beihang University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/30Measuring arrangements characterised by the use of optical means for measuring roughness or irregularity of surfaces

Abstract

A kind of large-sized composite material component pastes mould degree non-contact detection method, and step is as follows:1) benchmaring point is arranged in composite material shaping mould surrounding;2) using camera measurement benchmaring point coordinates is measured, the coordinate value under measurement coordinate system is obtained, obtains the transition matrix between measurement coordinate system and mould theoretical coordinate system;3) coordinate conversion matrix set up according to previous step, data point is transformed under theoretical coordinate system from measurement coordinate system;4) shaped component, Measurement die molded surface data dot values are removed, and is converted it under theoretical coordinate system;5) molding thickness of composite material structural member is measured using calibrator;6) with reference to step 4) the molding surface data dot values surveyed calculate the patch mould degree of composite shaped component;By above step, it is capable of the patch mould degree of the quick multiple material shaped component of survey calculation, it is to avoid because of the error that the weak rigidity of composite is produced, certainty of measurement is higher.

Description

A kind of large-sized composite material component pastes mould degree non-contact detection method
Technical field
The present invention provides a kind of large-sized composite material component patch mould degree non-contact detection method, and it is using a kind of compound The non-contact detection method of material surface pad pasting degree, belongs to aircraft large-sized composite material geometric features and manufactures and designs field.
Background technology
Aircraft of new generation proposes requirements at the higher level to stability, economy, security, multiple compared with traditional aeronautical material Condensation material has many advantages, such as high specific strength, high specific stiffness, resistance to ablation.Additionally, composite element does not need secondary operation, Structural integrity is strong, high in machining efficiency, therefore composite is usually used in the overall processing manufacture of large-sized structural parts.Composite system Making process and self-characteristic causes multiple material component inside defect easily occur, and current composite digitalization test is mainly concentrated In the Non-Destructive Testing of multiple material component inside defect.But with the manufacture application of global formation composite element, component Geometric properties are received more and more attention to performance impact.Particularly large-sized composite material component, appearance and size is big, rigidity Weak, complex structure, matching requirements are high, and quality is not easy to ensure.In addition, large-sized composite material component be used for airframe or Wing cover, surface geometrical features (such as percent ripple, pad pasting degree) directly affect aircraft product quality.Document " aircraft RVSM systems System analysis and test " (all grain husk aircraft RVSM network analyses and test [J] tech enterprises in China, 2010 (13):9-10.) In analyze the surface characteristics of aircraft surfaces some special areas and can produce larger shadow to the aerodynamic characteristic of aircraft and flying quality Ring, such as:Pitot and near zone surface condition can influence sensor pressure measurement, and then influence aircraft to test the speed;Static pressure Mouth and near zone surface condition directly affect civil aircraft and reduce the Airworthiness Certification that minimum vertical is spaced (RVSM) service ability.
3-D photography e measurement technology is to shoot a number of digitized map in diverse location and direction by special camera Piece, these pictures cover all measurement points on region to be measured, are entered by processing after correlation technologies such as computer picture matchings Row splicing and amendment, finally give the cloud data of all measurement points.Document " the aircraft surfaces ripple based on three-dimensional measurement technology (Jin Ding, Wu Jian are based on the aircraft surfaces percent ripple digital assay method of three-dimensional measurement technology to degree digitlization analysis method " [J] aeronautical engineerings are in progress, and 2013 (1):85-89.) describe laser scanning method and structure is obtained on airframe material covering Surface geometrical property, and percent ripple is analyzed.However, being obtained to surface geometrical property to 3-dimensional digital Photographic technique in document Method do not describe in detail.Especially for the 3-dimensional digital Photographic technique of composite pad pasting degree, needed in measurement process Consider the thickness characteristics of composite element and mould.It is domestic current still few to the acquisition of pad pasting degree and analysis, to top The surface characteristics result that method is obtained is not the desired result for analyzing pad pasting degree.
The content of the invention
The invention aims to overcome the shortcomings of current large-sized composite material structural member geometric shape detection technique, The detection method of mould degree is pasted there is provided a kind of large-sized composite material component based on photogrammetry technique.
A kind of large-sized composite material component patch mould degree non-contact detection method of the present invention, comprises the following steps:
Step 1) some benchmaring points are arranged in composite material shaping mould surrounding, and can be when being imaged each time Measured camera calibration is arrived;
Step 2) using camera measurement benchmaring point coordinates is measured, the coordinate value under measurement coordinate system is obtained, using most A young waiter in a wineshop or an inn multiplies relation, solves the transition matrix between measurement coordinate system and mould theoretical coordinate system;
Step 3) etc. composite material structural member shaping terminate, using measure camera, cultellation device measurement shaping after composite The data dot values of inner surface of component, according to the coordinate conversion matrix that previous step is set up, data point are transformed into from measurement coordinate system Under theoretical coordinate system;
Step 4) remove shaped component, and step 3) identical, Measurement die molded surface data dot values, it is fitted mould molding Face, and convert it under theoretical coordinate system;
Step 5) using the molding thickness of calibrator measurement composite material structural member;
Step 6) according to step 3) the inner surface of component data dot values surveyed and component thickness, using segmentation sphere approximatioss Calculate the offset distance point of inner surface.Finally combining step 4) the molding surface data dot values surveyed calculate composite shaping structure The patch mould degree of part.
Wherein, in step 1) described in " arranging some benchmaring points in composite material shaping mould surrounding ", i.e. " cloth Put benchmaring hole ", refer to, in mold design, hole to be added in the surrounding of mould, specifically mould surrounding with " hole " Add arrangement some benchmaring points, it is desirable to can measured camera measurement to and do not influence mould molding component;This some holes with Mould is manufactured together, and with certain precision.
Wherein, in step 2) described in " solve the conversion square between measurement coordinate system and mould theoretical coordinate system Battle array ", the process that it is solved is as follows:
If the design coordinate in benchmaring hole is Pi[xPi yPi zPi], it is J using the coordinate for measuring camera measurementi[xJi yJi zJi].Assuming that measurement coordinate system is rotating around X, Y, Z axis rotation alpha, β, γ angle, along X, Y, Z axis difference translation Δ x, Δ y, Δ Overlapped with mould theoretical coordinate system after z, then coordinate of the benchmaring point under theoretical coordinate system and measurement coordinate system is present such as Under coordinate transformation relation:
Pi T=RJi T+ T (i=1,2 ..., 6) (1)
Wherein R is 3 × 3 coordinate spin matrix, can be written as form:
T is motion vector [Δ x Δ y Δs z]T
The object function set up using least square method:
(2) X=[α β γ Δ x Δ y Δs z] in formula.The coordinate value of datum mark is substituted into (2) formula, (2) formula is write a Chinese character in simplified form For:
In formula (3)Implication it is as follows:
Using Newton iteration method, the minimum value of object function F (X), iterative formula is asked to be:
Finally try to achieve the transition matrix R and T between theoretical coordinate system and measurement coordinate system.
Wherein, in step 3) described in " measurement shaping after composite element inner surface data dot values ", refer to profit Composite material structural member inner surface point is gathered with measurement camera, process is as follows:
1. luminous point is projected on composite element inner surface using cultellation device, as measurement identification point;
2. reasonable Arrangement encoded point and gauge in measurement range;
3. using measurement camera, composite element is shot from various angles;
4. photo is transferred to computer, composite element inner surface data point is extracted by interpretation software and is sat Mark.
Wherein, in step 3) described in " data point is transformed under theoretical coordinate system from measurement coordinate system ", refer to profit With step 2) required by transformation matrix R and T, composite element inner surface data point coordinates is transformed into mould from measurement coordinate system Under tool theoretical coordinate system, formula is as follows:
D′i T=RDi T+ T (i=1,2 ...) (5)
(5) in formula, DiIt is i-th data point of composite element inner surface, D 'iBe be transformed under theoretical coordinate system it is relative The point coordinates answered.
Wherein, in step 6) described in " the offset distance point of inner surface is calculated using segmentation sphere approximatioss ", its calculating side Method is as follows:
1. composite material structural member inner surface (well-known theory model), to N deciles are carried out, is obtained into (N+ along u to v respectively 1) the individual mesh point p of × (N+1)Segmentation times are initially designated as s=1.Often split a patch afterwards, then split Number of times s adds 1;
2. measuring point P is calculated to all mesh point distances, obtains the mesh point closest with P pointsPoint u and v directions Parameter value isThen measuring point P must fall within the upper intersection point of curved surfaceFour pieces of patch around point are constituted PatchOn, the corresponding node thresholding of the patch is changed into
3. continue to patchAlong u to, to N deciles, segmentation times add 1 with v.Then measuring point is calculated to newly-generated Each mesh pointDistance, obtain away from measuring point P beelinesPoint and withWith u to former and later two Mesh pointWithChoosePoint left side or right side same v to mesh pointUsing this four node fitting balls FaceThe radius of the sphere isThe centre of sphere isObtain measuring point P to the centre of sphereApart from h, then measuring point P is to bent The distance in face isIfThen stop segmentation, the offset distance point of measuring point P to curved surface isThis step is otherwise repeated, continues to split.
By above step, it is capable of the patch mould degree of the quick multiple material shaped component of survey calculation, it is to avoid because composite is weak The error that rigidity is produced, certainty of measurement is higher.
The present invention has the advantage that compared with prior art:
1) advanced contactless Digital Measuring Technique is employed, there is provided a kind of new patch mould degree survey calculation side Method;
2) the weak rigidity characteris of large-sized composite material structural member are overcome, can accurately measure multiple material mould surface and The geometry of composite element, has good directive function to mould and multiple material structure member design.
Brief description of the drawings
Fig. 1 the method for the invention flow charts.
Schematic diagram is arranged in Fig. 2 mould benchmark monitoring point.
Fig. 3 mould surfaces measuring point and fitting schematic diagram.
Sequence number, symbol, code name are described as follows in figure:
P in Fig. 21To P6Represent benchmaring point position.
Specific embodiment
The invention provides one kind using digitized measurement large-sized composite material structural member forming process patch Mo Du get Fei Contact detecting method.By setting datum mark on mould, measurement camera is taken pictures and obtains mould surface and composite shaping Inner surface of component three-dimensional information, Coordinate Conversion is realized with mould.The thickness of composite shaped component is measured, then using segmentation Sphere approximatioss asks for the offset distance point of shaped component inner surface measuring point, finally calculates the patch mould degree of shaped component.The method Not only it is avoided that because of distortion inaccuracy caused by the weak rigidity of composite shaped component, and its measurement point is more, can be more complete Reflection mould and the truth on shaped component surface, meet the patch mould degree inspection of large-sized composite material shaped component in engineering Survey.
A kind of large-sized composite material component patch mould degree non-contact detection method of the present invention, shown in Fig. 1, its specific implementation step It is rapid as follows:
1) in mold design, 4~6 benchmaring points of arrangement are added in mould surrounding, and being capable of measured camera survey Measure;
These described benchmaring points refer to processing in mould surrounding, it is desirable to do not influence mould molding component and have The hole of certain precision;This some holes is manufactured with mould, and with certain positional precision;
2) after composite material structural member shaping is completed, shaped component is not moved, camera is measured on 6 benchmaring points Special measurement target ball, encoded point paster is affixed on shaped component surface, and encoded point number is 30-50, is paved with whole survey Amount type face region.Using invar rod as measurement base object staff, corresponding measurement profile surface is placed on.Using measuring camera and cultellation Device is measured to product surface, obtains measurement of the measured value shaped component inner surface of benchmaring point under measurement coordinate system Data point;
3) least square method is used, the transformational relation of measurement coordinate system and mould theoretical coordinate system is obtained, and structure will be molded Part Inner surface measurement data point is transformed under mould theoretical coordinate system from measurement coordinate system;
4) shaped component is removed, 1) step and 2) step, the data point of Measurement die forming surface is repeated;
5) shaped component thickness is measured using calibrator, shaped component Inner surface measurement is asked for using sphere approximatioss is split The offset distance point of point, the i.e. actual value of its outer surface;
6) compare the measured value and shaped component outer surface actual value of mould surface, draw whole shaped component outer surface Laminating degree and mould surface between.
It is below embodiment:
By taking the shaping patch mould degree detection of composite airplane wings wing box as an example, embodiments of the present invention are briefly explained.
1) 6 benchmaring point P1~P6 are machined with the design of mould surrounding, 6 benchmaring points are wrapped as far as possible Network die surface, its aperture is Φ 6.35mm, as shown in Figure 2.
2) after the completion of wing boxes of wings shaping, measurement camera target ball is placed on datum mark, sticks encoded point paster, encoded point Paster is paved with this measured zone.
3) 1100mm invar rod is used as measurement base object staff, is placed on shaped component side.Using measuring camera and cultellation Device is measured to product surface, obtains the measured value J of benchmaring pointi(x, y, z) (being shown in Table 1) and shaped component inner surface Measurement data points under measurement coordinate system.
4) transformational relation between measurement coordinate system and mould theoretical coordinate system, conversion parameter are obtained using least square method Solving result is T={ -0.3495 °, 3.5914 °, 1.4282 °, 9295.5623, -2677.9613,10771.4523 }, and will Shaped component Inner surface measurement data point is transformed under mould theoretical coordinate system, and transformation result is shown in Table 2.
The basis points of table 1 are in theoretical coordinate system and the coordinate value (unit mm) of measurement coordinate system
The inner surface of component measurement point of table 2 is in theoretical coordinate system and the coordinate value (unit mm) of measurement coordinate system
5) remove shaped component, repeat 2)~4), the measurement data of 6 benchmaring points of measurement and mould surface, and Mould theoretical coordinate system is converted it to, measurement data is shown in Table 3 and table 4, and fitting result is shown in Fig. 3.
The basis points of table 3 are in theoretical coordinate system and the coordinate value (unit mm) of measurement coordinate system
The mould surface measurement point of table 4 is in theoretical coordinate system and the coordinate value (unit mm) of measurement coordinate system
6) shaped component thickness is measured, and component thickness is divided, asked in component using sphere approximatioss is split The offset distance point of surface measurement point, i.e. external surface of structural member point.Die face with fitting is calculated, that is, obtain the patch of the shaped component Mould degree.
Non-elaborated part of the present invention belongs to techniques known.
The above, part specific embodiment only of the present invention, but protection scope of the present invention is not limited thereto, and appoints What those skilled in the art the invention discloses technical scope in, the conversion or replacement that can be readily occurred in should all be covered Within protection scope of the present invention.

Claims (6)

1. a kind of large-sized composite material component pastes mould degree non-contact detection method, it is characterised in that:Comprise the following steps:
Step 1) composite material shaping mould surrounding arrange benchmaring point, and can each time be imaged when measured phase Machine examination is measured;
Step 2) using camera measurement benchmaring point coordinates is measured, the coordinate value under measurement coordinate system is obtained, using a most young waiter in a wineshop or an inn Multiply relation, solve the transition matrix between measurement coordinate system and mould theoretical coordinate system;
Step 3) etc. composite material structural member shaping terminate, using measure camera, cultellation device measurement shaping after composite element The data dot values of inner surface, according to the coordinate conversion matrix that previous step is set up, data point is transformed into theory from measurement coordinate system Under coordinate system;
Step 4) remove shaped component, and step 3) identical, Measurement die molded surface data dot values, mould surface is fitted, And convert it under theoretical coordinate system;
Step 5) using the molding thickness of calibrator measurement composite material structural member;
Step 6) according to step 3) the inner surface of component data dot values surveyed and component thickness, calculated using segmentation sphere approximatioss The offset distance point of inner surface;Finally combining step 4) the molding surface data dot values surveyed calculate composite shaped component Patch mould degree;
By above step, it is capable of the patch mould degree of the quick multiple material shaped component of survey calculation, it is to avoid because of the weak rigidity of composite The error of generation, certainty of measurement is high.
2. a kind of large-sized composite material component according to claim 1 pastes mould degree non-contact detection method, and its feature exists In:
In step 1) described in " in composite material shaping mould surrounding arrangement benchmaring point ", i.e. " arrangement benchmaring Hole ", refers to, in mold design, hole to be added in the surrounding of mould, and specifically the surrounding in mould adds arrangement one with " hole " A little benchmaring points, it is desirable to can measured camera measurement to and do not influence mould molding component;This some holes is with mould system Make, and with predetermined precision.
3. a kind of large-sized composite material component according to claim 1 pastes mould degree non-contact detection method, and its feature exists In:
In step 2) described in " solving the transition matrix between measurement coordinate system and mould theoretical coordinate system ",
The process that it is solved is as follows:
If the design coordinate in benchmaring hole is Pi[xPi yPi zPi], it is J using the coordinate for measuring camera measurementi[xJi yJi zJi];Assuming that measurement coordinate system is rotating around X, Y, Z axis rotation alpha, β, γ angle, after X, Y, Z axis difference translation Δ x, Δ y, Δ z System overlaps with mould theoretical coordinate, then coordinate of the benchmaring point under theoretical coordinate system and measurement coordinate system exists following Coordinate transformation relation:
Pi T=RJi T+ T (i=1,2 ..., 6) (1)
Wherein:R is 3 × 3 coordinate spin matrix, is written as form:
R = cos γ sin β cos γ sin β sin α - sin γ cos α cos γ sin β cos α + sin γ sin α sin γ cos β sin γ sin β sin α + cos γ cos α sin γ sin β cos α - cos γ sin α - sin β cos β sin α cos β cos α
T is motion vector [Δ x Δ y Δs z]T
The object function set up using least square method:
F ( X ) = Σ i = 1 6 | | RJ i T + T - P i T | | 2 - - - ( 2 )
X=[α β γ Δ x Δ y Δs z] in formula (2);The coordinate value of datum mark is substituted into (2) formula, formula (2) is abbreviated as:
F ( X ) = Σ i = 1 6 ( f i 1 2 ( X ) + f i 2 2 ( X ) + f i 3 2 ( X ) ) - - - ( 3 )
In formula (3)Implication it is as follows:
f i 1 2 ( X ) = cosγcosβJ i x + ( cos γ sin β sin α - sin γ cos α ) J i y + ( cos γ sin β cos α - sin γ sin α ) J i z + x - P i x f i 2 2 ( X ) = sinγcosβJ i x + ( sin γ sin β sin α - cos γ cos α ) J i y + ( sin γ sin β cos α - cos γ sin α ) J i z + y - P i y f i 1 2 ( X ) = - sinβJ i x + cosβsinαJ i y - cosβcosαJ i z + z - P i z
Using Newton iteration method, the minimum value of object function F (X), iterative formula is asked to be:
X ( k + 1 ) = X ( k ) - ∂ F ( X ) ∂ X / ∂ 2 F ( X ) ∂ X 2 - - - ( 4 )
Finally try to achieve the transition matrix R and T between theoretical coordinate system and measurement coordinate system.
4. a kind of large-sized composite material component according to claim 1 pastes mould degree non-contact detection method, and its feature exists In:
In step 3) described in " measurement shaping after data dot values of the composite element inner surface under measurement coordinate system ", be Refer to that process is as follows using camera collection composite material structural member inner surface point is measured:
1. luminous point is projected on composite element inner surface using cultellation device, as measurement identification point;
2. reasonable Arrangement encoded point and gauge in measurement range;
3. using measurement camera, composite element is shot from various angles;
4. photo is transferred to computer, composite element inner surface data point coordinates is extracted by interpretation software.
5. a kind of large-sized composite material component according to claim 1 pastes mould degree non-contact detection method, and its feature exists In:
In step 3) described in " data point is transformed under theoretical coordinate system from measurement coordinate system ", refer to using step 2) institute The transformation matrix R and T for asking, mould theoretical coordinate is transformed into by composite element inner surface data point coordinates from measurement coordinate system Under system, formula is as follows:
D′i T=RDi T+ T (i=1,2 ...) (5)
In formula (5), DiIt is i-th data point of composite element inner surface, D 'iIt is transformed into corresponding under theoretical coordinate system Point coordinates.
6. a kind of large-sized composite material component according to claim 1 pastes mould degree non-contact detection method, and its feature exists In:
In step 6) described in " the offset distance point of inner surface is calculated using segmentation sphere approximatioss ", its computational methods is as follows:
1. composite material structural member inner surface, to N deciles are carried out, is obtained into the individual mesh points of (N+1) × (N+1) along u to v respectivelySegmentation times are initially designated as s=1;Often split a patch afterwards, then segmentation times s adds 1;
2. measuring point P is calculated to all mesh point distances, obtains the mesh point closest with P pointsPoint u and the parameter in v directions It is worth and isThen measuring point P must fall within the upper intersection point of curved surfaceThe song that four pieces of patch around point are constituted Dough sheetOn, the corresponding node thresholding of the patch is changed into
3. continue to patchAlong u to, to N deciles, segmentation times add 1 with v, measuring point to newly-generated each is then calculated Mesh pointDistance, obtain away from measuring point P beelinesPoint and withWith u to former and later two grids PointWithChoosePoint left side or right side same v to mesh pointUsing this four node fit spheresThe radius of the sphere isThe centre of sphere isObtain measuring point P to the centre of sphereApart from h, then measuring point P is to curved surface Distance beIfThen stop segmentation, the offset distance point of measuring point P to curved surface is This step is otherwise repeated, continues to split.
CN201611076720.1A 2016-11-29 2016-11-29 A kind of large-sized composite material component pastes mould degree non-contact detection method Pending CN106767567A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107552965A (en) * 2017-09-28 2018-01-09 惠州市洛玛科技有限公司 Accurate marking device and its marking method
CN109029285A (en) * 2018-07-06 2018-12-18 江西洪都航空工业集团有限责任公司 Merge the hybrid measurement method of contact type measurement and non-cpntact measurement
CN109579760A (en) * 2018-11-22 2019-04-05 北京航天计量测试技术研究所 A kind of measurement method of shaped face heat shield molding thickness
CN109631773A (en) * 2018-11-22 2019-04-16 成都飞机工业(集团)有限责任公司 A kind of pneumatic face Surface inspection method of composite material parts based on shaping mould
CN110823801A (en) * 2019-10-23 2020-02-21 南京玻璃纤维研究设计院有限公司 Method for measuring mold sticking performance of prefabricated body
WO2020228504A1 (en) * 2019-05-13 2020-11-19 深圳中科飞测科技有限公司 Detection method and detection system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107552965A (en) * 2017-09-28 2018-01-09 惠州市洛玛科技有限公司 Accurate marking device and its marking method
CN109029285A (en) * 2018-07-06 2018-12-18 江西洪都航空工业集团有限责任公司 Merge the hybrid measurement method of contact type measurement and non-cpntact measurement
CN109029285B (en) * 2018-07-06 2020-08-28 江西洪都航空工业集团有限责任公司 Hybrid measurement method integrating contact measurement and non-contact measurement
CN109579760A (en) * 2018-11-22 2019-04-05 北京航天计量测试技术研究所 A kind of measurement method of shaped face heat shield molding thickness
CN109631773A (en) * 2018-11-22 2019-04-16 成都飞机工业(集团)有限责任公司 A kind of pneumatic face Surface inspection method of composite material parts based on shaping mould
WO2020228504A1 (en) * 2019-05-13 2020-11-19 深圳中科飞测科技有限公司 Detection method and detection system
CN110823801A (en) * 2019-10-23 2020-02-21 南京玻璃纤维研究设计院有限公司 Method for measuring mold sticking performance of prefabricated body

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