CN116765745A - Robot repairing device with composite material structure - Google Patents
Robot repairing device with composite material structure Download PDFInfo
- Publication number
- CN116765745A CN116765745A CN202310832374.9A CN202310832374A CN116765745A CN 116765745 A CN116765745 A CN 116765745A CN 202310832374 A CN202310832374 A CN 202310832374A CN 116765745 A CN116765745 A CN 116765745A
- Authority
- CN
- China
- Prior art keywords
- module
- polishing
- composite material
- robot
- prepreg
- 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.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 87
- 238000005498 polishing Methods 0.000 claims abstract description 76
- 230000008439 repair process Effects 0.000 claims abstract description 56
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000007731 hot pressing Methods 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 8
- 239000011148 porous material Substances 0.000 claims description 4
- 238000000889 atomisation Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 8
- 238000010168 coupling process Methods 0.000 abstract description 8
- 238000005859 coupling reaction Methods 0.000 abstract description 8
- 230000007547 defect Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
Abstract
The invention relates to the technical field of composite material repair, in particular to a composite material structure robot repair device which comprises a composite material repair integrated module and a composite material repair robot structure, wherein the composite material repair integrated module comprises a detection module, a polishing module, a layering module and a curing module, the detection module comprises a vision system and air coupling ultrasonic detection, and the detection and the digital model establishment of the damage characteristics of the surface and the interior of the composite material repair structure can be realized; the polishing module can realize polishing of the special-shaped non-planar structure through the structural design of the spherical universal joint and the telescopic push rod, and the polishing module can realize automatic polishing of the repair area under the control of the microcomputer according to the defect damage characteristics of the detection module; the layering module and the curing module can automatically lay and cure the prepreg in the polished area, and the detection module can evaluate the surface quality and the internal structure of the composite material defect repair.
Description
Technical Field
The invention relates to the technical field of composite material repair, in particular to a robot repair device with a composite material structure.
Background
With the continuous improvement of the performance level of the composite material, the application proportion and the scale of the novel composite material of the aviation equipment are rapidly improved, and the application of the composite material of the advanced civil aviation equipment is gradually developed from a non-bearing part to a primary bearing part, so that the composite material plays an increasingly critical role in the structural safety of a modern airplane. For example, the most recent foreign generation of aircrafts such as air passenger A350 and Boeing B787 have composite materials with a proportion of more than 50% and F35 of 30%. Meanwhile, with the continuous incremental service of each novel aircraft, the damage of the composite material structure caused by external load impact, fatigue load and the like is unavoidable and continuously accumulated in the service process, and the strength life and reliability of the composite material structure of the aircraft are directly affected, so that the composite material repair technology becomes an important development direction in the field of aircraft maintenance.
At present, the repair of the composite material structure mainly comprises the work of detecting and evaluating the damaged area of the composite material structure, polishing the damaged area to be repaired, paving layers, curing and forming, evaluating the performance of the repaired structure and the like. The conventional composite material repairing daily operation is mainly dependent on manual work, has low efficiency and accuracy, is difficult to continuously work for a long time, and has the characteristics of unstable factors of manual operation and incapability of transplanting experiences of individual maintenance technicians. The repair of the composite material structure requires polishing the area around the damage, and the polishing of the composite material can be realized by adding a polishing machine to the existing robot manipulator. However, most of the composite material structures are special-shaped non-planar structures, so that the mechanical arm of the polishing robot has high requirements on the degree of freedom, and the application of the robot in the field of composite material polishing is limited. In addition, the repair of the composite material involves the process flows of detection, layering, curing and the like besides polishing, and the process flows are relatively complex and cannot be completely replaced by robots at present.
However, the robot has the characteristic of operation standardization, and can furthest reduce human errors. In order to repair the composite material structure by the robot, the robot can finish a whole set of process flows of polishing, detecting, layering, curing and the like of the composite material structure. However, it is difficult to directly attach existing process flow equipment to an operating robot due to process variability in grinding, inspection, layering, curing, etc. Therefore, based on the equipment of the existing composite material repair process flow, the full-flow repair of the composite material structure is difficult to realize through one robot.
Disclosure of Invention
In order to solve the technical problems, the invention provides a robot repairing device with a composite material structure.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
a composite structural robotic repair device comprising:
the composite material repair integrated module is used for detecting a damaged area of a composite material structure, polishing, layering, curing and forming, and evaluating the structural performance after repair, and comprises a module shell, a detection module, a polishing module, a layering module and a curing module, wherein the detection module, the polishing module, the layering module and the curing module are arranged on the peripheral side face of the module shell;
the composite material repairing robot structure is movably connected with the module shell on the composite material repairing integrated module and is used for realizing multi-degree-of-freedom adjustment of the composite material repairing integrated module.
Preferably, the composite material repairing robot structure comprises a robot base, a robot lower arm arranged on the robot base, a robot upper arm connected with the robot lower arm, a robot wrist connected with the robot upper arm, four first telescopic push rods arranged at the tail end part of the robot wrist, and a connecting frame connected with the four first telescopic push rods, wherein the connecting frame is connected with the module shell through a connecting shaft.
Preferably, the detection module comprises a visual camera, an air-coupled ultrasonic sensor, an acquisition card and a microcomputer which are arranged on the side surface of the module shell.
Preferably, the polishing module comprises a spherical universal joint arranged on the side surface of the module shell, a polishing rotating shaft connected with the spherical universal joint, and a polishing sheet protecting sleeve and a polishing sheet which are sequentially arranged on the polishing rotating shaft.
Preferably, the polishing sheet protecting sleeve is connected with four electric telescopic rods, and the other ends of the four electric telescopic rods are connected to the side face of the module shell.
Preferably, the polishing module further comprises a polishing cavity cover arranged on the side surface of the module shell, a temperature/humidity sensor, an atomizing nozzle and dust collection holes, wherein the temperature/humidity sensor, the atomizing nozzle and the dust collection holes are arranged on the side surface of the module shell and are positioned in the polishing cavity cover.
Preferably, the layering module comprises a connecting rod arranged on the side surface of the module shell, a second telescopic push rod, a third telescopic push rod and a prepreg box, wherein the second telescopic push rod and the third telescopic push rod are arranged at two ends of the connecting rod, the prepreg box is connected with the telescopic end of the second telescopic push rod, the layering roller is connected with the telescopic end of the third telescopic push rod, layered prepreg is arranged in the prepreg box, a guide rail sliding groove is formed in the rod body of the second telescopic push rod, a layering guide box is slidably arranged in the guide rail sliding groove, and the layering guide box is connected with the layered prepreg.
Preferably, a prepreg opening is formed in the prepreg box, a cutter sliding rail is arranged above the prepreg opening, a cutter is slidably mounted on the cutter sliding rail, and the layered prepreg extends out of the prepreg opening.
Preferably, the laying roller is positioned below the layered prepreg, the inner side of the laying roller is of a hollow structure, and the surface of the laying roller is provided with pores.
Preferably, the curing module comprises a hot pressing plate arranged on the side surface of the module shell, a closed cavity is formed between the hot pressing plate and the side surface of the module shell, and the closed cavity is provided with an air guide hole.
The beneficial effects of the invention are as follows:
(1) The device has high integration level, and aims at the problems of multiple repair process flows of the composite material, and the like, the composite material repair integrated device is provided, so that the full-flow work of detection, repair, evaluation and the like can be realized.
(2) The invention has high automation degree, realizes the reconstruction of the digital model of the damaged structure of the composite material by using a binocular vision system and air coupling ultrasonic detection, and realizes the automatic design and execution of a polishing repair scheme.
(3) The invention has the advantages of high repair process precision and standardized operation of the robot, and can overcome the difficulties of low manual repair efficiency, unstable manual operation and incapability of transplanting repair experience in the traditional composite material repair field.
(4) The invention integrates the detection, polishing, layering and curing modules on the same device, avoids the defect that each flow needs to be provided with one robot manipulator in the past, and is simple and efficient.
(5) The invention has high degree of freedom, the telescopic push rod enables the repair module to have multiple degrees of freedom, so that the repair of a plane area can be realized, the repair of a special-shaped non-plane area can be realized, and the requirement on the degree of freedom of the robot is reduced.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural view of a composite structural robotic repair device;
FIG. 2 is a schematic diagram of a polishing module in a composite repair integrated module;
FIG. 3 is a schematic view of a connection structure between a polishing module and a composite repair integrated module housing;
FIG. 4 is a schematic diagram of a detection module in a composite repair integrated module;
FIG. 5 is a schematic diagram of a curing module in a composite repair integrated module;
FIG. 6 is a schematic diagram of a lay-up module in a composite repair integration module;
fig. 7 is a schematic structural view of a prepreg cartridge in a lay-up module.
In the figure: 1. repairing the integrated module by using the composite material; 2. repairing the robot structure by using the composite material; 3. a curing module; 4. a detection module; 5. a layering module; 6. a polishing module; 7. a connecting frame; 8. a first telescopic push rod; 9. a robot wrist; 10. a robot upper arm; 11. a lower arm of the robot; 12. a robot base; 13. a temperature/humidity sensor; 14. polishing sheet protective sleeve; 15. polishing the sheet; 16. an atomizing nozzle; 17. polishing the cavity cover; 18. a connecting shaft; 19. dust collection holes; 20. polishing the rotating shaft; 21. a ball joint; 22. an electric telescopic rod; 23. a vision camera; 24. an air-coupled ultrasonic sensor; 25. a closed chamber; 26. an air guide hole; 27. a hot pressing plate; 28. a prepreg box; 29. the second telescopic push rod; 30. a guide rail chute; 31. a connecting rod; 32. layering guide box; 33. a third telescopic push rod; 34. layering roller wheels; 35. a layered prepreg; 36. a cutter; 37. a cutter slide rail; 38. prepreg port.
Detailed Description
In order that the manner in which the invention is attained, as well as the features and advantages thereof, will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings.
As shown in fig. 1, a robot repairing device with a composite material structure comprises a composite material repairing integrated module 1 and a composite material repairing robot structure 2.
The composite material repairing integrated module 1 comprises a module shell, a detection module 4, a polishing module 6, a layering module 5 and a curing module 3. The detection module 4, the polishing module 6, the layering module 5 and the curing module 3 are respectively arranged on four sides of the module shell.
The composite material repairing robot structure 2 comprises a connecting frame 7, four first telescopic pushing rods 8, a robot wrist 9, a robot upper arm 10, a robot lower arm 11 and a robot base 12.
The robot lower arm 11 connect in on the robot base 12, the robot upper arm 10 connect in on the robot lower arm 11, the robot wrist 9 connect in on the robot upper arm 10, link 7 with module shell fixed connection, link 7 pass through four first flexible push rods 8 with the robot wrist 9 links to each other, and four first flexible push rods 8 are located respectively on the robot wrist 9 connect planar upper and lower, left and right, through the length of stretching out of control first flexible push rod 8, can realize the integrated module 1 is repaired to combined material is along the deflection regulation of different directions.
As shown in fig. 4, the detection module 4 includes a binocular vision system and an air-coupled ultrasonic detection system; the binocular vision system comprises a vision camera 23, an acquisition card and a microcomputer; the method is used for reconstructing a digital model of the composite material repair structure, and identifying the surface structure of the structure to be repaired and the surface characteristics of the damaged area. The air coupling ultrasonic detection system comprises two air coupling ultrasonic sensors 24, an acquisition card and a microcomputer, wherein the two air coupling ultrasonic sensors 24 are mutually at a certain angle, the detection of the internal damage depth and the internal damage structure of the composite material repair structure is realized by adopting an air coupling ultrasonic oblique incidence detection method, and the internal damage characteristic data of the composite material repair structure detected by the air coupling ultrasonic detection is added into a repair structure digital model reconstructed by the binocular vision system, so that the establishment of the composite material repair structure digital model is realized; the microcomputer can analyze the required polishing area according to the digital model and damage characteristics of the composite material repairing structure, and determine the corresponding polishing path according to the digital model characteristics of the composite material repairing structure.
As shown in fig. 2 and 3, the polishing module 6 includes a temperature/humidity sensor 13, a polishing sheet protecting sleeve 14, a polishing sheet 15, an atomizing nozzle 16, a polishing cavity cover 17, a dust collection hole 19, a polishing rotating shaft 20, a ball universal joint 21, four electric telescopic rods 22 and a powerful air pump.
The polishing sheet 15 and the polishing sheet protecting sleeve 14 are sequentially fixed on the polishing rotating shaft 20, the polishing rotating shaft 20 is connected with the side surface of the module shell through the spherical universal joint 21, the polishing sheet protecting sleeve 14 is directly connected with the side surface of the module shell through four electric telescopic rods 22 besides being connected with the polishing rotating shaft 20, so as to finish the deflection of the polishing sheet 15 at different angles, and realize polishing of the special-shaped non-planar structure; the polishing cavity cover 17 is connected with the side face of the module shell, and the polishing cavity cover 17 is of a flexible structure and is used for forming a closed polishing cavity so as to prevent composite material waste dust from flying out in the polishing process; the temperature/humidity sensor 13 is installed on a side of the module housing for detecting the temperature and humidity inside the closed grinding chamber formed by the grinding chamber cover 17 and transmitting the temperature and humidity data to the microcomputer; the atomization nozzle 16 is controlled by the microcomputer, and can adjust atomization power according to the data detected by the temperature/humidity sensor 13 so as to keep constant humidity in the closed polishing chamber; the dust collection hole 19 is formed in the side face of the module shell, the powerful air pump is fixed inside the module shell and connected with the dust collection hole 19 through a flexible conduit, the power of the powerful air pump is fed back and adjusted by the microcomputer according to test data of the temperature sensor, and the temperature adjustment in the closed polishing cavity is achieved by controlling the air flow speed in the closed polishing cavity, so that the closed polishing cavity keeps constant temperature.
As shown in fig. 6, the ply module 5 includes a prepreg box 28, a second telescopic push rod 29, a guide rail chute 30, a connecting rod 31, a ply guiding box 32, a third telescopic push rod 33, a ply roller 34, and a layered prepreg 35.
The prepreg box 28 is fixed at one end of the second telescopic push rod 29, a cylindrical roller is arranged in the prepreg box 28, the layered prepreg 35 is wound on the cylindrical roller, and the outermost ring of the layered prepreg 35 is arranged at an outlet on the prepreg box 28; the other end of the second telescopic push rod 29 is connected to the connecting rod 31, the connecting rod 31 is mounted on the side surface of the module shell, the second telescopic push rod 29 can be extended or shortened, and can rotate around the connecting rod 31, so that the prepreg box 28 stays at one side of the composite material repairing structure; the guide rail chute 30 is disposed on the second telescopic push rod 29, and the layup guiding box 32 is correspondingly slidably mounted in the guide rail chute 30, so as to pull the layered prepreg 35 to extend along the direction of the guide rail chute 30, where the extending length of the layered prepreg 35 is determined according to the size of the composite material repair structure; the inner side of the layering roller 34 is of a hollow structure, the surface of the layering roller 34 is provided with pores, the layering roller 34 is connected with the third telescopic push rod 33, the other end of the third telescopic push rod 33 is connected with the other end of the connecting rod 31, the layering roller 34 can roll the layered prepreg 35 under the pushing of the third telescopic push rod 33, and resin adhesive is oozed out of the pores on the surface of the layering roller 34 through the control of the microcomputer, so that the layered prepreg 35 is prevented from falling off.
Further, as shown in fig. 7, a cutter slide rail 37 is disposed above the outlet of the prepreg box 28, and a cutting prop is disposed on the cutter slide rail 37, in this embodiment, the cutting prop is specifically a cutter 36, the cutter 36 may move along the cutter slide rail 37, and by controlling the expansion and contraction of the second telescopic push rod 29 and the moving speed of the cutter 36, the layered prepreg 35 may be cut according to the structural size of the composite material.
As shown in fig. 5, the curing module 3 includes a hot platen 27 and a vacuum pump. The hot-pressing plate 27 is a square flexible flat plate structure, can be tightly attached to a plane, is of an outwards convex non-planar structure, is internally buried with a metal grid heating wire, and is used for realizing the heating and curing of prepregs; the hot pressing plate 27 is fixedly connected with the side face of the module shell through bolts, a closed cavity 25 is formed between the hot pressing plate 27 and the side face of the module shell, an air guide hole 26 is formed in the closed cavity 25, and the air guide hole 26 is used for being connected with the vacuum pump. In addition, the hot-pressing plate 27 has an array of fine holes on its surface for exhausting air from the prepreg layup, so as to avoid void defects in the structure during the curing process of the prepreg.
The working principle and the using flow of the invention are as follows:
when the device is used, the binocular camera system in the detection module 4 realizes the digital model reconstruction of the composite material repair structure, and completes the surface structure of the structure to be repaired and the surface characteristics of the damaged area; then, detecting the damage depth and the structure in the composite material repairing structure by air coupling ultrasonic oblique incidence, transmitting the damage depth and the structure to a repairing structure digital model reconstructed by a binocular vision camera, and establishing the composite material repairing structure digital model; then, analyzing a required polishing area by utilizing a microcomputer according to the digital model and damage characteristics of the composite material repairing structure, and determining a corresponding polishing path according to the digital model characteristics of the composite material repairing structure; then, the polishing module 6 realizes the polishing of the stepped/inclined section area of the composite material repairing structure according to the polishing path given by the detection module 4; after finishing polishing, the layering module 5 determines the layering mode of the composite material repairing area according to the polishing area, and finishes layering of the structural area to be repaired according to a certain layering mode and layering angle; after the layering is completed, the hot-pressing plate 27 and the vacuum pump in the curing module 3 are utilized to realize heating and curing of the prepreg layering of the composite material repairing structure, and the repairing of the composite material structure is realized.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a combined material structure robot patching device which characterized in that: comprising the following steps:
the composite material repair integrated module (1) is used for detecting a damaged area of a composite material structure, polishing, layering, curing, forming and evaluating the structural performance after repair, and the composite material repair integrated module (1) comprises a module shell, a detection module (4), a polishing module (6), a layering module (5) and a curing module (3) which are arranged on the peripheral side face of the module shell;
the composite material repairing robot structure (2) is movably connected with the module shell on the composite material repairing integrated module (1) and is used for realizing multi-degree-of-freedom adjustment of the composite material repairing integrated module (1).
2. A composite structural robotic repair device according to claim 1, wherein: the composite material repairing robot structure (2) comprises a robot base (12), a robot lower arm (11) arranged on the robot base (12), a robot upper arm (10) connected with the robot lower arm (11), a robot wrist (9) connected with the robot upper arm (10), four first telescopic pushing rods (8) arranged at the tail end part of the robot wrist (9), and a connecting frame (7) connected with the four first telescopic pushing rods (8), wherein the connecting frame (7) is connected with the module shell through a connecting shaft (18).
3. A composite structural robotic repair device according to claim 1, wherein: the detection module (4) comprises a visual camera (23), an air-coupled ultrasonic sensor (24), a collection card and a microcomputer, wherein the visual camera is arranged on the side face of the module shell.
4. A composite structural robotic repair device according to claim 1, wherein: the polishing module (6) comprises a spherical universal joint (21) arranged on the side face of the module shell, a polishing rotating shaft (20) connected with the spherical universal joint (21), a polishing sheet protecting sleeve (14) and polishing sheets (15) which are sequentially arranged on the polishing rotating shaft (20).
5. The robotic repair device of claim 4, wherein: the polishing piece protection sleeve (14) is connected with four electric telescopic rods (22), and the other ends of the four electric telescopic rods (22) are connected to the side face of the module shell.
6. The robotic repair device of claim 4, wherein: the polishing module (6) further comprises a polishing cavity cover (17) arranged on the side surface of the module shell, a temperature/humidity sensor (13) arranged on the side surface of the module shell and positioned in the polishing cavity cover (17), an atomization nozzle (16) and dust collection holes (19).
7. A composite structural robotic repair device according to claim 1, wherein: the layering module (5) is in including setting up connecting rod (31) on the module shell side, setting up second flexible push rod (29) at connecting rod (31) both ends, third flexible push rod (33), with prepreg box (28) that flexible end of second flexible push rod (29) is connected, with layering gyro wheel (34) that flexible end of third flexible push rod (33) is connected, be provided with lamellar prepreg (35) in prepreg box (28), guide rail spout (30) have been seted up on the shaft of second flexible push rod (29), guide rail spout (30) slidable mounting has layering guide box (32), layering guide box (32) are connected with lamellar prepreg (35).
8. The robotic repair device of claim 7, wherein: be provided with prepreg mouth (38) on prepreg box (28), the top of prepreg mouth (38) is provided with cut-off knife slide rail (37), slidable mounting has cut-off knife (36) on cut-off knife slide rail (37), lamellar prepreg (35) follow prepreg mouth (38) department stretches out.
9. The robotic repair device of claim 7, wherein: the layering roller (34) is positioned below the layered prepreg (35), and the inner side of the layering roller (34) is of a hollow structure and the surface of the layering roller is provided with pores.
10. A composite structural robotic repair device according to claim 1, wherein: the curing module (3) comprises a hot pressing plate (27) arranged on the side face of the module shell, a closed cavity (25) is formed between the hot pressing plate (27) and the side face of the module shell, and air guide holes (26) are formed in the closed cavity (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310832374.9A CN116765745A (en) | 2023-07-07 | 2023-07-07 | Robot repairing device with composite material structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310832374.9A CN116765745A (en) | 2023-07-07 | 2023-07-07 | Robot repairing device with composite material structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116765745A true CN116765745A (en) | 2023-09-19 |
Family
ID=87991262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310832374.9A Pending CN116765745A (en) | 2023-07-07 | 2023-07-07 | Robot repairing device with composite material structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116765745A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117884837A (en) * | 2024-02-22 | 2024-04-16 | 泰州市锦峰新材料科技有限公司 | Metal part repairing device |
-
2023
- 2023-07-07 CN CN202310832374.9A patent/CN116765745A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117884837A (en) * | 2024-02-22 | 2024-04-16 | 泰州市锦峰新材料科技有限公司 | Metal part repairing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11300477B2 (en) | Apparatus for automated maintenance of aircraft structural elements | |
| CN116765745A (en) | Robot repairing device with composite material structure | |
| CN101492098B (en) | The manufacture method of modular composite | |
| EP2727843B1 (en) | Apparatus for automated maintenance of aircraft structural elements | |
| CN103358564B (en) | Integral wind power blade ultraviolet light/electron beam in-situ cured fiber placement shaped device and method | |
| CN110901947B (en) | Multi-dimensional attitude adjusting platform for loading and maintaining airplane ground | |
| CA3035018C (en) | Three-dimensional printing of composite repair patches and structures | |
| CN206405709U (en) | A kind of multi-functional automatic Drilling/Riveting actuator assembled for aircraft | |
| CN106475770A (en) | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system | |
| CN114474719B (en) | Continuous fiber composite material in-situ additive manufacturing method for fusion forming quality real-time detection | |
| CN111721810B (en) | Turbine blade defect infrared detection system integrated with constant temperature heating box | |
| CN113910020A (en) | Intelligent pipeline polishing device and control method thereof | |
| CN106216440A (en) | A kind of aero-engine main shaft Intelligent Measurement corrector | |
| CN205786020U (en) | Sample making apparatus | |
| CN112255171A (en) | Bridge detection method | |
| CN109780947A (en) | A kind of solid propellant automation machining and shaping system | |
| US5283982A (en) | Complex contour milling machine | |
| CN113997142A (en) | Robot system for nuclear reactor core end face grinding | |
| CN114083254A (en) | Flexible clamping device and method for automatic adjustment of multiple hydraulic actuating cylinders | |
| CN208147543U (en) | A kind of safety valve testing maintenance intelligent integrated machine | |
| CN106584067B (en) | A kind of guide post steel ball automatically assembles equipment | |
| CN114770565B (en) | Intelligent normal regulation and control system for repairing composite material component | |
| CN206703156U (en) | A kind of robot automatic punching system | |
| CN219348121U (en) | Elasticity detection device is used in aviation tire production | |
| CN116714288B (en) | Rapid repairing method for filling damaged preformed body of aircraft composite material broken hole |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |