WO2024183602A1 - 一种用于复合材料太空在轨编织的多臂成形设备 - Google Patents

一种用于复合材料太空在轨编织的多臂成形设备 Download PDF

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Publication number
WO2024183602A1
WO2024183602A1 PCT/CN2024/079233 CN2024079233W WO2024183602A1 WO 2024183602 A1 WO2024183602 A1 WO 2024183602A1 CN 2024079233 W CN2024079233 W CN 2024079233W WO 2024183602 A1 WO2024183602 A1 WO 2024183602A1
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WIPO (PCT)
Prior art keywords
weaving
compressed air
air source
space
pipe
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PCT/CN2024/079233
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English (en)
French (fr)
Inventor
单忠德
郑菁桦
范聪泽
宋文哲
陈意伟
宋亚星
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to US18/776,250 priority Critical patent/US12186970B2/en
Publication of WO2024183602A1 publication Critical patent/WO2024183602A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/32—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core on a rotating mould, former or core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C53/00—Shaping by bending, folding, twisting, straightening or flattening; Apparatus therefor
    • B29C53/56—Winding and joining, e.g. winding spirally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C33/00—Moulds or cores; Details thereof or accessories therefor
    • B29C33/0083—Electrical or fluid connection systems therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C53/00—Shaping by bending, folding, twisting, straightening or flattening; Apparatus therefor
    • B29C53/80—Component parts, details or accessories; Auxiliary operations
    • B29C53/8008—Component parts, details or accessories; Auxiliary operations specially adapted for winding and joining
    • B29C53/8016—Storing, feeding or applying winding materials, e.g. reels, thread guides, tensioners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/34—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core and shaping or impregnating by compression, i.e. combined with compressing after the lay-up operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Definitions

  • the present invention belongs to the technical field of high-end equipment manufacturing; in particular, it relates to a multi-arm forming device for in-orbit weaving of composite materials in space.
  • thermoplastic resins and their composite materials have developed rapidly in the past decade. Compared with thermosetting materials, thermoplastic resins have excellent impact toughness and fatigue damage resistance, and have a series of advantages such as short molding cycle, high production efficiency, long-term storage, repair and recycling. They have been widely developed and applied in aerospace and other fields. With the emergence of new aromatic thermoplastic resin matrix composite materials with good rigidity, heat resistance and medium resistance, thermoplastic composite materials have overcome the shortcomings of low elastic modulus, poor solvent resistance, and low fiber-resin bonding strength in the past, and can be used for structural materials with higher performance requirements.
  • thermoplastic composite materials are easy to achieve "in-situ” molding to save the "post-curing” link required by thermosetting composite materials, thereby further improving the production efficiency of products.
  • the so-called “in-situ” molding means that during the winding process, the laying and shaping of the wire (or strip) on the core mold (curing for thermosetting composite materials) can be completed at the same time.
  • the present invention discloses a multi-arm forming equipment for in-orbit weaving of composite materials in space.
  • the purpose is to design a lightweight mold and switch the overall structural dimensions based on changes in the working state of the equipment, so as to break through the space and weight limitations of the launch vehicle and ultimately realize the in-orbit winding and weaving forming of related structural parts in space.
  • the present invention provides the following solutions:
  • a multi-arm forming device for in-orbit weaving of composite materials in space comprising a shell with an outer ring track, a plurality of magnetic suspension moving platforms in a circumferentially uniform array, the magnetic suspension moving platform combination can perform controllable circular motion along the ring track, and each is equipped with a mechanical arm type laying device; a telescopic multi-section connecting pipe is provided at the center of the shell, and an airbag mold is connected to the airbag mold by a first compressed air source inside the shell through a telescopic inflation pipe in the telescopic multi-section connecting pipe to realize deformation operation of inflation and deflation, and a second compressed air source inside the shell is used for nozzle gas supply at the bottom of the shell, so as to realize adjustment of the movement posture of the forming device as a whole in space.
  • the moving body of the robotic arm type laying device is a six-axis robotic arm; the execution end is a hot pressing laying head, and the structure includes a storage bin and two hot pressing rollers; the storage bin stores thermoplastic prepreg tapes; the robotic arm type laying device is based on the circular motion of the magnetic levitation motion table combination along the ring track, and performs winding and weaving operations on the airbag mold in the filled state, and finally forms a winding and weaving structural component.
  • the robotic arm placement device can achieve weaving by coordinating the rotational freedom of the end Angle variation control for performance design of process-enhanced wrapped braids.
  • the telescopic multi-section connecting pipe comprises an upper pipe, a middle pipe and a lower pipe, wherein the telescopic multi-section connecting pipe is controlled to be telescopically deformed by an electric control board through a data line drive, and the upper pipe is connected to an airbag mold;
  • the telescopic multi-section connecting pipe is extended and deformed, the airbag mold is pushed out to a suitable position, and is inflated and deformed to facilitate winding and weaving by a robotic arm-type laying device;
  • the multi-arm forming device for in-orbit weaving of composite materials in space provided by the present invention is in a non-working state, the telescopic multi-section connecting pipe is contracted and deformed, and the airbag mold releases gas to shrink the volume for easy pulling back and placement.
  • Airbag molds include the following specific beneficial scenarios:
  • the airbag mold can be sent into the tank structure, the airbag can be inflated to fix the structure, and the repair can be carried out by winding and weaving;
  • the airbag mold can be replaced to adapt to different structural parts, which greatly reduces the load of the aircraft compared to traditional solid molds;
  • a controllable air valve is provided at the connection between the first inflation pipe section of the first compressed air source and the second inflation pipe section of the second compressed air source.
  • the first compressed air source is mainly used for inflating and deflating the airbag mold
  • the second compressed air source is mainly used for nozzle gas supply. In an emergency, the first compressed air source can supply nozzle power through the air valve.
  • the circular arrangement of the mechanical arm placement device is combined with the relative mold return transport It can coordinate and control multiple hot-pressing placement heads to realize the high-efficiency and high-freedom winding and weaving of composite components.
  • the airbag mold is contracted and expanded by inflation and deflation, and the overall equipment is lightweight, so as to facilitate demoulding, repair and weight reduction of the wound braided structural parts under space environment operation;
  • the airbag gas can also be used as emergency kinetic energy for the entire device to move and adjust its position in space.
  • FIG1 is a schematic diagram of the overall structure of the device in the present invention (the airbag mold is filled).
  • FIG. 2 is a partial schematic diagram of the execution end of the robotic arm type placement device in the present invention.
  • FIG. 3 is a partial schematic diagram of the telescopic multi-section connecting pipeline in the present invention (the airbag mold is in a contracted state).
  • this embodiment is a multi-arm forming device for composite material space on-orbit weaving.
  • the outer ring of the device housing 0400 is provided with a ring track 1100.
  • a plurality of magnetic levitation motion platforms 0700 are arranged in an array evenly distributed around the shell.
  • the combination of the magnetic levitation motion platforms 0700 can perform controllable circular motion along the ring track 1100, and each of them is equipped with a robotic arm-type laying device 0300.
  • a telescopic multi-section connecting pipe 0800 is provided at the center of the shell 0400, which is connected to an airbag mold 0100.
  • the airbag mold 0100 is deformed by being inflated and deflated by a first compressed air source 1000 inside the shell 0400 through a telescopic inflation pipe 0900 inside the telescopic multi-section connecting pipe 0800.
  • the second compressed gas source 0600 inside the shell 0400 is used to supply gas to the nozzle 1200 at the bottom of the shell 0400, so as to adjust the movement posture of the entire forming equipment in space.
  • a controllable air valve 1300 is provided at the connection between the first inflation pipe section 0901 on the first compressed air source 1000 and the second inflation pipe section 0902 on the second compressed air source 0600.
  • the first compressed air source 1000 is mainly used for inflating and deflating the airbag mold 0100
  • the second compressed air source 0600 is mainly used for gas supply to the nozzle 1200.
  • the first compressed air source 1000 can supply power to the nozzle 1200 through the air valve 1300.
  • the moving body of the robotic arm type laying device 0300 is a six-axis robotic arm 0301; the execution end is a hot pressing laying head, and the structure includes a storage bin 0302 and two hot pressing rollers 0304; the storage bin contains thermoplastic prepreg tape 0303; the robotic arm type laying device 0300 is based on the circular motion of the magnetic levitation motion platform 0700 combined along the ring track 1100, and performs winding and weaving operations on the airbag mold 0100 in a filled state, and finally forms a winding and weaving structural component 0200.
  • the robotic arm placement device can realize the control of braiding angle change by coordinating the rotational freedom of the execution end, so as to enhance the performance of the braided piece through process winding.
  • the execution end can be equipped with a pressure sensor to better fit the airbag mold 0100 for winding operation. do.
  • the telescopic multi-section connecting pipe 0800 includes an upper pipe 0801, a middle pipe 0802 and a lower pipe 0803, wherein the telescopic multi-section connecting pipe 0800 is driven by the electric control board 0500 through the data line 0501 to control the telescopic deformation, and the upper pipe 0801 is connected to the airbag mold 0100; when the multi-arm forming device for in-orbit weaving of composite materials in space provided by the present invention is in a working state, the telescopic multi-section connecting pipe 0800 is stretched and deformed, and the airbag mold 0100 is pushed to a suitable position and inflated and deformed to facilitate the mechanical arm laying device 0300 to perform winding and weaving; when the multi-arm forming device for in-orbit weaving of composite materials in space provided by the present invention is in a non-working state, the telescopic multi-section connecting pipe 0800 is contracted and deformed, and the airbag mold 0100 releases gas to shrink the volume for easy pulling back and placement.
  • the technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above technical features.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Composite Materials (AREA)
  • Robotics (AREA)
  • Moulding By Coating Moulds (AREA)
  • Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
  • Air Bags (AREA)

Abstract

本发明提供一种用于复合材料太空在轨编织的多臂成形设备，该设备通过环形布置的机械臂式铺放装置组合相对模具的回转运动，协同控制多个热压铺放头，实现复合材料构件高效高自由度缠绕编织成形；同时基于气囊模具设计，通过充放气实现气囊模具的收缩和膨胀变形，借助整体设备工作/非工作状态下结构体积的切换，以轻量化整体设备，达到便于火箭运载升空及在太空环境作业下缠绕编织结构件的脱模、修复和减重的目的。此外气囊气体也可作为整体设备在太空中运动及调整位姿的紧急动能。最终实现复合材料太空在轨高质高效缠绕编织成形。

Description

一种用于复合材料太空在轨编织的多臂成形设备 技术领域
本发明属于高端装备制造技术领域；尤其涉及一种用于复合材料太空在轨编织的多臂成形设备。
背景技术
热塑性树脂及其复合材料近十多年来得到了迅速发展。与热固性材料相比，热塑性树脂具有优异的抗冲击韧性、耐疲劳损伤性，且成型周期短、生产效率高、可长期贮存、进行修补和回收再利用等一系列优点，在航空航天等领域得到了广泛的发展和应用。随着刚性、耐热性及耐介质性好的新型芳香族热塑性树脂基体复合材料的出现，使得热塑性复合材料克服了以往弹性模量低、抗溶剂性差、纤维与树脂结合强度低等缺点，可用于性能要求较高的结构材料。此外，热塑性复合材料易于实现“原位”成型以省去如热固性复合材料所需的“后固化”环节，从而进一步提高制品的生产效率。所谓“原位”成型，即在缠绕过程中，线材(或带材)在芯模上铺贴与定型(热固性复合材料为固化)可同时完成。
为解决空间站补给紧张的问题，突破运载火箭空间和重量的限制，太空在轨制造已成为国内外研究热点方向。目前缠绕编织设备依赖于模具，而固定的实体模具极大影响运载火箭的空间和重量的利用率。因此从轻量化、可替换性角度，开发一种用于复合材料太空在轨 编织的多臂成形设备。
发明内容
为解决上述问题，本发明公开了一种用于复合材料太空在轨编织的多臂成形设备，目的是轻量化模具设计，同时基于设备工作状态变化切换整体结构尺寸，以突破运载火箭空间和重量的限制，最终实现太空在轨缠绕编织成形相关结构件。
为实现上述目的，本发明提供了如下方案：
一种用于复合材料太空在轨编织的多臂成形设备，包括壳体外圈设有环轨，环轨上设有圆周均布阵列的若干磁悬浮运动台，磁悬浮运动台组合可沿环轨进行可控的圆周运动，且各自安装有机械臂式铺放装置；壳体中心处设有伸缩式多段连接管道，连接有气囊模具，气囊模具则由壳体内部的第一压缩气源通过伸缩式多段连接管道内的可伸缩充气管道实现充放气的变形操作，壳体内部的第二压缩气源用于壳体底部的喷管气体供给，以实现成形设备整体在太空中运动姿态的调整。
进一步的，所述的机械臂式铺放装置运动主体为六轴机械臂；执行末端为热压铺放头，结构包括储料仓和两个热压辊；储料仓内存有热塑性预浸带材；机械臂式铺放装置基于磁悬浮运动台组合沿环轨进行的圆周运动，在充满状态下的气囊模具上进行缠绕编织操作，最终形成缠绕编织结构件。
机械臂式铺放装置可通过协同执行末端的旋转自由度，实现编织 角度变化控制，以便进行工艺强化缠绕编织件的性能设计。
进一步的，所述的伸缩式多段连接管道包括上管道、中管道和下管道，其中伸缩式多段连接管道由电控板通过数据线驱动控制伸缩变形，上管道连接有气囊模具；当本发明提供一种用于复合材料太空在轨编织的多臂成形设备处于工作状态时，伸缩式多段连接管道进行伸开变形，气囊模具被推出至合适位置，并进行充气变形，以便于机械臂式铺放装置进行缠绕编织；当本发明提供一种用于复合材料太空在轨编织的多臂成形设备处于非工作状态时，伸缩式多段连接管道进行收缩变形，气囊模具放出气体以收缩体积，便于拉回放置。
气囊模具包括以下具体有益场景的应用：
①脱模：完成缠绕编织作业后，通过气囊模具放出气体收缩体积，也便于脱下模具，投入应用场景中；
②修复：可将气囊模具送入罐体类结构件中，充气膨胀气囊固定结构件，通过缠绕编织方式进行修复；
③减重：可替换气囊模具以适应不同结构件，相对于传统实体模具，极大减少了飞行器的负载；
进一步的，第一压缩气源的第一充气管道段和第二压缩气源的第二充气管道段连接处设有可控的气阀，第一压缩气源主要用于气囊模具充放气，第二压缩气源主要用于喷管气体供给；紧急情况下，第一压缩气源可通过气阀供给喷管动力。
本发明的有益效果如下：
(1)通过环形布置的机械臂式铺放装置组合相对模具的回转运 动，协同控制多个热压铺放头，实现复合材料构件高效高自由度缠绕编织成形；
(2)通过充放气实现气囊模具的收缩和膨胀变形，实现整体设备轻量化设计，达到便于太空环境作业下缠绕编织结构件的脱模、修复和减重的目的；
(3)气囊气体也可作为整体设备在太空中运动及调整位姿的紧急动能。
附图说明
图1为本发明中设备整体结构示意图(气囊模具充满状态)。
图2为本发明中机械臂式铺放装置执行末端局部示意图。
图3为本发明中伸缩式多段连接管道局部示意图(气囊模具收缩状态)。
具体实施方式
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。需要说明的是，下面描述中使用的词语“前”、“后”、“左”、“右”、“上”和“下”指的是附图中的方向，词语“内”和“外”分别指的是朝向或远离特定部件几何中心的方向。
如图1所示，本实施例为一种用于复合材料太空在轨编织的多臂成形设备，设备壳体0400外圈设有环轨1100，环轨1100上设有圆 周均布阵列的若干磁悬浮运动台0700，磁悬浮运动台0700组合可沿环轨1100进行可控的圆周运动，且各自安装有机械臂式铺放装置0300；壳体0400中心处设有伸缩式多段连接管道0800，连接有气囊模具0100，气囊模具0100则由壳体0400内部的第一压缩气源1000通过伸缩式多段连接管道0800内的可伸缩充气管道0900实现充放气的变形操作。
壳体0400内部的第二压缩气源0600用于壳体0400底部的喷管1200气体供给，以实现成形设备整体在太空中运动姿态的调整。
所述第一压缩气源1000上的第一充气管道段0901和第二压缩气源0600上的第二充气管道段0902连接处设有可控的气阀1300，第一压缩气源1000主要用于气囊模具0100充放气，第二压缩气源0600主要用于喷管1200气体供给；紧急情况下，第一压缩气源1000可通过气阀1300供给喷管1200动力。
如图2所示，所述的机械臂式铺放装置0300运动主体为六轴机械臂0301；执行末端为热压铺放头，结构包括储料仓0302和两个热压辊0304；储料仓内存有热塑性预浸带材0303；机械臂式铺放装置0300基于磁悬浮运动台0700组合沿环轨1100进行的圆周运动，在充满状态下的气囊模具0100上进行缠绕编织操作，最终形成缠绕编织结构件0200。
机械臂式铺放装置可通过协同执行末端的旋转自由度，实现编织角度变化控制，以便进行工艺强化缠绕编织件的性能。同时执行末端的可加装压力传感器以便于更好的贴合气囊模具0100进行缠绕操 作。
如图3所示，所述的伸缩式多段连接管道0800包括上管道0801、中管道0802和下管道0803，其中伸缩式多段连接管道0800由电控板0500通过数据线0501驱动控制伸缩变形，上管道0801连接有气囊模具0100；当本发明提供一种用于复合材料太空在轨编织的多臂成形设备处于工作状态时，伸缩式多段连接管道0800进行伸开变形，气囊模具0100被推出至合适位置，并进行充气变形，以便于机械臂式铺放装置0300进行缠绕编织；当本发明提供一种用于复合材料太空在轨编织的多臂成形设备处于非工作状态时，伸缩式多段连接管道0800进行收缩变形，气囊模具0100放出气体以收缩体积，便于拉回放置。
本发明方案所公开的技术手段不仅限于上述实施方式所公开的技术手段，还包括由以上技术特征任意组合所组成的技术方案。

Claims (4)

  1. 一种用于复合材料太空在轨编织的多臂成形设备，其特征在于，包括壳体(0400)，壳体(0400)外圈设有环轨(1100)，环轨(1100)上设有圆周均布阵列的若干磁悬浮运动台(0700)，磁悬浮运动台(0700)组合沿环轨(1100)进行圆周运动，且各自安装有机械臂式铺放装置(0300)；壳体(0400)中心处设有伸缩式多段连接管道(0800)，伸缩式多段连接管道(0800)的一端连接有气囊模具(0100)，其中气囊模具(0100)通过第一压缩气源(100)，实现充放气的变形操作，第一压缩气源(1000)和第二压缩气源(0600)均设置在壳体(0400)的内部；第一压缩气源(1000)通过第一充气管道段(0901)与可伸缩充气管道(0900)连接，可伸缩充气管道(0900)设在伸缩式多段连接管道(0800)内；第二压缩气源(0600)用于壳体(0400)底部的喷管(1200)气体供给。
  2. 根据权利要求1所述的一种用于复合材料太空在轨编织的多臂成形设备，其特征在于，所述的机械臂式铺放装置(0300)运动主体为六轴机械臂(0301)；执行末端为热压铺放头，结构包括储料仓(0302)和两个热压辊(0304)；储料仓内存有热塑性预浸带材(0303)；机械臂式铺放装置(0300)基于磁悬浮运动台(0700)组合沿环轨(1100)进行的圆周运动，在充满状态下的气囊模具(0100)上进行协同缠绕编织操作，最终形成缠绕编织结构件(0200)。
  3. 根据权利要求1所述的一种用于复合材料太空在轨编织的多臂成形设备，其特征在于，所述伸缩式多段连接管道(0800)包括上管道(0801)、中管道(0802)和下管道(0803)，其中伸缩式多段连接管道(0800)由电控板(0500)通过数据线(0501)驱动控制伸缩变 形，上管道(0801)连接有气囊模具(0100)；工作状态时，伸缩式多段连接管道(0800)进行伸开变形，气囊模具(0100)被推出至合适位置，并进行充气变形，以便于机械臂式铺放装置(0300)进行缠绕编织；处于非工作状态时，伸缩式多段连接管道(0800)进行收缩变形，气囊模具(0100)放出气体以收缩体积，便于拉回放置。
  4. 根据权利要求1所述的一种用于复合材料太空在轨编织的多臂成形设备，其特征在于，所述第一压缩气源(1000)上的第一充气管道段(0901)和第二压缩气源(0600)上的第二充气管道段(0902)连接处设有可控的气阀(1300)，第一压缩气源(1000)主要用于气囊模具(0100)充放气，第二压缩气源(0600)主要用于喷管(1200)气体供给；紧急情况下，第一压缩气源(1000)可通过气阀(1300)供给喷管(1200)动力。
PCT/CN2024/079233 2023-03-03 2024-02-29 一种用于复合材料太空在轨编织的多臂成形设备 Ceased WO2024183602A1 (zh)

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