Fiber patch placement head, robot and placement method

Abstract

The present invention provides a fiber patch placement head, robot, and placement method, which have the characteristics of flexible picking and placement processes, uniform and controllable heating temperature and placement pressure, and strong adaptive curvature change capability, and have great application value in the field of composite material placement. The placement head includes: a base; an air nozzle, with a front inlet opened on the front side of the base; a flexible outer cover, which is sealed and formed around the front side of the base, is hollow inside and forms a sealed space connected to the front inlet; a filter, which is installed on the base, located in the sealed space, and has multiple filter holes on its surface; a particle filler, which is formed in a subspace of the sealed space located in front of the filter and only fills a part of the subspace in a non-pressed state, and includes multiple elastic particles, each of which has a particle size larger than the aperture of the filter hole; a patch adsorption area, corresponding to the fiber patch, including multiple air inlet holes opened on the front face of the flexible outer cover, each of which has an aperture smaller than the diameter of the particle.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a fiber patch placement head, a robot and a placement method. Background Art

[0002] In recent years, robotics has rapidly developed in fields such as aerospace. Composite placement robots, in particular, play a vital role in the manufacture of composite components in medical and aerospace applications. Currently, the mainstream composite placement robots include automated tape placement robots, automated fiber placement robots, and chopped fiber patch placement robots. Chopped fiber patch placement robots are a leading automated placement device currently under research and development both domestically and internationally, demonstrating unique advantages for small, highly curvatured aerospace components.

[0003] However, the chopped fiber patch placement robot is still in the exploratory stage. When laying chopped fiber patches on complex curved surfaces, there are still problems such as local warping, local unevenness, and difficulty in effectively fitting the patch and the core mold (the component to be patched), which need to be solved urgently. Summary of the Invention

[0004] The present invention is made to solve the above problems, and its purpose is to provide a fiber patch placement head, a robot and a placement method, which can adapt to various complex curvature core molds through the blocking principle and reliably and effectively place the fiber patch on the complex curvature core mold.

[0005] In order to achieve the above object, the present invention adopts the following scheme:

[0006] <Placing head>

[0007] The present invention provides a fiber patch placement head for picking up and placing fiber patches to be placed, comprising: a base; an air nozzle, with a front end inlet opened on the front side of the base; a flexible outer cover, which is sealed and formed around the front side of the base, is hollow inside, and forms a sealed space connected to the front end inlet; a filter screen, which is installed on the base, located in the sealed space, and has a plurality of filter holes on its surface; a particle filler, which is formed in a subspace in the sealed space located in the front side of the filter screen, and only fills a part of the subspace in a non-pressed state, comprising a plurality of elastic particles, each of which has a particle size larger than the aperture size of the filter hole; and a patch adsorption area, corresponding to the fiber patch, comprising a plurality of air inlet holes opened on the front end surface of the flexible outer cover, each of which has an aperture smaller than the diameter of the particle, wherein, in the picking In the taking state, the air nozzle creates a certain negative pressure between the fiber patch to be laid and the patch adsorption area by suction, thereby adsorbing the fiber patch in the patch adsorption area. At this time, the subspace is only slightly reduced, and the particles still only fill a part of the subspace; in the laying state, the fiber patch is carried by the patch adsorption area to the component to be patched, and then the flexible outer cover is moved to make the fiber patch contact the surface of the component to be patched and adapt to the deformation of the surface curvature, completing the first stage and entering the second stage: the air nozzle is used to increase the negative pressure to reduce the subspace until the particle filler fills the subspace, and adaptively deforms under the squeeze of the filter screen and the component to be patched, and the stiffness gradually increases with the increase in the deformation of the particle filler, until the fiber patch is tightly fitted along the surface of the component to be patched through the pressing with variable stiffness.

[0008] Preferably, the fiber patch placement head involved in the present invention may also include: a heating layer, which is arranged on the side surface of the patch adsorption area and on the area where no air inlet holes are formed, and is used to heat the fiber patch to facilitate laying, including a plurality of heating units arranged in an array; and a heat insulation layer, which is arranged around the heating layer to isolate the heat of the heating layer from the granular filler.

[0009] Preferably, the fiber patch placement head of the present invention may further include: a force sensor, arranged on the base, for monitoring the pressure when the fiber patch is placed; and an air flow sensor, arranged in the air nozzle, for monitoring the gas flow.

[0010] <Robot>

[0011] Furthermore, the present invention also provides a fiber patch placement robot, comprising: a multi-degree-of-freedom robotic arm; a placement head, which is the fiber patch placement head described in any one of the above <Placing Head>, installed on the multi-degree-of-freedom robotic arm, and performs picking and placement operations on the fiber patches to be placed; a control unit, which is communicatively connected to the multi-degree-of-freedom robotic arm and the placement head to control their operation.

[0012] Preferably, in the fiber patch robot involved in the present invention, in the laying state, the control unit adjusts the placement head by controlling the multi-degree-of-freedom robotic arm, so that the normal vector of the placement head coincides with the normal vector of the surface of the component to be patched as much as possible for laying.

[0013] Preferably, in the fiber patch robot involved in the present invention, the control unit is communicatively connected with the heating unit, force sensor, and air flow sensor to control their operation. The control unit can control the heating unit to heat the fiber patch for a predetermined time and temperature, so that the viscosity of the fiber patch reaches the optimal laid state, and can obtain the pressure and gas flow information monitored by the force sensor and the air flow sensor respectively.

[0014] Preferably, in the fiber patch robot of the present invention, the control unit determines a placement trajectory based on a surface model of the component to be patched, and controls the multi-degree-of-freedom robotic arm to drive the placement head to perform placement along the placement trajectory;

[0015] According to the surface model, when the height h between the spans of the to-be-patch component to be laid is greater than the maximum deformation depth before the placement head enters the second stage, in the first stage, the control unit controls the placement head to move along the surface normal vector of the component to be patched so that the fiber patch contacts the surface of the component to be patched and adapts to the deformation of the surface curvature, and then further controls the placement head to rotate at an acute angle along the laying direction within the laying area.

[0016] Preferably, in the fiber patch robot involved in the present invention, in the picking state, the control unit controls the air nozzle to suck a predetermined amount of air q1 based on the gas flow monitored by the air flow sensor; in the laying state, the control unit controls the air nozzle to suck a predetermined amount of air q2 based on the gas flow monitored by the air flow sensor, q2>>q1, and judges whether the predetermined pressure is reached based on the pressure monitored by the force sensor. If the judgment is no, the multi-degree-of-freedom robotic arm is controlled to move along the normal direction of the laying head until the pressure reaches the standard.

[0017] <Method>

[0018] Furthermore, the present invention also provides a fiber patch placement method, which uses the fiber patch placement head described in any one of the above <Placing Head> or the fiber patch placement robot described in any one of the above <Robot> to pick up and place the fiber patches to be placed.

[0019] Functions and effects of the invention

[0020] 1. The fiber patch can be picked up and moved by applying negative pressure. The movement is flexible and can protect the fiber patch to avoid damage during the picking and placement process.

[0021] 2. The filling particles, filter screen, and patch adsorption area form a blocking system. The blocking principle of the filling particles is used to adapt to various complex curvature core molds, so that the placement head can adaptively deform when facing the complex curvature component to be patched. At the same time, it can also realize the transformation of its own stiffness, providing uniform pressure for laying fiber patches; and after the patch is deformed by contact with the complex curvature surface of the component to be patched, it can effectively match the surface and maintain a stable shape during the pressing process, so as to more effectively stick the patch to the component to be patched.

[0022] 3. Furthermore, the method of heating the fiber patch with the heating layer can make the fiber patch sticky and achieve the best laying state, which is more conducive to reliable laying.

[0023] 4. Furthermore, in the special case of h>h1, by controlling the placement head to rotate at an acute angle along the placement direction within the placement area, it is possible to adapt to placement operations with higher curvatures and more reliably and effectively attach the patch to the component to be patched.

[0024] In summary, the present invention has the characteristics of flexible picking and laying processes, variable stiffness, uniform and controllable laying pressure, and strong adaptive curvature change capability, which enables the patch to be effectively and smoothly bonded to the component to be patched. It has great application value in the field of composite material laying, especially in the laying of composite materials of complex curvature components in aerospace. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of the fiber patch robot and the component to be patched involved in the embodiment of the present invention;

[0026] Figure 2 is a control framework diagram of a fiber patch robot according to an embodiment of the present invention;

[0027] Figure 3 1 is a schematic structural diagram of a fiber patch placement head according to an embodiment of the present invention;

[0028] Figure 4 1 is a structural diagram of a fiber patch placement head and a fiber patch in a picking-up state according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the fiber patch placement head and the fiber patch in the placement state involved in the embodiment of the present invention Figure 1 (h≤h1);

[0030] Figure 6 This is a schematic diagram of the structure of the fiber patch placement head and the fiber patch in the placement state involved in the embodiment of the present invention Figure 2 (h>h1);

[0031] Figure 7It is a flow chart of the laying method involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The fiber patch placement head, robot and placement method of the present invention are described in detail below with reference to the accompanying drawings.

[0033] <Example>

[0034] like Figure 1 and 4 As shown, the fiber patch robot 10 is used to pick up the fiber patch X to be laid and lay it on the surface of the component to be patched (core mold) M, so that the fiber patch X and the core mold M are tightly fitted.

[0035] like Figure 1 As shown, the core mold M is installed on the core mold support frame Z. The core mold support frame Z has a motor to control the rotation of the core mold M. The surface of the core mold is coated with glue. The position of the core mold M to be laid is adjusted according to the progress of the laying operation. In this embodiment, the surface to be laid is adjusted to a horizontal upward direction for laying operation. Figure 1 The middle is the state before position adjustment.

[0036] like Figures 1 to 3 As shown, the fiber patch robot 10 includes a multi-degree-of-freedom robotic arm 20 , a placement head 30 , a scanning unit 40 , an input and display unit 50 , and a control unit 60 .

[0037] The multi-degree-of-freedom manipulator 20 includes a manipulator body 21 and a manipulator base 22. The manipulator body 21 is a serial manipulator with six or more rotation axes (joint axes). In this embodiment, the manipulator body 21 is a six-axis manipulator with a terminal working surface having six degrees of freedom. The manipulator body 21 is mounted on the manipulator base 22 and fixed to the ground. The terminal end of the manipulator body 21 is fixedly connected to the placement head 30, which can flexibly drive the placement head 30 to move arbitrarily. When laying large curvature components, the placement head 30 is driven to rotate by the manipulator body 21. When the angle between the normal vector of the surface to be laid and the normal vector of the placement head is greater than |θ|, the angles of the joints of the manipulator body 21 are adjusted so that the normal vector of the placement head 30 coincides with the normal vector of the placement surface. When the angle between the normal vector of the surface to be laid and the normal vector of the placement head is less than |θ|, the placement operation is carried out normally, i.e., the placement head is ensured to be perpendicular to the surface to be laid. θ is the allowable error range, for example, ±3°.

[0038] The placement head 30 is mounted at the end of the multi-degree-of-freedom robot arm 20 and its position relative to the end of the robot arm remains unchanged. It is used to pick up and place the fiber patches to be placed. Figures 3 to 6 As shown, the placement head 30 includes a base 31, a force sensor 32, an air nozzle 33, an air flow sensor 34, a flexible outer cover 35, a filter 36, a particle filler 37, a patch adsorption area 38, and a heating and insulation layer 39.

[0039] The force sensor 32 is connected between the base 31 and the multi-degree-of-freedom manipulator 20 to monitor the pressure during the placement of the fiber patch. In this embodiment, the force sensor 32 is a six-dimensional force sensor and is connected to the base 31 via an adapter 32a.

[0040] The gas nozzle 33 passes through the middle of the base 31, with the front end flush with the front surface of the base 31 and the rear end connected to an external device capable of sucking and injecting gas, which can be air or other component gases.

[0041] The air flow sensor 34 is disposed on the inner wall of the air nozzle 33 for monitoring the air flow.

[0042] The flexible outer cover 35 is formed around the front side of the base 31 in a sealed manner and is hollow inside, forming a sealed space connected to the front inlet of the air nozzle 33. In this embodiment, the front end surface of the flexible outer cover 35 is rectangular and is made of latex.

[0043] The filter 36 is mounted on the base 31 within the sealed space. Multiple rows of filter holes 36a are evenly distributed in the central main body area, isolating the particulate filler 37 from the air nozzle 33. The distribution and area of ​​the filter holes 36a correspond to the patch adsorption area 38. The outer frame area of ​​the filter 36 is free of holes and serves as a sealing substrate 36b. This substrate 36b is at least three times thicker than the main body area. The rear end of the sealing substrate 36b serves as a sealing surface, sealed to the base 31 via a sealing gasket 36c.

[0044] The particle filler 37 is enclosed in the subspace of the sealed space located in front of the filter 36, and only fills a part of the subspace in the non-pressed state, such as Figure 3 and 4 As shown, in the natural state and the picked-up state, there is a certain distance between the upper surface of the particle filler 37 and the filter screen. The distance in the natural state is h0, and in the picked-up state is h1, where h0 is slightly larger than h1. The particle filler 37 includes a plurality of elastic particles 37a, each of which has a particle size larger than the aperture of the filter hole 36a. The particles 37a are made of a non-breakable and elastic material such as expanded polypropylene (EPP) or acrylonitrile butadiene (ABS). When the placement head 30 causes the fiber patch X to contact the surface of the core mold M, it can adapt to the curvature of the core mold M and move so that the fiber patch X and the surface morphology of the core mold M fit together. When the placement head 30 presses the fiber patch X onto the surface of the core mold M, it can adapt to the curvature of the core mold M and change its rigidity, so that the fiber patch X and the core mold M fit completely and evenly in a tightly fitted state.

[0045] The patch suction area 38 corresponds to the shape and size of the fiber patch X and includes multiple air inlet holes 38a on the front face of the flexible outer cover 35. The diameter of each air inlet hole 38a is smaller than the diameter of the particle 37a, and the outermost air inlet holes 38a are located in an area slightly smaller than the edge of the fiber patch X. In this embodiment, the patch suction area 38 is located in the middle area of ​​the front face of the flexible outer cover 35, occupying 1 / 3 to 3 / 4 of the front face area. Negative pressure applied by the air nozzle 33 enables the patch suction area 38 to pick up and move the fiber patch X.

[0046] The aperture of the filter hole 36a can prevent the filler from deforming and squeezing into the air port, and the aperture of the air inlet 38a can achieve adsorption of the fiber patch and prevent the filler from being squeezed out. The aperture of the air inlet 38a, the particle size of the particles 37a, and the aperture of the filter hole 36a can all be set to the millimeter level. For example, the particle size of the particles 37a is 5 to 7 mm, and the corresponding aperture of the filter hole 36a can be 1 to 3 mm, and the aperture of the air inlet 38a is 3 mm.

[0047] like Figure 3 and 4 As shown, the heating and insulation layer 39 includes a breathable heating layer and a thermal insulation layer 39b. The heating layer includes a plurality of miniature heating units 39a arranged in an array. These heating units 39a are all located on the inner side of the patch adsorption area 38, in an area where no air inlet is formed, and do not affect the air permeability of the air inlet 38a. They are used to heat the fiber patch X to make it sticky and achieve the optimal placement state. The heating temperature and time are determined through experiments. In this embodiment, the heating unit 39a uses a resistance wire for heating. The resistance wire is integrated into the interior of the placement head 30, avoiding heat loss during movement, and heating is stable and efficient. Alternatively, microwave, infrared, electromagnetic wave, and other heating methods can be used. The thermal insulation layer 39b is arranged around the heating layer and is also a breathable structure. It isolates the heat of the heating layer from the granular filler 37 as much as possible. In this embodiment, the thermal insulation layer 39b includes: an insulation pad arranged outside the heating layer, and a high-temperature resistant polyester fabric arranged around the insulation pad and fixing the insulation pad and the heating layer therein.

[0048] Based on the above structure, in the picking state, the air nozzle 33 forms a certain negative pressure between the fiber patch X to be placed and the patch adsorption area 38 by suction, thereby adsorbing the fiber patch X in the patch adsorption area 38. Figure 4 As shown, the subspace is only slightly reduced at this time, and the particles 37a still only fill a part of the subspace.

[0049] In the laying state, the fiber patch is carried to the alignment core mold M by the patch adsorption area 38, and then the flexible outer cover 35 moves to make the fiber patch X contact the surface of the core mold M and adapt to the surface curvature deformation, completing the first stage; then, enter the second stage: Figure 5As shown, the negative pressure is increased by the air nozzle 33 to shrink the subspace until the granular filler 37 fills the subspace, and adaptively deforms under the extrusion of the filter 36 and the core mold M. The stiffness gradually increases with the increase in the deformation of the granular filler 37, until the fiber patch X is evenly and tightly fitted along the surface of the core mold M through the pressing with variable stiffness.

[0050] In the above structure, the base 31, the flexible outer cover 35, the filter 36, the granular filler 37, and the patch adsorption area 38 together constitute a blocking system. When the laying operation is performed, the multi-degree-of-freedom robotic arm 20 provides a pushing force to cause the fiber patch X to passively deform along with the curvature of the core mold M. Subsequently, the vacuum air nozzle 33 changes the air flow to control the blocking system to increase the stiffness. At this time, as the end of the robotic arm moves, uniform pressure can be applied, and the blocking principle of the granular filler is used to adapt to various complex curvature core molds M for effective laying.

[0051] like Figure 6 As shown, when the laying operation is performed on the special large curvature surface on the core mold M (when the height h between the spans of the part to be laid on the core mold M is greater than the maximum deformation depth h1 before the laying head 30 enters the second stage), at the end of the first stage, the laying head 30 can be further rotated around the core mold M (rotated at an acute angle to the laying direction) to better ensure effective paving.

[0052] After the laying is completed, the air nozzle 33 injects gas to restore the laying head 30 to its original shape and smoothly separate the fiber patch X from the laying head 30 .

[0053] The scanning unit 40 is a depth camera used to scan the area to be laid of the core mold M and generate a position point cloud to send to the control unit 60. The point cloud information has a system timestamp.

[0054] The input display unit 50 is used to allow the user to input operation instructions, and to display the data information acquired, processed, judged, and output by the multi-degree-of-freedom robot 20, the placement head 30, the scanning unit 40, and the control unit 60 according to the operation instructions.

[0055] The control unit 60 is communicatively connected with the multi-degree-of-freedom robot arm 20 , the placement head 30 , the scanning unit 40 , and the input and display unit 50 to control their operations.

[0056] Specifically, the control unit 60 can obtain in real time the joint angle information of all joints of the multi-degree-of-freedom manipulator 20 and the pose information of the manipulator end tool coordinate system in the manipulator base 31 reference system, and this information is accompanied by a system timestamp. The coordinate system is established by selecting the center position of the manipulator base 31 surface. The coordinate system position relationship between the core mold support frame Z and the manipulator base 31 can be measured at the installation position and defined as the world coordinate system. The control unit 60 can then solve the relative pose relationship (expressed in the world coordinate system) of the multi-degree-of-freedom manipulator 20, the placement head 30, and the core mold M at any time, and can track them in real time in the world coordinate system.

[0057] The control unit 60 can obtain the coordinates and normal vectors of discrete sampling points on the surface of the component in the coordinate system of the robot base 31 through the depth point cloud computing collected by the scanning unit 40, obtain the laying area model with the help of the scanning unit 40, plan the laying trajectory, and control the multi-degree-of-freedom robot 20 to drive the laying head 30 along the laying trajectory, performing laying operations with predetermined laying parameters and vertical laying as the goal.

[0058] In the pickup state, the control unit 60 controls the air nozzle 33 to suck a predetermined amount of air q1 based on the air flow rate monitored by the air flow sensor 34, thereby applying suction to the patch suction area 38 to suck and pick up the fiber patch X.

[0059] After picking up, the control unit 60 further controls the heating unit 39a to heat the fiber patch X for a predetermined time and at a predetermined temperature, so that the viscosity of the fiber patch X reaches an optimal state for placement.

[0060] In the laying state, the control unit 60 controls other structures to perform the first and second stage operations in the laying state mentioned above. In the second stage, the air nozzle 33 is controlled to suck a predetermined amount of air q2 based on the gas flow monitored by the air flow sensor 34, q2>>q1, and the pressure monitored by the force sensor 32 is used to determine whether the predetermined pressure has been reached. If the judgment is no, the multi-degree-of-freedom robot arm 20 is controlled to move along the normal direction of the laying head 30 until the pressure reaches the standard. In addition, in the aforementioned process, when the control unit 60 determines that the height h between the planned spans of the to-be-laid parts is greater than the maximum deformation depth h1 of the laying head (the height of the gap in the flexible state), then as shown in FIG. Figure 6 As shown, at the end of the first stage, the multi-degree-of-freedom robot arm 20 controls the placement head 30 to rotate at an acute angle to the placement direction (vertical direction) (as shown by the arrow direction in the figure, rotating from the horizontal direction downward).

[0061] Throughout the entire pick and place process, the optimal values ​​of predetermined placement parameters such as airflow, heating time, temperature, and pressure can be determined through experiments, and these parameters can be directly used in subsequent actual pick and place operations.

[0062] In this embodiment, the control unit 60 obtains the pressure signal through the NST2000 collector 61, thereby adjusting the movement of the robot arm along the normal direction of the placement head so that the fiber patch obtains a suitable pressure F during placement.

[0063] like Figure 7 As shown, the specific method for picking up and placing the fiber patch to be placed based on the above placement head 30 and the fiber patch placement robot 10 is as follows:

[0064] The control unit 60 plans the laying trajectory and initializes it. When operating, the multi-degree-of-freedom robot arm 20 rotates the joint to make the laying head 30 face the fiber patch X. The control unit 60 issues a command to the vacuum air nozzle 33 to provide negative pressure to provide suction to pick up the fiber patch X, and transports the fiber patch X to the designated position positioned by the scanning unit 40 for laying. At this time, the scanning unit 40 monitors the angle between the normal vector of the laying head 30 and the normal vector of the surface to be laid of the core mold M. When the angle is greater than |θ|, the normal vector of the laying head 30 is adjusted to coincide with the normal vector of the surface to be laid of the core mold M. When the angle is less than |θ| (|θ| is the allowable error angle), the laying head moves along the normal direction, and the fiber patch X is transported to the designated position positioned by the scanning unit 40 for laying. The dimensional patch X produces passive deformation along with the surface of the core mold M. The control unit 60 adjusts the air flow of the vacuum air nozzle 33 to control the blocking system to increase the stiffness. At this time, the six-dimensional force sensor 32 obtains the pressure signal, and the NST2000 collector 61 obtains the pressure and transmits it to the control unit 60 to determine whether the laying pressure meets the standard. If not, the control unit 60 sends an instruction to the multi-degree-of-freedom robot 20 to move along the normal vector direction of the laying head 30 until it meets the standard. The next step is to determine whether the laying operation is completed. If not, repeat the above operations. When the multi-degree-of-freedom robot 20 cannot reach the laying area, the core mold support frame Z needs to rotate the core mold M before performing the above-mentioned laying operation.

[0065] In the above process, how to realize the specific picking and placement operations of sheet-like chopped fiber patches; how to use negative pressure to adsorb and move the fiber patches, how to use heating to make the fiber patches sticky to achieve the optimal placement state, how to use the blocking principle of filling particles to adapt to various complex curvature core molds, and how to use the high controllability of the collaborative robot arm to adjust the placement head posture and control the placement pressure. Please refer to the previous description for details and will not be repeated here.

[0066] The above embodiments are merely illustrative of the technical solutions of the present invention. The fiber patch placement head, robot, and placement method involved in the present invention are not limited solely to the structures described in the above embodiments, but are subject to the scope defined by the claims. Any modifications, supplements, or equivalent substitutions made by persons skilled in the art based on these embodiments are within the scope of protection claimed by the present invention.

[0067] In addition, in the above embodiments, the scanning part, input display part, and control part of the fiber patch robot are all arranged separately. The present invention is not limited to this. These structures can also be integrated together, and only the scanning part moves to the predetermined workstation during operation. Further, these structures can be connected and integrated with a multi-degree-of-freedom robotic arm.

Claims

1. Fiber patch placement head, which picks up and places the fiber patches to be placed, is characterized by: include: base; An air nozzle, the front entrance of which is opened on the front side of the base; A flexible outer cover is formed sealingly around the front side of the base and is hollow inside to form a sealed space connected to the front entrance; A filter screen is installed on the base, located in the sealed space, and has a plurality of filter holes on its surface; a particle filler formed in a subspace of the sealed space located in front of the filter screen and filling only a portion of the subspace in a non-pressed state, comprising a plurality of elastic particles, each of which has a particle size larger than the pore size of the filter hole; as well as The patch adsorption area corresponds to the fiber patch and includes a plurality of air inlet holes opened on the front end surface of the flexible outer cover, and the aperture of each air inlet hole is smaller than the diameter of the particle. In the picking state, the air nozzle creates a certain negative pressure between the fiber patch to be placed and the patch adsorption area by suction, thereby adsorbing the fiber patch to the patch adsorption area. At this time, the subspace is only slightly reduced, and the particles still only fill a part of the subspace. In the laid state, the fiber patch is carried by the patch adsorption area to the component to be patched, and then the flexible outer cover is moved to make the fiber patch contact the surface of the component to be patched and adapt to the deformation of the surface curvature, completing the first stage and entering the second stage: the negative pressure is increased by the air nozzle to reduce the subspace until the particle filler fills the subspace, and adaptively deforms under the extrusion of the filter and the component to be patched, and the stiffness gradually increases with the increase in the deformation of the particle filler, until the fiber patch is tightly fitted along the surface of the component to be patched through the pressing with variable stiffness.

2. The fiber patch placement head according to claim 1, characterized in that: Also includes: A heating layer is provided on the side surface of the patch adsorption area and on the area where the air inlet holes are not formed, and is used to heat the fiber patch to facilitate paving, and includes a plurality of heating units arranged in an array; A heat insulating layer is arranged around the heating layer to isolate the heat of the heating layer from the particle filling.

3. The fiber patch placement head according to claim 2, characterized in that: Also includes: a force sensor, disposed on the base, for monitoring the pressure during placement of the fiber patch; The air flow sensor is installed in the air nozzle to monitor the gas flow.

4. The fiber patch placement head according to claim 1, characterized in that: in, The distribution area and area of ​​the filter holes on the filter screen correspond to the adsorption area of ​​the patch; The patch adsorption area is located in the middle area of ​​the front end surface, and the patch adsorption area occupies 1 / 3 to 3 / 4 of the area of ​​the front end surface.

5. Fiber patch placement robot, characterized in that, include: Multi-degree-of-freedom robotic arm; a placement head, which is the fiber patch placement head according to any one of claims 1 to 4, mounted on the multi-degree-of-freedom robotic arm, and performs picking up and placement operations on the fiber patches to be placed; The control unit is connected to the multi-degree-of-freedom robot arm and the placement head to control their operations.

6. The fiber patch placement robot according to claim 5, characterized in that: in, In the laying state, the control unit regulates the laying head by controlling the multi-degree-of-freedom robotic arm so that the laying is performed while the normal vector of the laying head coincides with the normal vector of the surface of the component to be mounted as much as possible.

7. The fiber patch placement robot according to claim 5, characterized in that: in, The placement head is the fiber patch placement head according to claim 3; The control unit is communicatively connected with the heating unit, the force sensor, and the air flow sensor to control their operation. The control unit can control the heating unit to heat the fiber patch for a predetermined time and temperature so that the viscosity of the fiber patch reaches the optimal laid state, and can obtain the pressure and gas flow information monitored by the force sensor and the air flow sensor respectively.

8. The fiber patch placement robot according to claim 5, Its characteristics are: in, The control unit determines a placement trajectory based on the surface model of the component to be mounted, and controls the multi-degree-of-freedom robotic arm to drive the placement head to perform placement along the placement trajectory; According to the surface model, when the height h between the spans of the part to be laid of the component to be patched is greater than the maximum deformation depth h1 before the placement head enters the second stage, then in the first stage, the control unit controls the placement head to move along the surface normal vector of the component to be patched so that the fiber patch contacts the surface of the component to be patched and adapts to the deformation of the surface curvature, and further controls the placement head to rotate at an acute angle along the laying direction within the laying area.

9. The fiber patch placement robot according to claim 7, characterized in that: in, In the pickup state, the control unit controls the air nozzle to suck a predetermined amount of air q1 based on the gas flow monitored by the air flow sensor; In the laying state, the control unit controls the air nozzle to suck a predetermined amount of air q2 based on the gas flow monitored by the air flow sensor, q2>>q1, and judges whether the predetermined pressure is reached based on the pressure monitored by the force sensor. If the judgment is no, the multi-degree-of-freedom robotic arm is controlled to move along the normal direction of the laying head until the pressure reaches the standard.

10. A fiber patch placement method, characterized in that: The fiber patch placement head described in any one of claims 1 to 4 or the fiber patch placement robot described in any one of claims 5 to 9 is used to pick up and place the fiber patches to be placed.

Images