A multi-arm forming apparatus for in-orbit weaving of composite space materials

Abstract

The application provides a multi-arm forming device for composite space in-orbit weaving, which combines the rotation movement of a relative mold through a ring-shaped mechanical arm type laying device, cooperatively controls multiple hot press laying heads, realizes high-efficiency and high-degree-of-freedom winding weaving forming of a composite component, and simultaneously realizes the contraction and expansion deformation of a gas bag mold through inflation and deflation based on the design of the gas bag mold, switches the structure volume of the overall device in the working / non-working state, lightens the overall device, achieves the demolding, repairing and weight reduction of the winding weaving structure in the space environment operation under the rocket carrying and lifting, and uses the gas in the gas bag as the emergency kinetic energy for the movement and adjustment of the overall device in the space. Finally, the high-quality and high-efficiency winding weaving forming of the composite in the space is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of high-end equipment manufacturing, and particularly relates to a multi-arm forming device for on-orbit weaving of composite materials in space. BACKGROUND

[0002] Thermoplastic resins and their composites have developed rapidly in the past decade. Compared with thermosetting materials, thermoplastic resins have excellent impact toughness, fatigue damage resistance, short molding cycle, high production efficiency, long-term storage, repair and recycling, and a series of advantages, and have been widely developed and applied in the field of aerospace. With the emergence of new aromatic thermoplastic resin matrix composites with good rigidity, heat resistance and medium resistance, thermoplastic composites overcome the shortcomings of low elastic modulus, poor solvent resistance and low fiber and resin bonding strength, and can be used for structural materials with high performance requirements. In addition, thermoplastic composites can be easily realized by "in-situ" molding to save the "post-curing" process required for thermosetting composites, thereby further improving the production efficiency of the product. So-called "in-situ" molding, that is, during the winding process, the wire (or strip) is simultaneously completed on the core mold. Pasting and setting (curing for thermosetting composites).

[0003] In order to solve the problem of tight supply of space station, break through the limitation of space and weight of launch vehicle, space on-orbit manufacturing has become a hot research direction at home and abroad. At present, the winding weaving equipment depends on the mold, and the fixed solid mold greatly affects the utilization rate of space and weight of the launch vehicle. Therefore, from the aspects of lightweight and replaceability, a multi-arm forming device for on-orbit weaving of composite materials in space is developed. SUMMARY

[0004] In order to solve the above problems, the application discloses a multi-arm forming device for on-orbit weaving of composite materials in space, which aims to design a lightweight mold, and simultaneously switch the overall structure size based on the change of the working state of the device, so as to break through the limitation of space and weight of the launch vehicle, and finally realize the on-orbit winding and weaving forming of related structural parts in space.

[0005] In order to achieve the above purpose, the application provides the following scheme:

[0006] A multi-arm forming device for composite space in-orbit weaving, comprising a shell, an outer ring of the shell is provided with a ring track, a plurality of magnetic levitation motion tables are arranged on the ring track in a circumferentially distributed array, the magnetic levitation motion tables are combined to perform controllable circumferential motion along the ring track, and each is provided with a mechanical arm type laying device; a telescopic multi-section connecting pipeline is arranged at the center of the shell, and a gas bag mold is connected to the pipeline; the gas bag mold is inflated and deflated by a telescopic inflatable pipeline in the telescopic multi-section connecting pipeline through a first compressed air source in the shell, and a second compressed air source in the shell is used to supply gas to a nozzle at the bottom of the shell to adjust the motion posture of the whole forming device in space.

[0007] Further, the mechanical arm type laying device motion body is a six-axis mechanical arm; the execution end is a hot pressing laying head, which comprises a storage bin and two hot pressing rollers; the storage bin stores hot plastic pre-impregnated tapes; the mechanical arm type laying device performs winding and weaving operation on the gas bag mold in a full state based on the circumferential motion of the magnetic levitation motion table combination along the ring track, and finally forms a winding and weaving structure.

[0008] The mechanical arm type laying device can realize winding angle change control by the rotation freedom of the cooperative execution end, so as to perform process strengthening winding and weaving performance design.

[0009] Further, the telescopic multi-section connecting pipeline comprises an upper pipeline, a middle pipeline and a lower pipeline, wherein the telescopic multi-section connecting pipeline is driven and controlled to deform by an electric control board through a data line, and the upper pipeline is connected to the gas bag mold; when the multi-arm forming device for composite space in-orbit weaving provided by the application is in a working state, the telescopic multi-section connecting pipeline is deformed to stretch out, the gas bag mold is pushed out to a suitable position and inflated to deform, so as to facilitate the winding and weaving of the mechanical arm type laying device; when the multi-arm forming device for composite space in-orbit weaving provided by the application is in a non-working state, the telescopic multi-section connecting pipeline is deformed to contract, the gas bag mold releases gas to contract the volume, and is pulled back and placed.

[0010] The gas bag mold has the following specific application scenarios:

[0011] ① Demolding: after the winding and weaving operation is completed, the gas bag mold releases gas to contract the volume, which is convenient for demolding and application in the application scenario;

[0012] ② Repair: the gas bag mold can be sent into a tank type structure, inflated to fix the structure, and repaired by winding and weaving;

[0013] ③ Weight reduction: the gas bag mold can be replaced to adapt to different structures, and the load of the aircraft is greatly reduced compared with the traditional solid mold;

[0014] Further, the first inflation pipeline section of the first compressed gas source and the second inflation pipeline section of the second compressed gas source are connected with a controllable air valve, the first compressed gas source is mainly used for inflating and deflating the air bag mold, and the second compressed gas source is mainly used for supplying gas to the nozzle; in an emergency, the first compressed gas source can supply power to the nozzle through the air valve.

[0015] The beneficial effects of the present application are as follows:

[0016] (1) The mechanical arm type laying device arranged in a ring shape is combined with the rotation movement of the mold to cooperatively control multiple hot press laying heads, so that the composite material component is efficiently and highly freely wound and woven to form;

[0017] (2) The air bag mold is inflated and deflated to realize shrinkage and expansion deformation, so that the overall equipment is lightweight designed, and the purposes of demolding, repairing and weight reduction of the wound and woven structure under the operation in the space environment are achieved;

[0018] (3) The air bag gas can also be used as an emergency energy of the overall equipment to move and adjust the pose in the space. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the equipment in the present application (air bag mold in full inflation state).

[0020] Figure 2 It is a local schematic diagram of the execution end of the mechanical arm type laying device in the present application.

[0021] Figure 3 It is a local schematic diagram of the telescopic multi-section connecting pipeline in the present application (air bag mold in deflation state). DETAILED DESCRIPTION

[0022] The present application will be further illustrated below in combination with the drawings and specific embodiments, and it should be understood that the following specific embodiments are only used to illustrate the present application and not to limit the scope of the present application. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" refer to the directions towards or away from the geometric center of a particular component.

[0023] As Figure 1As shown, the embodiment is a multi-arm forming device for composite space in-orbit weaving, the outer ring of the device shell 0400 is provided with a ring track 1100, and a plurality of magnetic suspension motion tables 0700 are arranged in a circumferentially uniform array on the ring track 1100, the magnetic suspension motion tables 0700 can be combined to perform controllable circumferential motion along the ring track 1100, and each is provided with a mechanical arm type laying device 0300; a telescopic multi-section connecting pipeline 0800 is arranged at the center of the shell 0400, and a gas bag mold 0100 is connected, and the gas bag mold 0100 is inflated and deflated by a telescopic inflatable pipeline 0900 in the telescopic multi-section connecting pipeline 0800 to realize the deformation operation.

[0024] The second compressed gas source 0600 in the shell 0400 is used for gas supply of the nozzle 1200 at the bottom of the shell 0400 to realize adjustment of the motion posture of the whole forming device in space.

[0025] A controllable air valve 1300 is arranged at the connection between the first inflatable pipeline section 0901 on the first compressed gas source 1000 and the second inflatable pipeline section 0902 on the second compressed gas source 0600, the first compressed gas source 1000 is mainly used for inflating and deflating the gas bag mold 0100, and the second compressed gas source 0600 is mainly used for gas supply of the nozzle 1200; in an emergency, the first compressed gas source 1000 can supply power to the nozzle 1200 through the air valve 1300.

[0026] As shown in the figure, Figure 2 The movement body of the mechanical arm type laying device 0300 is a six-axis mechanical arm 0301; the execution end is a hot pressing laying head, which includes a storage bin 0302 and two hot pressing rollers 0304; the storage bin stores hot plastic pre-impregnated tapes 0303; the mechanical arm type laying device 0300 is based on the circumferential motion of the magnetic suspension motion table 0700 combination along the ring track 1100 to perform winding and weaving operation on the gas bag mold 0100 in the full state, and finally form a winding and weaving structure 0200.

[0027] The mechanical arm type laying device can realize weaving angle change control through the rotation freedom of the cooperative execution end, so as to strengthen the performance of the process winding and weaving piece. The execution end can be additionally provided with a pressure sensor to better fit the gas bag mold 0100 for winding operation.

[0028] As shown in the figure, Figure 3As shown, the telescopic multi-section connecting pipeline 0800 includes an upper pipeline 0801, a middle pipeline 0802 and a lower pipeline 0803, wherein the telescopic multi-section connecting pipeline 0800 is driven and controlled to deform by the electric control panel 0500 through the data line 0501, and the upper pipeline 0801 is connected with the air bag mold 0100; when the multi-arm forming device for on-orbit weaving of composite materials in space provided by the application is in a working state, the telescopic multi-section connecting pipeline 0800 is deformed to stretch out, the air bag mold 0100 is pushed out to a suitable position and deformed by inflation, so that the mechanical arm type laying device 0300 is wound and woven; when the multi-arm forming device for on-orbit weaving of composite materials in space provided by the application is in a non-working state, the telescopic multi-section connecting pipeline 0800 is deformed to contract, the air bag mold 0100 releases gas to contract the volume, and is pulled back and placed.

[0029] The technical means disclosed in the scheme of the application is not limited to the technical means disclosed in the above-mentioned embodiments, and also includes technical solutions composed of any combination of the above technical features.

Claims

1. A multi-arm forming device for on-orbit weaving of composite materials in space, characterized in that, Includes a shell (0400), with a ring rail (1100) on the outer circumference of the shell (0400). Several magnetic levitation motion platforms (0700) are arranged in a circular array on the ring rail (1100). The magnetic levitation motion platforms (0700) move in a circular motion along the ring rail (1100), and each is equipped with a robotic arm-type laying device (0300). A telescopic multi-segment connecting pipe (0800) is located at the center of the shell (0400). One end of the 800 is connected to an airbag mold (0100), wherein the airbag mold (0100) is inflated and deflated by a first compressed air source (1000), and both the first compressed air source (1000) and the second compressed air source (0600) are located inside the housing (0400); the first compressed air source (1000) is connected to a retractable inflatable pipe (0900) through a first inflation pipe section (0901), and the retractable inflatable pipe (0900) It is installed inside a telescopic multi-section connecting pipe (0800); a second compressed air source (0600) is used to supply gas to the nozzle (1200) at the bottom of the housing (0400); 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 and controlled to extend and retract by an electronic control board (0500) through a data line (0501), the upper pipe (0801) Connected to an airbag mold (0100); In the working state, the telescopic multi-segment connecting pipe (0800) extends and deforms, the airbag mold (0100) is pushed to a suitable position and inflated and deformed, so that the robotic arm type laying device (0300) can wrap and weave; In the non-working state, the telescopic multi-segment connecting pipe (0800) contracts and deforms, the airbag mold (0100) releases gas to shrink its volume, so that it can be pulled back and placed.

2. The multi-arm forming device for on-orbit weaving of composite materials in space according to claim 1, characterized in that, The main moving body of the robotic arm-type laying device (0300) is a six-axis robotic arm (0301); the execution end is a hot press laying head, the structure of which includes a storage bin (0302) and two hot press rollers (0304); the storage bin (0302) contains thermoplastic prepreg tape (0303); the robotic arm-type laying device (0300) performs circumferential motion along the ring track (1100) based on the magnetic levitation motion table (0700), and performs collaborative winding and weaving operations on the airbag mold (0100) in the full state, and finally forms a winding and weaving structural component (0200).

3. The multi-arm forming device for on-orbit weaving of composite materials in space according to claim 1, characterized in that, 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 inflation and deflation of the airbag mold (0100), and the second compressed air source (0600) is mainly used for gas supply to the nozzle (1200). In an emergency, the first compressed air source (1000) can supply power to the nozzle (1200) through the air valve (1300).

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